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Rob Deters: UIUC updates from March 1, 2004.

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This commit is contained in:
curt 2004-03-16 04:01:38 +00:00
parent 7a481ed51f
commit fbee3d10f0
32 changed files with 1339 additions and 300 deletions
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2
src/FDM/LaRCsim/LaRCsim.cxx
View file

@ -325,7 +325,7 @@ void FGLaRCsim::update( double dt ) {
// flaps with transition occuring in uiuc_aerodeflections.cpp
if (use_flaps) {
fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_pct);
fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_norm);
}
// spoilers with transition occurring in uiuc_aerodeflections.cpp

3
src/FDM/UIUCModel/Makefile.am
View file

@ -11,6 +11,7 @@ libUIUCModel_a_SOURCES = \
uiuc_aerodeflections.cpp uiuc_aerodeflections.h \
uiuc_aircraftdir.h uiuc_aircraft.h \
uiuc_alh_ap.cpp uiuc_alh_ap.h \
uiuc_auto_pilot.cpp uiuc_auto_pilot.h \
uiuc_betaprobe.cpp uiuc_betaprobe.h \
uiuc_coef_drag.cpp uiuc_coef_drag.h \
uiuc_coef_lift.cpp uiuc_coef_lift.h \
@ -28,6 +29,7 @@ libUIUCModel_a_SOURCES = \
uiuc_gear.cpp uiuc_gear.h\
uiuc_get_flapper.cpp uiuc_get_flapper.h \
uiuc_getwind.cpp uiuc_getwind.h \
uiuc_hh_ap.cpp uiuc_hh_ap.h \
uiuc_ice.cpp uiuc_ice.h \
uiuc_iceboot.cpp uiuc_iceboot.h \
uiuc_iced_nonlin.cpp uiuc_iced_nonlin.h \
@ -75,6 +77,7 @@ libUIUCModel_a_SOURCES = \
uiuc_menu_functions.cpp uiuc_menu_functions.h \
uiuc_pah_ap.cpp uiuc_pah_ap.h \
uiuc_parsefile.cpp uiuc_parsefile.h \
uiuc_rah_ap.cpp uiuc_rah_ap.h \
uiuc_recorder.cpp uiuc_recorder.h \
uiuc_warnings_errors.cpp uiuc_warnings_errors.h \
uiuc_wrapper.cpp uiuc_wrapper.h

28
src/FDM/UIUCModel/uiuc_aerodeflections.cpp
View file

@ -30,6 +30,9 @@
03/03/2003 (RD) changed flap code to call
uiuc_find_position to determine
flap position
08/20/2003 (RD) changed spoiler variables and code
to match flap conventions. Changed
flap_pos_pct to flap_pos_norm
----------------------------------------------------------------------
@ -299,26 +302,19 @@ void uiuc_aerodeflections( double dt )
// determine flap position [rad] with respect to flap command
flap_pos = uiuc_find_position(flap_cmd,flap_increment_per_timestep,flap_pos);
// get the normalized position
flap_pos_pct = flap_pos/(flap_max * DEG_TO_RAD);
flap_pos_norm = flap_pos/(flap_max * DEG_TO_RAD);
}
if(use_spoilers) {
// angle of spoilers desired [deg]
spoiler_cmd_deg = Spoiler_handle;
// amount spoilers move per time step [deg]
spoiler_increment_per_timestep = spoiler_rate * dt;
// determine spoiler position with respect to spoiler command
if (spoiler_pos_deg < spoiler_cmd_deg) {
spoiler_pos_deg += spoiler_increment_per_timestep;
if (spoiler_pos_deg > spoiler_cmd_deg)
spoiler_pos_deg = spoiler_cmd_deg;
} else if (spoiler_pos_deg > spoiler_cmd_deg) {
spoiler_pos_deg -= spoiler_increment_per_timestep;
if (spoiler_pos_deg < spoiler_cmd_deg)
spoiler_pos_deg = spoiler_cmd_deg;
}
spoiler_pos = spoiler_pos_deg * DEG_TO_RAD;
// angle of spoilers desired [rad]
spoiler_cmd = Spoiler_handle * DEG_TO_RAD;
// amount spoilers move per time step [rad/sec]
spoiler_increment_per_timestep = spoiler_rate * dt * DEG_TO_RAD;
// determine spoiler position [rad] with respect to spoiler command
spoiler_pos = uiuc_find_position(spoiler_cmd,spoiler_increment_per_timestep,spoiler_pos);
// get the normailized position
spoiler_pos_norm = spoiler_pos/(spoiler_max * DEG_TO_RAD);
}

210
src/FDM/UIUCModel/uiuc_aircraft.h
View file

@ -73,6 +73,13 @@
09/18/2002 (MSS) Added downwash options
03/03/2003 (RD) Changed flap_cmd_deg to flap_cmd (rad)
03/16/2003 (RD) Added trigger variables
08/20/2003 (RD) Removed old_flap_routine. Changed spoiler
variables to match flap convention. Changed
flap_pos_pct to flap_pos_norm
10/31/2003 (RD) Added variables and keywords for pah and alh
autopilots
11/04/2003 (RD) Added variables and keywords for rah and hh
autopilots
----------------------------------------------------------------------
@ -196,7 +203,6 @@ enum {Dx_pilot_flag = 2000,
ignore_unknown_keywords_flag,
trim_case_2_flag,
use_uiuc_network_flag,
old_flap_routine_flag,
icing_demo_flag,
outside_control_flag};
@ -225,7 +231,9 @@ enum {de_flag = 4000, da_flag, dr_flag,
rudder_stick_gain_flag,
use_elevator_sas_type1_flag,
use_aileron_sas_type1_flag,
use_rudder_sas_type1_flag};
use_rudder_sas_type1_flag,
ap_pah_flag, ap_alh_flag, ap_Theta_ref_flag, ap_alt_ref_flag,
ap_rah_flag, ap_Phi_ref_flag, ap_hh_flag, ap_Psi_ref_flag};
// controlsMixer == Controls mixer
enum {nomix_flag = 5000};
@ -349,8 +357,11 @@ enum {iceTime_flag = 15000, transientTime_flag, eta_ice_final_flag,
demo_eps_airspeed_max_flag, demo_eps_airspeed_min_flag,
demo_boot_cycle_tail_flag, demo_boot_cycle_wing_left_flag,
demo_boot_cycle_wing_right_flag, demo_eps_pitch_input_flag,
tactilefadef_flag, tactile_pitch_flag, demo_ap_Theta_ref_deg_flag,
demo_ap_pah_on_flag, demo_tactile_flag, demo_ice_tail_flag,
tactilefadef_flag, tactile_pitch_flag, demo_ap_pah_on_flag,
demo_ap_alh_on_flag, demo_ap_rah_on_flag, demo_ap_hh_on_flag,
demo_ap_Theta_ref_flag, demo_ap_alt_ref_flag,
demo_ap_Phi_ref_flag, demo_ap_Psi_ref_flag,
demo_tactile_flag, demo_ice_tail_flag,
demo_ice_left_flag, demo_ice_right_flag};
// record ===== Record desired quantites to file
@ -370,7 +381,8 @@ enum {Simtime_record = 16000, dt_record,
Dx_cg_record, Dy_cg_record, Dz_cg_record,
Lat_geocentric_record, Lon_geocentric_record, Radius_to_vehicle_record,
Latitude_record, Longitude_record, Altitude_record,
Phi_record, Theta_record, Psi_record,
Phi_record, Theta_record, Psi_record,
Phi_deg_record, Theta_deg_record, Psi_deg_record,
// added to uiuc_map_record1.cpp
V_dot_north_record, V_dot_east_record, V_dot_down_record,
@ -425,10 +437,11 @@ enum {Simtime_record = 16000, dt_record,
elevator_record, elevator_deg_record,
Lat_control_record, aileron_record, aileron_deg_record,
Rudder_pedal_record, rudder_record, rudder_deg_record,
Flap_handle_record, flap_record, flap_cmd_record, flap_cmd_deg_record,
flap_pos_record, flap_pos_deg_record,
Flap_handle_record, flap_cmd_record, flap_cmd_deg_record,
flap_pos_record, flap_pos_deg_record, flap_pos_norm_record,
Spoiler_handle_record, spoiler_cmd_deg_record,
spoiler_pos_deg_record, spoiler_pos_norm_record, spoiler_pos_record,
spoiler_cmd_record,
// added to uiuc_map_record4.cpp
CD_record, CDfaI_record, CDfCLI_record, CDfadeI_record, CDfdfI_record,
@ -492,6 +505,7 @@ enum {Simtime_record = 16000, dt_record,
M_l_engine_record, M_m_engine_record, M_n_engine_record,
M_l_gear_record, M_m_gear_record, M_n_gear_record,
M_l_rp_record, M_m_rp_record, M_n_rp_record,
M_l_cg_record, M_m_cg_record, M_n_cg_record,
// added to uiuc_map_record5.cpp
flapper_freq_record, flapper_phi_record,
@ -524,6 +538,10 @@ enum {Simtime_record = 16000, dt_record,
debug4_record,
debug5_record,
debug6_record,
debug7_record,
debug8_record,
debug9_record,
debug10_record,
// added to uiuc_map_record6.cpp
CL_clean_record, CL_iced_record,
@ -563,13 +581,23 @@ enum {Simtime_record = 16000, dt_record,
tactilefadefI_record,
// added to uiuc_map_record6.cpp
ap_Theta_ref_deg_record, ap_pah_on_record, trigger_on_record,
trigger_num_record, trigger_toggle_record, trigger_counter_record};
ap_pah_on_record, ap_alh_on_record, ap_Theta_ref_deg_record,
ap_Theta_ref_rad_record, ap_alt_ref_ft_record, trigger_on_record,
ap_rah_on_record, ap_Phi_ref_rad_record, ap_Phi_ref_deg_record,
ap_hh_on_record, ap_Psi_ref_rad_record, ap_Psi_ref_deg_record,
trigger_num_record, trigger_toggle_record, trigger_counter_record,
// added to uiuc_map_record6.cpp
T_local_to_body_11_record, T_local_to_body_12_record,
T_local_to_body_13_record, T_local_to_body_21_record,
T_local_to_body_22_record, T_local_to_body_23_record,
T_local_to_body_31_record, T_local_to_body_32_record,
T_local_to_body_33_record};
// misc ======= Miscellaneous inputs
// added to uiuc_map_misc.cpp
enum {simpleHingeMomentCoef_flag = 17000, dfTimefdf_flag, flapper_flag,
enum {simpleHingeMomentCoef_flag = 17000, flapper_flag,
flapper_phi_init_flag};
//321654
@ -742,8 +770,6 @@ struct AIRCRAFT
#define use_uiuc_network aircraft_->use_uiuc_network
#define server_IP aircraft_->server_IP
#define port_num aircraft_->port_num
bool old_flap_routine;
#define old_flap_routine aircraft_->old_flap_routine
bool icing_demo;
#define icing_demo aircraft_->icing_demo
bool outside_control;
@ -785,8 +811,8 @@ struct AIRCRAFT
#define aileron aircraft_->aileron
#define elevator aircraft_->elevator
#define rudder aircraft_->rudder
double flap;
#define flap aircraft_->flap
// double flap;
//#define flap aircraft_->flap
bool set_Long_trim, zero_Long_trim;
double Long_trim_constant;
@ -2631,18 +2657,90 @@ struct AIRCRAFT
#define demo_ap_pah_on_daArray aircraft_->demo_ap_pah_on_daArray
#define demo_ap_pah_on_ntime aircraft_->demo_ap_pah_on_ntime
#define demo_ap_pah_on_startTime aircraft_->demo_ap_pah_on_startTime
bool demo_ap_Theta_ref_deg;
string demo_ap_Theta_ref_deg_file;
double demo_ap_Theta_ref_deg_timeArray[10];
double demo_ap_Theta_ref_deg_daArray[10];
int demo_ap_Theta_ref_deg_ntime;
double demo_ap_Theta_ref_deg_startTime;
#define demo_ap_Theta_ref_deg aircraft_->demo_ap_Theta_ref_deg
#define demo_ap_Theta_ref_deg_file aircraft_->demo_ap_Theta_ref_deg_file
#define demo_ap_Theta_ref_deg_timeArray aircraft_->demo_ap_Theta_ref_deg_timeArray
#define demo_ap_Theta_ref_deg_daArray aircraft_->demo_ap_Theta_ref_deg_daArray
#define demo_ap_Theta_ref_deg_ntime aircraft_->demo_ap_Theta_ref_deg_ntime
#define demo_ap_Theta_ref_deg_startTime aircraft_->demo_ap_Theta_ref_deg_startTime
bool demo_ap_alh_on;
string demo_ap_alh_on_file;
double demo_ap_alh_on_timeArray[10];
int demo_ap_alh_on_daArray[10];
int demo_ap_alh_on_ntime;
double demo_ap_alh_on_startTime;
#define demo_ap_alh_on aircraft_->demo_ap_alh_on
#define demo_ap_alh_on_file aircraft_->demo_ap_alh_on_file
#define demo_ap_alh_on_timeArray aircraft_->demo_ap_alh_on_timeArray
#define demo_ap_alh_on_daArray aircraft_->demo_ap_alh_on_daArray
#define demo_ap_alh_on_ntime aircraft_->demo_ap_alh_on_ntime
#define demo_ap_alh_on_startTime aircraft_->demo_ap_alh_on_startTime
bool demo_ap_rah_on;
string demo_ap_rah_on_file;
double demo_ap_rah_on_timeArray[10];
int demo_ap_rah_on_daArray[10];
int demo_ap_rah_on_ntime;
double demo_ap_rah_on_startTime;
#define demo_ap_rah_on aircraft_->demo_ap_rah_on
#define demo_ap_rah_on_file aircraft_->demo_ap_rah_on_file
#define demo_ap_rah_on_timeArray aircraft_->demo_ap_rah_on_timeArray
#define demo_ap_rah_on_daArray aircraft_->demo_ap_rah_on_daArray
#define demo_ap_rah_on_ntime aircraft_->demo_ap_rah_on_ntime
#define demo_ap_rah_on_startTime aircraft_->demo_ap_rah_on_startTime
bool demo_ap_hh_on;
string demo_ap_hh_on_file;
double demo_ap_hh_on_timeArray[10];
int demo_ap_hh_on_daArray[10];
int demo_ap_hh_on_ntime;
double demo_ap_hh_on_startTime;
#define demo_ap_hh_on aircraft_->demo_ap_hh_on
#define demo_ap_hh_on_file aircraft_->demo_ap_hh_on_file
#define demo_ap_hh_on_timeArray aircraft_->demo_ap_hh_on_timeArray
#define demo_ap_hh_on_daArray aircraft_->demo_ap_hh_on_daArray
#define demo_ap_hh_on_ntime aircraft_->demo_ap_hh_on_ntime
#define demo_ap_hh_on_startTime aircraft_->demo_ap_hh_on_startTime
bool demo_ap_Theta_ref;
string demo_ap_Theta_ref_file;
double demo_ap_Theta_ref_timeArray[10];
double demo_ap_Theta_ref_daArray[10];
int demo_ap_Theta_ref_ntime;
double demo_ap_Theta_ref_startTime;
#define demo_ap_Theta_ref aircraft_->demo_ap_Theta_ref
#define demo_ap_Theta_ref_file aircraft_->demo_ap_Theta_ref_file
#define demo_ap_Theta_ref_timeArray aircraft_->demo_ap_Theta_ref_timeArray
#define demo_ap_Theta_ref_daArray aircraft_->demo_ap_Theta_ref_daArray
#define demo_ap_Theta_ref_ntime aircraft_->demo_ap_Theta_ref_ntime
#define demo_ap_Theta_ref_startTime aircraft_->demo_ap_Theta_ref_startTime
bool demo_ap_alt_ref;
string demo_ap_alt_ref_file;
double demo_ap_alt_ref_timeArray[10];
double demo_ap_alt_ref_daArray[10];
int demo_ap_alt_ref_ntime;
double demo_ap_alt_ref_startTime;
#define demo_ap_alt_ref aircraft_->demo_ap_alt_ref
#define demo_ap_alt_ref_file aircraft_->demo_ap_alt_ref_file
#define demo_ap_alt_ref_timeArray aircraft_->demo_ap_alt_ref_timeArray
#define demo_ap_alt_ref_daArray aircraft_->demo_ap_alt_ref_daArray
#define demo_ap_alt_ref_ntime aircraft_->demo_ap_alt_ref_ntime
#define demo_ap_alt_ref_startTime aircraft_->demo_ap_alt_ref_startTime
bool demo_ap_Phi_ref;
string demo_ap_Phi_ref_file;
double demo_ap_Phi_ref_timeArray[10];
double demo_ap_Phi_ref_daArray[10];
int demo_ap_Phi_ref_ntime;
double demo_ap_Phi_ref_startTime;
#define demo_ap_Phi_ref aircraft_->demo_ap_Phi_ref
#define demo_ap_Phi_ref_file aircraft_->demo_ap_Phi_ref_file
#define demo_ap_Phi_ref_timeArray aircraft_->demo_ap_Phi_ref_timeArray
#define demo_ap_Phi_ref_daArray aircraft_->demo_ap_Phi_ref_daArray
#define demo_ap_Phi_ref_ntime aircraft_->demo_ap_Phi_ref_ntime
#define demo_ap_Phi_ref_startTime aircraft_->demo_ap_Phi_ref_startTime
bool demo_ap_Psi_ref;
string demo_ap_Psi_ref_file;
double demo_ap_Psi_ref_timeArray[10];
double demo_ap_Psi_ref_daArray[10];
int demo_ap_Psi_ref_ntime;
double demo_ap_Psi_ref_startTime;
#define demo_ap_Psi_ref aircraft_->demo_ap_Psi_ref
#define demo_ap_Psi_ref_file aircraft_->demo_ap_Psi_ref_file
#define demo_ap_Psi_ref_timeArray aircraft_->demo_ap_Psi_ref_timeArray
#define demo_ap_Psi_ref_daArray aircraft_->demo_ap_Psi_ref_daArray
#define demo_ap_Psi_ref_ntime aircraft_->demo_ap_Psi_ref_ntime
#define demo_ap_Psi_ref_startTime aircraft_->demo_ap_Psi_ref_startTime
bool demo_tactile;
string demo_tactile_file;
double demo_tactile_timeArray[1500];
@ -2807,14 +2905,14 @@ struct AIRCRAFT
double simpleHingeMomentCoef;
#define simpleHingeMomentCoef aircraft_->simpleHingeMomentCoef
string dfTimefdf;
double dfTimefdf_dfArray[100];
double dfTimefdf_TimeArray[100];
int dfTimefdf_ndf;
#define dfTimefdf aircraft_->dfTimefdf
#define dfTimefdf_dfArray aircraft_->dfTimefdf_dfArray
#define dfTimefdf_TimeArray aircraft_->dfTimefdf_TimeArray
#define dfTimefdf_ndf aircraft_->dfTimefdf_ndf
//string dfTimefdf;
//double dfTimefdf_dfArray[100];
//double dfTimefdf_TimeArray[100];
//int dfTimefdf_ndf;
//#define dfTimefdf aircraft_->dfTimefdf
//#define dfTimefdf_dfArray aircraft_->dfTimefdf_dfArray
//#define dfTimefdf_TimeArray aircraft_->dfTimefdf_TimeArray
//#define dfTimefdf_ndf aircraft_->dfTimefdf_ndf
FlapData *flapper_data;
#define flapper_data aircraft_->flapper_data
@ -2855,21 +2953,18 @@ struct AIRCRAFT
#define dfArray aircraft_->dfArray
#define TimeArray aircraft_->TimeArray
double flap_percent, flap_increment_per_timestep, flap_cmd, flap_pos, flap_pos_pct;
double flap_percent, flap_increment_per_timestep, flap_cmd, flap_pos, flap_pos_norm;
#define flap_percent aircraft_->flap_percent
#define flap_increment_per_timestep aircraft_->flap_increment_per_timestep
#define flap_cmd aircraft_->flap_cmd
//#define flap_cmd_deg aircraft_->flap_cmd_deg
#define flap_pos aircraft_->flap_pos
//#define flap_pos_deg aircraft_->flap_pos_deg
#define flap_pos_pct aircraft_->flap_pos_pct
#define flap_pos_norm aircraft_->flap_pos_norm
double Spoiler_handle, spoiler_increment_per_timestep, spoiler_cmd_deg;
double spoiler_pos_norm, spoiler_pos_deg, spoiler_pos;
double Spoiler_handle, spoiler_increment_per_timestep, spoiler_cmd;
double spoiler_pos_norm, spoiler_pos;
#define Spoiler_handle aircraft_->Spoiler_handle
#define spoiler_increment_per_timestep aircraft_->spoiler_increment_per_timestep
#define spoiler_cmd_deg aircraft_->spoiler_cmd_deg
#define spoiler_pos_deg aircraft_->spoiler_pos_deg
#define spoiler_cmd aircraft_->spoiler_cmd
#define spoiler_pos_norm aircraft_->spoiler_pos_norm
#define spoiler_pos aircraft_->spoiler_pos
@ -2951,15 +3046,31 @@ struct AIRCRAFT
int ap_pah_on;
#define ap_pah_on aircraft_->ap_pah_on
double ap_Theta_ref_deg, ap_Theta_ref_rad;
#define ap_Theta_ref_deg aircraft_->ap_Theta_ref_deg
double ap_pah_start_time;
#define ap_pah_start_time aircraft_->ap_pah_start_time
double ap_Theta_ref_rad;
#define ap_Theta_ref_rad aircraft_->ap_Theta_ref_rad
int ap_alh_on;
#define ap_alh_on aircraft_->ap_alh_on
double ap_alt_ref_ft, ap_alt_ref_m;
double ap_alh_start_time;
#define ap_alh_start_time aircraft_->ap_alh_start_time
double ap_alt_ref_ft;
#define ap_alt_ref_ft aircraft_->ap_alt_ref_ft
#define ap_alt_ref_m aircraft_->ap_alt_ref_m
int ap_rah_on;
#define ap_rah_on aircraft_->ap_rah_on
double ap_rah_start_time;
#define ap_rah_start_time aircraft_->ap_rah_start_time
double ap_Phi_ref_rad;
#define ap_Phi_ref_rad aircraft_->ap_Phi_ref_rad
int ap_hh_on;
#define ap_hh_on aircraft_->ap_hh_on
double ap_hh_start_time;
#define ap_hh_start_time aircraft_->ap_hh_start_time
double ap_Psi_ref_rad;
#define ap_Psi_ref_rad aircraft_->ap_Psi_ref_rad
int pitch_trim_up, pitch_trim_down;
#define pitch_trim_up aircraft_->pitch_trim_up
@ -2981,6 +3092,13 @@ struct AIRCRAFT
#define trigger_num aircraft_->trigger_num
#define trigger_toggle aircraft_->trigger_toggle
#define trigger_counter aircraft_->trigger_counter
// temp debug values
double debug7, debug8, debug9, debug10;
#define debug7 aircraft_->debug7
#define debug8 aircraft_->debug8
#define debug9 aircraft_->debug9
#define debug10 aircraft_->debug10
};
extern AIRCRAFT *aircraft_; // usually defined in the first program that includes uiuc_aircraft.h

16
src/FDM/UIUCModel/uiuc_alh_ap.cpp
View file

@ -40,7 +40,7 @@
#include "uiuc_alh_ap.h"
double alh_ap(double pitch, double pitchrate, double H_ref, double H,
double V, double sample_t, int init)
double V, double sample_time, int init)
{
// changes by RD so function keeps previous values
static double u2prev;
@ -49,8 +49,6 @@ double alh_ap(double pitch, double pitchrate, double H_ref, double H,
static double x3prev;
static double ubarprev;
double pi = 3.14159;
if (init == 0)
{
u2prev = 0;
@ -69,12 +67,12 @@ double alh_ap(double pitch, double pitchrate, double H_ref, double H,
Ktheta = -0.0004*V*V + 0.0479*V - 2.409;
Kq = -0.0005*V*V + 0.054*V - 1.5931;
Ki = 0.5;
Kh = -0.25*pi/180 + (((-0.15 + 0.25)*pi/180)/(20))*(V-60);
Kh = -0.25*LS_PI/180 + (((-0.15 + 0.25)*LS_PI/180)/(20))*(V-60);
Kd = -0.0025*V + 0.2875;
double u1,u2,u3,ubar;
ubar = (1-Kd*sample_t)*ubarprev + Ktheta*pitchrate*sample_t;
ubar = (1-Kd*sample_time)*ubarprev + Ktheta*pitchrate*sample_time;
u1 = Kh*(H_ref-H) - ubar;
u2 = u2prev + Ki*(Kh*(H_ref-H)-ubar)*sample_t;
u2 = u2prev + Ki*(Kh*(H_ref-H)-ubar)*sample_time;
u3 = Kq*pitchrate;
double totalU;
totalU = u1 + u2 - u3;
@ -83,10 +81,10 @@ double alh_ap(double pitch, double pitchrate, double H_ref, double H,
// the following is using the actuator dynamics given in Beaver.
// the actuator dynamics for Twin Otter are still unavailable.
x1 = x1prev +(-10.951*x1prev + 7.2721*x2prev + 20.7985*x3prev +
25.1568*totalU)*sample_t;
x2 = x2prev + x3prev*sample_t;
25.1568*totalU)*sample_time;
x2 = x2prev + x3prev*sample_time;
x3 = x3prev + (7.3446*x1prev - 668.6713*x2prev - 16.8697*x3prev +
5.8694*totalU)*sample_t;
5.8694*totalU)*sample_time;
deltae = 57.2958*x2;
x1prev = x1;
x2prev = x2;

2
src/FDM/UIUCModel/uiuc_alh_ap.h
View file

@ -2,6 +2,8 @@
#ifndef _ALH_AP_H_
#define _ALH_AP_H_
#include <FDM/LaRCsim/ls_constants.h>
double alh_ap(double pitch, double pitchrate, double H_ref, double H,
double V, double sample_t, int init);

166
src/FDM/UIUCModel/uiuc_auto_pilot.cpp Normal file
View file

@ -0,0 +1,166 @@
/**********************************************************************
FILENAME: uiuc_auto_pilot.cpp
----------------------------------------------------------------------
DESCRIPTION: calls autopilot routines
----------------------------------------------------------------------
STATUS: alpha version
----------------------------------------------------------------------
REFERENCES:
----------------------------------------------------------------------
HISTORY: 09/04/2003 initial release (with PAH)
10/31/2003 added ALH autopilot
11/04/2003 added RAH and HH autopilots
----------------------------------------------------------------------
AUTHOR(S): Robert Deters <rdeters@uiuc.edu>
----------------------------------------------------------------------
VARIABLES:
----------------------------------------------------------------------
INPUTS: -V_rel_wind (or U_body)
-dyn_on_speed
-ice on/off
-phugoid on/off
----------------------------------------------------------------------
OUTPUTS: -CL
-CD
-Cm
-CY
-Cl
-Cn
----------------------------------------------------------------------
CALLED BY: uiuc_coefficients
----------------------------------------------------------------------
CALLS TO: uiuc_coef_lift
uiuc_coef_drag
----------------------------------------------------------------------
COPYRIGHT: (C) 2003 by Michael Selig
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
USA or view http://www.gnu.org/copyleft/gpl.html.
**********************************************************************/
#include "uiuc_auto_pilot.h"
//#include <stdio.h>
void uiuc_auto_pilot(double dt)
{
double V_rel_wind_ms;
double Altitude_m;
//static bool ap_pah_on_prev = false;
static int ap_pah_init = 0;
//static bool ap_alh_on_prev = false;
static int ap_alh_init = 0;
static int ap_rah_init = 0;
static int ap_hh_init = 0;
double ap_alt_ref_m;
double bw_m;
double ail_rud[2];
V_rel_wind_ms = V_rel_wind * 0.3048;
Altitude_m = Altitude * 0.3048;
if (ap_pah_on && icing_demo==false && Simtime>=ap_pah_start_time)
{
//ap_Theta_ref_rad = ap_Theta_ref_deg * DEG_TO_RAD;
//if (ap_pah_on_prev == false) {
//ap_pah_init = 1;
//ap_pah_on_prev = true;
//}
elevator = pah_ap(Theta, Theta_dot, ap_Theta_ref_rad, V_rel_wind_ms, dt,
ap_pah_init);
if (elevator*RAD_TO_DEG <= -1*demax)
elevator = -1*demax * DEG_TO_RAD;
if (elevator*RAD_TO_DEG >= demin)
elevator = demin * DEG_TO_RAD;
pilot_elev_no=true;
ap_pah_init=1;
//printf("elv1=%f\n",elevator);
}
if (ap_alh_on && icing_demo==false && Simtime>=ap_alh_start_time)
{
ap_alt_ref_m = ap_alt_ref_ft * 0.3048;
//if (ap_alh_on_prev == false)
//ap_alh_init = 0;
elevator = alh_ap(Theta, Theta_dot, ap_alt_ref_m, Altitude_m,
V_rel_wind_ms, dt, ap_alh_init);
if (elevator*RAD_TO_DEG <= -1*demax)
elevator = -1*demax * DEG_TO_RAD;
if (elevator*RAD_TO_DEG >= demin)
elevator = demin * DEG_TO_RAD;
pilot_elev_no=true;
ap_alh_init = 1;
}
if (ap_rah_on && icing_demo==false && Simtime>=ap_rah_start_time)
{
bw_m = bw * 0.3048;
rah_ap(Phi, Phi_dot, ap_Phi_ref_rad, V_rel_wind_ms, dt,
bw_m, Psi_dot, ail_rud, ap_rah_init);
aileron = ail_rud[0];
rudder = ail_rud[1];
if (aileron*RAD_TO_DEG <= -1*damax)
aileron = -1*damax * DEG_TO_RAD;
if (aileron*RAD_TO_DEG >= damin)
aileron = damin * DEG_TO_RAD;
if (rudder*RAD_TO_DEG <= -1*drmax)
rudder = -1*drmax * DEG_TO_RAD;
if (rudder*RAD_TO_DEG >= drmin)
rudder = drmin * DEG_TO_RAD;
pilot_ail_no=true;
pilot_rud_no=true;
ap_rah_init = 1;
}
if (ap_hh_on && icing_demo==false && Simtime>=ap_hh_start_time)
{
bw_m = bw * 0.3048;
hh_ap(Phi, Psi, Phi_dot, ap_Psi_ref_rad, V_rel_wind_ms, dt,
bw_m, Psi_dot, ail_rud, ap_hh_init);
aileron = ail_rud[0];
rudder = ail_rud[1];
if (aileron*RAD_TO_DEG <= -1*damax)
aileron = -1*damax * DEG_TO_RAD;
if (aileron*RAD_TO_DEG >= damin)
aileron = damin * DEG_TO_RAD;
if (rudder*RAD_TO_DEG <= -1*drmax)
rudder = -1*drmax * DEG_TO_RAD;
if (rudder*RAD_TO_DEG >= drmin)
rudder = drmin * DEG_TO_RAD;
pilot_ail_no=true;
pilot_rud_no=true;
ap_hh_init = 1;
}
}

16
src/FDM/UIUCModel/uiuc_auto_pilot.h Normal file
View file

@ -0,0 +1,16 @@
#ifndef _AUTO_PILOT_H_
#define _AUTO_PILOT_H_
#include "uiuc_aircraft.h"
#include "uiuc_pah_ap.h"
#include "uiuc_alh_ap.h"
#include "uiuc_rah_ap.h"
#include "uiuc_hh_ap.h"
#include <FDM/LaRCsim/ls_generic.h>
#include <FDM/LaRCsim/ls_constants.h> /* RAD_TO_DEG, DEG_TO_RAD*/
extern double Simtime;
void uiuc_auto_pilot(double dt);
#endif // _AUTO_PILOT_H_

4
src/FDM/UIUCModel/uiuc_coef_lift.cpp
View file

@ -247,7 +247,7 @@ void uiuc_coef_lift()
CLfdfI = uiuc_1Dinterpolation(CLfdf_dfArray,
CLfdf_CLArray,
CLfdf_ndf,
flap);
flap_pos);
CL += CLfdfI;
break;
}
@ -259,7 +259,7 @@ void uiuc_coef_lift()
CLfadf_nAlphaArray,
CLfadf_ndf,
Std_Alpha,
flap);
flap_pos);
CL += CLfadfI;
break;
}

43
src/FDM/UIUCModel/uiuc_coefficients.cpp
View file

@ -33,7 +33,7 @@
Added pilot_elev_no, pilot_ail_no, and
pilot_rud_no.
07/05/2001 (RD) Added pilot_(elev,ail,rud)_no=false
01/11/2002 (AP) Added call to uiuc_bootTime()
01/11/2002 (AP) Added call to uiuc_iceboot()
12/02/2002 (RD) Moved icing demo interpolations to its
own function
@ -104,10 +104,6 @@ void uiuc_coefficients(double dt)
static string uiuc_coefficients_error = " (from uiuc_coefficients.cpp) ";
double l_trim, l_defl;
double V_rel_wind_dum, U_body_dum;
static bool ap_pah_on_prev = false;
int ap_pah_init = 1;
static bool ap_alh_on_prev = false;
int ap_alh_init = 1;
if (Alpha_init_true && Simtime==0)
Std_Alpha = Alpha_init;
@ -223,38 +219,15 @@ void uiuc_coefficients(double dt)
uiuc_controlInput();
}
if (ap_pah_on && icing_demo==false)
{
double V_rel_wind_ms;
V_rel_wind_ms = V_rel_wind * 0.3048;
ap_Theta_ref_rad = ap_Theta_ref_deg * DEG_TO_RAD;
if (ap_pah_on_prev == false)
ap_pah_init = 0;
elevator = pah_ap(Theta, Theta_dot, ap_Theta_ref_rad, V_rel_wind_ms, dt,
ap_pah_init);
if (elevator*RAD_TO_DEG <= -1*demax)
elevator = -1*demax * DEG_TO_RAD;
if (elevator*RAD_TO_DEG >= demin)
elevator = demin * DEG_TO_RAD;
pilot_elev_no=true;
}
//if (Simtime >=10.0)
// {
// ap_hh_on = 1;
// ap_Psi_ref_rad = 0*DEG_TO_RAD;
// }
if (ap_alh_on && icing_demo==false)
if (ap_pah_on || ap_alh_on || ap_rah_on || ap_hh_on)
{
double V_rel_wind_ms;
double Altitude_m;
V_rel_wind_ms = V_rel_wind * 0.3048;
ap_alt_ref_m = ap_alt_ref_ft * 0.3048;
Altitude_m = Altitude * 0.3048;
if (ap_alh_on_prev == false)
ap_alh_init = 0;
elevator = alh_ap(Theta, Theta_dot, ap_alt_ref_m, Altitude_m,
V_rel_wind_ms, dt, ap_alh_init);
if (elevator*RAD_TO_DEG <= -1*demax)
elevator = -1*demax * DEG_TO_RAD;
if (elevator*RAD_TO_DEG >= demin)
elevator = demin * DEG_TO_RAD;
pilot_elev_no=true;
uiuc_auto_pilot(dt);
}
CD = CX = CL = CZ = Cm = CY = Cl = Cn = 0.0;

3
src/FDM/UIUCModel/uiuc_coefficients.h
View file

@ -12,8 +12,7 @@
#include "uiuc_iceboot.h" //Anne's code
#include "uiuc_iced_nonlin.h"
#include "uiuc_icing_demo.h"
#include "uiuc_pah_ap.h"
#include "uiuc_alh_ap.h"
#include "uiuc_auto_pilot.h"
#include "uiuc_1Dinterpolation.h"
#include "uiuc_3Dinterpolation.h"
#include "uiuc_warnings_errors.h"

139
src/FDM/UIUCModel/uiuc_hh_ap.cpp Normal file
View file

@ -0,0 +1,139 @@
// * *
// * hh_ap.C *
// * *
// * Heading Hold autopilot function. takes in *
// * the state *
// * variables and reference angle as arguments *
// * (there are other variable too as arguments *
// * as listed below) *
// * and returns the aileron and rudder deflection *
// * angle at every time step *
// * *
// * *
// * Written 2/14/03 by Vikrant Sharma *
// * *
// *****************************************************
//#include <iostream.h>
//#include <stddef.h>
// define u2prev,x1prev,x2prev,x3prev,x4prev,x5prev and x6prev in the main
// function
// that uses this autopilot function. give them initial values at origin.
// Pass these values to the A/P function as an argument and pass by
// reference
// Parameters passed as arguments to the function:
// yaw - current yaw angle difference from the trim value
// phi - Current roll angle ,,,,,,,,,,,,,,,,,,,,
// rollrate - current rate of change of roll angle
// yawrate - current rate of change of yaw angle
// b - the wingspan
// yaw_ref - reference yaw angle to be tracked (amount of increase/decrease desired from the trim)
// sample_t - sampling time
// V - aircraft's current velocity
// u2prev - u2 value at the previous time step.
// x1prev - x1 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x2prev - x2 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x3prev - x3 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x4prev - x4 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x5prev - x5 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x6prev - x6 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// the autpilot function (rah_ap) changes these values at every time step.
// so the simulator guys don't have to do it. Since these values are
// passed by reference to the function.
// Another important thing to do and for you simulator guys to check is the
// way I return the the deltaa (aileron deflection) and deltar (rudder deflection).
// I expect you guys to define an array that holds two float values. The first entry
// is for deltaa and the second for deltar and the pointer to this array (ctr_ptr) is also
// one of the arguments for the function rah_ap and then this function updates the value for
// deltae and deltaa every time its called. PLEASE CHECK IF THE SYNTAX IS RIGHT. Also note that
// these values have to be added to the initial trim values of the control deflection to get the
// entire control deflection.
#include "uiuc_hh_ap.h"
// (RD) changed float to double
void hh_ap(double phi, double yaw, double phirate, double yaw_ref,
double V, double sample_time, double b, double yawrate,
double ctr_defl[2], int init)
{
static double u2prev;
static double x1prev;
static double x2prev;
static double x3prev;
static double x4prev;
static double x5prev;
static double x6prev;
if (init==0)
{
u2prev = 0;
x1prev = 0;
x2prev = 0;
x3prev = 0;
x4prev = 0;
x5prev = 0;
x6prev = 0;
}
double Kphi, Kyaw;
double Kr;
double Ki;
double drr;
double dar;
double deltar;
double deltaa;
double x1, x2, x3, x4, x5, x6, phi_ref;
Kphi = 0.000975*V*V - 0.108*V + 2.335625;
Kr = -4;
Ki = 0.25;
Kyaw = 0.05*V-1.1;
dar = 0.165;
drr = -0.000075*V*V + 0.0095*V -0.4606;
double u1,u2,u3,u4,u5,u6,u7,ubar,udbar;
phi_ref = Kyaw*(yaw_ref-yaw);
u1 = Kphi*(phi_ref-phi);
u2 = u2prev + Ki*Kphi*(phi_ref-phi)*sample_time;
u3 = dar*yawrate;
u4 = u1 + u2 + u3;
u2prev = u2;
double K1,K2;
K1 = Kr*9.8*sin(phi)/V;
K2 = drr - Kr;
u5 = K2*yawrate;
u6 = K1*phi;
u7 = u5 + u6;
ubar = phirate*b/(2*V);
udbar = yawrate*b/(2*V);
// the following is using the actuator dynamics to get the aileron
// angle, given in Beaver.
// the actuator dynamics for Twin Otter are still unavailable.
x1 = x1prev +(-10.6*x1prev - 2.64*x2prev -7.58*x3prev +
27.46*u4 -0.0008*ubar)*sample_time;
x2 = x2prev + x3prev*sample_time;
x3 = x3prev + (1.09*x1prev - 558.86*x2prev - 23.35*x3prev +
3.02*u4 - 0.164*ubar)*sample_time;
deltaa = 57.3*x2;
x1prev = x1;
x2prev = x2;
x3prev = x3;
// the following is using the actuator dynamics to get the rudder
// angle, given in Beaver.
// the actuator dynamics for Twin Otter are still unavailable.
x4 = x4prev +(-9.2131*x4prev + 5.52*x5prev + 16*x6prev +
24.571*u7 + 0.0036*udbar)*sample_time;
x5 = x5prev + x6prev*sample_time;
x6 = x6prev + (0.672*x4prev - 919.78*x5prev - 56.453*x6prev +
7.54*u7 - 0.636*udbar)*sample_time;
deltar = 57.3*x5;
x4prev = x4;
x5prev = x5;
x6prev = x6;
ctr_defl[0] = deltaa;
ctr_defl[1] = deltar;
return;
}

12
src/FDM/UIUCModel/uiuc_hh_ap.h Normal file
View file

@ -0,0 +1,12 @@
#ifndef _HH_AP_H_
#define _HH_AP_H_
#include <FDM/LaRCsim/ls_constants.h>
#include <cmath>
void hh_ap(double phi, double yaw, double phirate, double yaw_ref,
double V, double sample_time, double b, double yawrate,
double ctr_defl[2], int init);
#endif //_HH_AP_H_

52
src/FDM/UIUCModel/uiuc_icing_demo.cpp
View file

@ -186,11 +186,53 @@ void uiuc_icing_demo()
demo_ap_pah_on_ntime,
time);
}
if (demo_ap_Theta_ref_deg){
double time = Simtime - demo_ap_Theta_ref_deg_startTime;
ap_Theta_ref_deg = uiuc_1Dinterpolation(demo_ap_Theta_ref_deg_timeArray,
demo_ap_Theta_ref_deg_daArray,
demo_ap_Theta_ref_deg_ntime,
if (demo_ap_alh_on){
double time = Simtime - demo_ap_alh_on_startTime;
ap_alh_on = uiuc_1Dinterpolation(demo_ap_alh_on_timeArray,
demo_ap_alh_on_daArray,
demo_ap_alh_on_ntime,
time);
}
if (demo_ap_rah_on){
double time = Simtime - demo_ap_rah_on_startTime;
ap_rah_on = uiuc_1Dinterpolation(demo_ap_rah_on_timeArray,
demo_ap_rah_on_daArray,
demo_ap_rah_on_ntime,
time);
}
if (demo_ap_hh_on){
double time = Simtime - demo_ap_hh_on_startTime;
ap_hh_on = uiuc_1Dinterpolation(demo_ap_hh_on_timeArray,
demo_ap_hh_on_daArray,
demo_ap_hh_on_ntime,
time);
}
if (demo_ap_Theta_ref){
double time = Simtime - demo_ap_Theta_ref_startTime;
ap_Theta_ref_rad = uiuc_1Dinterpolation(demo_ap_Theta_ref_timeArray,
demo_ap_Theta_ref_daArray,
demo_ap_Theta_ref_ntime,
time);
}
if (demo_ap_alt_ref){
double time = Simtime - demo_ap_alt_ref_startTime;
ap_alt_ref_ft = uiuc_1Dinterpolation(demo_ap_alt_ref_timeArray,
demo_ap_alt_ref_daArray,
demo_ap_alt_ref_ntime,
time);
}
if (demo_ap_Phi_ref){
double time = Simtime - demo_ap_Phi_ref_startTime;
ap_Phi_ref_rad = uiuc_1Dinterpolation(demo_ap_Phi_ref_timeArray,
demo_ap_Phi_ref_daArray,
demo_ap_Phi_ref_ntime,
time);
}
if (demo_ap_Psi_ref){
double time = Simtime - demo_ap_Psi_ref_startTime;
ap_Psi_ref_rad = uiuc_1Dinterpolation(demo_ap_Psi_ref_timeArray,
demo_ap_Psi_ref_daArray,
demo_ap_Psi_ref_ntime,
time);
}

11
src/FDM/UIUCModel/uiuc_map_controlSurface.cpp
View file

@ -20,7 +20,7 @@
06/18/2001 (RD) Added aileron_input, rudder_input,
pilot_elev_no, pilot_ail_no, and
pilot_rud_no
11/12/2001 (RD) Added flap_max, flap_rate, and
11/12/2001 (RD) Added flap_max, flap_rate
----------------------------------------------------------------------
@ -115,6 +115,15 @@ void uiuc_map_controlSurface()
controlSurface_map["use_aileron_sas_type1"] = use_aileron_sas_type1_flag ;
controlSurface_map["use_elevator_sas_type1"] = use_elevator_sas_type1_flag ;
controlSurface_map["use_rudder_sas_type1"] = use_rudder_sas_type1_flag ;
controlSurface_map["ap_pah"] = ap_pah_flag ;
controlSurface_map["ap_alh"] = ap_alh_flag ;
controlSurface_map["ap_rah"] = ap_rah_flag ;
controlSurface_map["ap_hh"] = ap_hh_flag ;
controlSurface_map["ap_Theta_ref"] = ap_Theta_ref_flag ;
controlSurface_map["ap_alt_ref"] = ap_alt_ref_flag ;
controlSurface_map["ap_Phi_ref"] = ap_Phi_ref_flag ;
controlSurface_map["ap_Psi_ref"] = ap_Psi_ref_flag ;
}
// end uiuc_map_controlSurface.cpp

10
src/FDM/UIUCModel/uiuc_map_ice.cpp
View file

@ -17,11 +17,13 @@
----------------------------------------------------------------------
HISTORY: 04/08/2000 initial release
--/--/2002 (RD) add SIS icing
----------------------------------------------------------------------
AUTHOR(S): Bipin Sehgal <bsehgal@uiuc.edu>
Jeff Scott <jscott@mail.com>
Robert Deters <rdeters@uiuc.edu>
----------------------------------------------------------------------
@ -159,8 +161,14 @@ void uiuc_map_ice()
ice_map["demo_eps_pitch_input"] = demo_eps_pitch_input_flag ;
ice_map["tactilefadef"] = tactilefadef_flag ;
ice_map["tactile_pitch"] = tactile_pitch_flag ;
ice_map["demo_ap_Theta_ref_deg"]= demo_ap_Theta_ref_deg_flag ;
ice_map["demo_ap_pah_on"] = demo_ap_pah_on_flag ;
ice_map["demo_ap_alh_on"] = demo_ap_alh_on_flag ;
ice_map["demo_ap_rah_on"] = demo_ap_rah_on_flag ;
ice_map["demo_ap_hh_on"] = demo_ap_hh_on_flag ;
ice_map["demo_ap_Theta_ref_"] = demo_ap_Theta_ref_flag ;
ice_map["demo_ap_alt_ref_"] = demo_ap_alt_ref_flag ;
ice_map["demo_ap_Phi_ref_"] = demo_ap_Phi_ref_flag ;
ice_map["demo_ap_Psi_ref_"] = demo_ap_Psi_ref_flag ;
ice_map["demo_tactile"] = demo_tactile_flag ;
ice_map["demo_ice_tail"] = demo_ice_tail_flag ;
ice_map["demo_ice_left"] = demo_ice_left_flag ;

2
src/FDM/UIUCModel/uiuc_map_init.cpp
View file

@ -19,6 +19,7 @@
HISTORY: 04/08/2000 initial release
06/18/2001 (RD) Added Alpha, Beta, U_body
V_body, and W_body.
08/20/2003 (RD) Removed old_flap_routine
----------------------------------------------------------------------
@ -108,7 +109,6 @@ void uiuc_map_init()
init_map["ignore_unknown_keywords"] = ignore_unknown_keywords_flag;
init_map["trim_case_2"] = trim_case_2_flag ;
init_map["use_uiuc_network"] = use_uiuc_network_flag ;
init_map["old_flap_routine"] = old_flap_routine_flag ;
init_map["icing_demo"] = icing_demo_flag ;
init_map["outside_control"] = outside_control_flag ;
}

4
src/FDM/UIUCModel/uiuc_map_misc.cpp
View file

@ -17,11 +17,13 @@
----------------------------------------------------------------------
HISTORY: 04/08/2000 initial release
--/--/2002 (RD) added flapper
----------------------------------------------------------------------
AUTHOR(S): Bipin Sehgal <bsehgal@uiuc.edu>
Jeff Scott <jscott@mail.com>
Robert Deters <rdeters@uiuc.edu>
----------------------------------------------------------------------
@ -69,7 +71,7 @@
void uiuc_map_misc()
{
misc_map["simpleHingeMomentCoef"] = simpleHingeMomentCoef_flag ;
misc_map["dfTimefdf"] = dfTimefdf_flag ;
//misc_map["dfTimefdf"] = dfTimefdf_flag ;
misc_map["flapper"] = flapper_flag ;
misc_map["flapper_phi_init"] = flapper_phi_init_flag ;
}

3
src/FDM/UIUCModel/uiuc_map_record1.cpp
View file

@ -110,6 +110,9 @@ void uiuc_map_record1()
record_map["Phi"] = Phi_record ;
record_map["Theta"] = Theta_record ;
record_map["Psi"] = Psi_record ;
record_map["Phi_deg"] = Phi_deg_record ;
record_map["Theta_deg"] = Theta_deg_record ;
record_map["Psi_deg"] = Psi_deg_record ;
/******************** Accelerations ********************/

7
src/FDM/UIUCModel/uiuc_map_record3.cpp
View file

@ -20,6 +20,8 @@
HISTORY: 06/03/2000 file creation
11/12/2001 (RD) Added flap_cmd_deg and flap_pos
03/03/2003 (RD) Added flap_cmd
08/20/2003 (RD) Changed spoiler variables to match
flap convention. Added flap_pos_norm
----------------------------------------------------------------------
@ -139,16 +141,17 @@ void uiuc_map_record3()
record_map["rudder"] = rudder_record ;
record_map["rudder_deg"] = rudder_deg_record ;
record_map["Flap_handle"] = Flap_handle_record ;
record_map["flap"] = flap_record ;
record_map["flap_cmd"] = flap_cmd_record ;
record_map["flap_cmd_deg"] = flap_cmd_deg_record ;
record_map["flap_pos"] = flap_pos_record ;
record_map["flap_pos_deg"] = flap_pos_deg_record ;
record_map["flap_pos_norm"] = flap_pos_norm_record ;
record_map["Spoiler_handle"] = Spoiler_handle_record ;
record_map["spoiler_cmd"] = spoiler_cmd_record ;
record_map["spoiler_cmd_deg"] = spoiler_cmd_deg_record ;
record_map["spoiler_pos"] = spoiler_pos_record ;
record_map["spoiler_pos_deg"] = spoiler_pos_deg_record ;
record_map["spoiler_pos_norm"] = spoiler_pos_norm_record ;
record_map["spoiler_pos"] = spoiler_pos_record ;
}

12
src/FDM/UIUCModel/uiuc_map_record5.cpp
View file

@ -116,10 +116,15 @@ void uiuc_map_record5()
record_map["M_m_gear"] = M_m_gear_record ;
record_map["M_n_gear"] = M_n_gear_record ;
// total moments
// total moments about reference point
record_map["M_l_rp"] = M_l_rp_record ;
record_map["M_m_rp"] = M_m_rp_record ;
record_map["M_n_rp"] = M_n_rp_record ;
// total moments about cg
record_map["M_l_cg"] = M_l_cg_record ;
record_map["M_m_cg"] = M_m_cg_record ;
record_map["M_n_cg"] = M_n_cg_record ;
/***********************Flapper Data********************/
record_map["flapper_freq"] = flapper_freq_record ;
@ -140,6 +145,11 @@ void uiuc_map_record5()
record_map["debug5"] = debug5_record ;
record_map["debug6"] = debug6_record ;
record_map["debug7"] = debug7_record ;
record_map["debug8"] = debug8_record ;
record_map["debug9"] = debug9_record ;
record_map["debug10"] = debug10_record ;
/******************** Misc data **********************************/
record_map["V_down_fpm"] = V_down_fpm_record ;
record_map["eta_q"] = eta_q_record ;

21
src/FDM/UIUCModel/uiuc_map_record6.cpp
View file

@ -76,13 +76,32 @@ void uiuc_map_record6()
record_map["eps_airspeed_min"] = eps_airspeed_min_record ;
record_map["tactilefadefI"] = tactilefadefI_record ;
/******************************autopilot****************************/
record_map["ap_Theta_ref_deg"] = ap_Theta_ref_deg_record ;
record_map["ap_pah_on"] = ap_pah_on_record ;
record_map["ap_alh_on"] = ap_alh_on_record ;
record_map["ap_rah_on"] = ap_rah_on_record ;
record_map["ap_hh_on"] = ap_hh_on_record ;
record_map["ap_Theta_ref_deg"] = ap_Theta_ref_deg_record ;
record_map["ap_Theta_ref_rad"] = ap_Theta_ref_rad_record ;
record_map["ap_alt_ref_ft"] = ap_alt_ref_ft_record ;
record_map["ap_Phi_ref_deg"] = ap_Phi_ref_deg_record ;
record_map["ap_Phi_ref_rad"] = ap_Phi_ref_rad_record ;
record_map["ap_Psi_ref_deg"] = ap_Psi_ref_deg_record ;
record_map["ap_Psi_ref_rad"] = ap_Psi_ref_rad_record ;
/***********************trigger variables**************************/
record_map["trigger_on"] = trigger_on_record ;
record_map["trigger_num"] = trigger_num_record ;
record_map["trigger_toggle"] = trigger_toggle_record ;
record_map["trigger_counter"] = trigger_counter_record ;
/****************local to body transformation matrix**************/
record_map["T_local_to_body_11"] = T_local_to_body_11_record ;
record_map["T_local_to_body_12"] = T_local_to_body_12_record ;
record_map["T_local_to_body_13"] = T_local_to_body_13_record ;
record_map["T_local_to_body_21"] = T_local_to_body_21_record ;
record_map["T_local_to_body_22"] = T_local_to_body_22_record ;
record_map["T_local_to_body_23"] = T_local_to_body_23_record ;
record_map["T_local_to_body_31"] = T_local_to_body_31_record ;
record_map["T_local_to_body_32"] = T_local_to_body_32_record ;
record_map["T_local_to_body_33"] = T_local_to_body_33_record ;
}
// end uiuc_map_record6.cpp

16
src/FDM/UIUCModel/uiuc_menu_CL.cpp
View file

@ -285,14 +285,14 @@ void parse_CL( const string& linetoken2, const string& linetoken3,
aeroLiftParts -> storeCommands (*command_line);
// additional variables to streamline flap routine in aerodeflections
ndf = CLfdf_ndf;
int temp_counter = 1;
while (temp_counter <= ndf)
{
dfArray[temp_counter] = CLfdf_dfArray[temp_counter];
TimeArray[temp_counter] = dfTimefdf_TimeArray[temp_counter];
temp_counter++;
}
//ndf = CLfdf_ndf;
//int temp_counter = 1;
//while (temp_counter <= ndf)
// {
// dfArray[temp_counter] = CLfdf_dfArray[temp_counter];
// TimeArray[temp_counter] = dfTimefdf_TimeArray[temp_counter];
// temp_counter++;
// }
break;
}
case CLfadf_flag:

90
src/FDM/UIUCModel/uiuc_menu_controlSurface.cpp
View file

@ -509,6 +509,96 @@ void parse_controlSurface( const string& linetoken2, const string& linetoken3,
use_rudder_sas_type1 = true;
break;
}
case ap_pah_flag:
{
if (check_float(linetoken3))
token3 >> token_value;
else
uiuc_warnings_errors(1, *command_line);
ap_pah_start_time=token_value;
ap_pah_on = 1;
break;
}
case ap_alh_flag:
{
if (check_float(linetoken3))
token3 >> token_value;
else
uiuc_warnings_errors(1, *command_line);
ap_alh_start_time=token_value;
ap_alh_on = 1;
break;
}
case ap_rah_flag:
{
if (check_float(linetoken3))
token3 >> token_value;
else
uiuc_warnings_errors(1, *command_line);
ap_rah_start_time=token_value;
ap_rah_on = 1;
break;
}
case ap_hh_flag:
{
if (check_float(linetoken3))
token3 >> token_value;
else
uiuc_warnings_errors(1, *command_line);
ap_hh_start_time=token_value;
ap_hh_on = 1;
break;
}
case ap_Theta_ref_flag:
{
if (check_float(linetoken3))
token3 >> token_value;
else
uiuc_warnings_errors(1, *command_line);
token4 >> token_value_convert1;
convert_y = uiuc_convert(token_value_convert1);
ap_Theta_ref_rad = token_value * convert_y;
break;
}
case ap_alt_ref_flag:
{
if (check_float(linetoken3))
token3 >> token_value;
else
uiuc_warnings_errors(1, *command_line);
ap_alt_ref_ft = token_value;
break;
}
case ap_Phi_ref_flag:
{
if (check_float(linetoken3))
token3 >> token_value;
else
uiuc_warnings_errors(1, *command_line);
token4 >> token_value_convert1;
convert_y = uiuc_convert(token_value_convert1);
ap_Phi_ref_rad = token_value * convert_y;
break;
}
case ap_Psi_ref_flag:
{
if (check_float(linetoken3))
token3 >> token_value;
else
uiuc_warnings_errors(1, *command_line);
token4 >> token_value_convert1;
convert_y = uiuc_convert(token_value_convert1);
ap_Psi_ref_rad = token_value * convert_y;
break;
}
default:
{
if (ignore_unknown_keywords) {

136
src/FDM/UIUCModel/uiuc_menu_ice.cpp
View file

@ -101,8 +101,10 @@ void parse_ice( const string& linetoken2, const string& linetoken3,
LIST command_line ) {
double token_value;
int token_value_convert1, token_value_convert2, token_value_convert3;
int token_value_convert4;
double datafile_xArray[100][100], datafile_yArray[100];
double datafile_zArray[100][100];
double convert_f;
int datafile_nxArray[100], datafile_ny;
istringstream token3(linetoken3.c_str());
istringstream token4(linetoken4.c_str());
@ -1103,22 +1105,6 @@ void parse_ice( const string& linetoken2, const string& linetoken3,
demo_eps_pitch_input_startTime = token_value;
break;
}
case demo_ap_Theta_ref_deg_flag:
{
demo_ap_Theta_ref_deg = true;
demo_ap_Theta_ref_deg_file = aircraft_directory + linetoken3;
token4 >> token_value_convert1;
token5 >> token_value_convert2;
convert_y = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
uiuc_1DdataFileReader(demo_ap_Theta_ref_deg_file,
demo_ap_Theta_ref_deg_timeArray,
demo_ap_Theta_ref_deg_daArray,
demo_ap_Theta_ref_deg_ntime);
token6 >> token_value;
demo_ap_Theta_ref_deg_startTime = token_value;
break;
}
case demo_ap_pah_on_flag:
{
demo_ap_pah_on = true;
@ -1135,6 +1121,118 @@ void parse_ice( const string& linetoken2, const string& linetoken3,
demo_ap_pah_on_startTime = token_value;
break;
}
case demo_ap_alh_on_flag:
{
demo_ap_alh_on = true;
demo_ap_alh_on_file = aircraft_directory + linetoken3;
token4 >> token_value_convert1;
token5 >> token_value_convert2;
convert_y = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
uiuc_1DdataFileReader(demo_ap_alh_on_file,
demo_ap_alh_on_timeArray,
demo_ap_alh_on_daArray,
demo_ap_alh_on_ntime);
token6 >> token_value;
demo_ap_alh_on_startTime = token_value;
break;
}
case demo_ap_rah_on_flag:
{
demo_ap_rah_on = true;
demo_ap_rah_on_file = aircraft_directory + linetoken3;
token4 >> token_value_convert1;
token5 >> token_value_convert2;
convert_y = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
uiuc_1DdataFileReader(demo_ap_rah_on_file,
demo_ap_rah_on_timeArray,
demo_ap_rah_on_daArray,
demo_ap_rah_on_ntime);
token6 >> token_value;
demo_ap_rah_on_startTime = token_value;
break;
}
case demo_ap_hh_on_flag:
{
demo_ap_hh_on = true;
demo_ap_hh_on_file = aircraft_directory + linetoken3;
token4 >> token_value_convert1;
token5 >> token_value_convert2;
convert_y = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
uiuc_1DdataFileReader(demo_ap_hh_on_file,
demo_ap_hh_on_timeArray,
demo_ap_hh_on_daArray,
demo_ap_hh_on_ntime);
token6 >> token_value;
demo_ap_hh_on_startTime = token_value;
break;
}
case demo_ap_Theta_ref_flag:
{
demo_ap_Theta_ref = true;
demo_ap_Theta_ref_file = aircraft_directory + linetoken3;
token4 >> token_value_convert1;
token5 >> token_value_convert2;
convert_y = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
uiuc_1DdataFileReader(demo_ap_Theta_ref_file,
demo_ap_Theta_ref_timeArray,
demo_ap_Theta_ref_daArray,
demo_ap_Theta_ref_ntime);
token6 >> token_value;
demo_ap_Theta_ref_startTime = token_value;
break;
}
case demo_ap_alt_ref_flag:
{
demo_ap_alt_ref = true;
demo_ap_alt_ref_file = aircraft_directory + linetoken3;
token4 >> token_value_convert1;
token5 >> token_value_convert2;
convert_y = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
uiuc_1DdataFileReader(demo_ap_alt_ref_file,
demo_ap_alt_ref_timeArray,
demo_ap_alt_ref_daArray,
demo_ap_alt_ref_ntime);
token6 >> token_value;
demo_ap_alt_ref_startTime = token_value;
break;
}
case demo_ap_Phi_ref_flag:
{
demo_ap_Phi_ref = true;
demo_ap_Phi_ref_file = aircraft_directory + linetoken3;
token4 >> token_value_convert1;
token5 >> token_value_convert2;
convert_y = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
uiuc_1DdataFileReader(demo_ap_Phi_ref_file,
demo_ap_Phi_ref_timeArray,
demo_ap_Phi_ref_daArray,
demo_ap_Phi_ref_ntime);
token6 >> token_value;
demo_ap_Phi_ref_startTime = token_value;
break;
}
case demo_ap_Psi_ref_flag:
{
demo_ap_Psi_ref = true;
demo_ap_Psi_ref_file = aircraft_directory + linetoken3;
token4 >> token_value_convert1;
token5 >> token_value_convert2;
convert_y = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
uiuc_1DdataFileReader(demo_ap_Psi_ref_file,
demo_ap_Psi_ref_timeArray,
demo_ap_Psi_ref_daArray,
demo_ap_Psi_ref_ntime);
token6 >> token_value;
demo_ap_Psi_ref_startTime = token_value;
break;
}
case tactilefadef_flag:
{
int tactilefadef_index, i;
@ -1148,14 +1246,16 @@ void parse_ice( const string& linetoken2, const string& linetoken3,
if (tactilefadef_index > tactilefadef_nf)
tactilefadef_nf = tactilefadef_index;
token5 >> flap_value;
tactilefadef_fArray[tactilefadef_index] = flap_value;
token6 >> token_value_convert1;
token7 >> token_value_convert2;
token8 >> token_value_convert3;
token9 >> tactilefadef_nice;
token9 >> token_value_convert4;
token10 >> tactilefadef_nice;
convert_z = uiuc_convert(token_value_convert1);
convert_x = uiuc_convert(token_value_convert2);
convert_y = uiuc_convert(token_value_convert3);
convert_f = uiuc_convert(token_value_convert4);
tactilefadef_fArray[tactilefadef_index] = flap_value * convert_f;
/* call 2D File Reader with file name (tactilefadef_file) and
conversion factors; function returns array of
elevator deflections (deArray) and corresponding

6
src/FDM/UIUCModel/uiuc_menu_init.cpp
View file

@ -21,6 +21,7 @@
06/30/2003 (RD) replaced istrstream with istringstream
to get rid of the annoying warning about
using the strstream header
08/20/2003 (RD) removed old_flap_routine
----------------------------------------------------------------------
@ -474,11 +475,6 @@ void parse_init( const string& linetoken2, const string& linetoken3,
token4 >> port_num;
break;
}
case old_flap_routine_flag:
{
old_flap_routine = true;
break;
}
case icing_demo_flag:
{
icing_demo = true;

18
src/FDM/UIUCModel/uiuc_menu_misc.cpp
View file

@ -121,19 +121,19 @@ void parse_misc( const string& linetoken2, const string& linetoken3,
simpleHingeMomentCoef = token_value;
break;
}
case dfTimefdf_flag:
{
dfTimefdf = linetoken3;
//case dfTimefdf_flag:
//{
//dfTimefdf = linetoken3;
/* call 1D File Reader with file name (dfTimefdf);
function returns array of dfs (dfArray) and
corresponding time values (TimeArray) and max
number of terms in arrays (ndf) */
uiuc_1DdataFileReader(dfTimefdf,
dfTimefdf_dfArray,
dfTimefdf_TimeArray,
dfTimefdf_ndf);
break;
}
//uiuc_1DdataFileReader(dfTimefdf,
// dfTimefdf_dfArray,
// dfTimefdf_TimeArray,
// dfTimefdf_ndf);
//break;
//}
case flapper_flag:
{
string flap_file;

24
src/FDM/UIUCModel/uiuc_pah_ap.cpp
View file

@ -43,9 +43,9 @@
// (RD) changed from float to double
#include "uiuc_pah_ap.h"
//#include <stdio.h>
double pah_ap(double pitch, double pitchrate, double pitch_ref, double V,
double sample_t, int init)
double sample_time, int init)
{
// changes by RD so function keeps previous values
static double u2prev;
@ -72,22 +72,34 @@ double pah_ap(double pitch, double pitchrate, double pitch_ref, double V,
Ki = 0.5;
double u1,u2,u3;
u1 = Ktheta*(pitch_ref-pitch);
u2 = u2prev + Ki*Ktheta*(pitch_ref-pitch)*sample_t;
u2 = u2prev + Ki*Ktheta*(pitch_ref-pitch)*sample_time;
u3 = Kq*pitchrate;
double totalU;
totalU = u1 + u2 - u3;
//printf("\nu1=%f\n",u1);
//printf("u2=%f\n",u2);
//printf("u3=%f\n",u3);
//printf("totalU=%f\n",totalU);
u2prev = u2;
// the following is using the actuator dynamics given in Beaver.
// the actuator dynamics for Twin Otter are still unavailable.
x1 = x1prev +(-10.951*x1prev + 7.2721*x2prev + 20.7985*x3prev +
25.1568*totalU)*sample_t;
x2 = x2prev + x3prev*sample_t;
25.1568*totalU)*sample_time;
x2 = x2prev + x3prev*sample_time;
x3 = x3prev + (7.3446*x1prev - 668.6713*x2prev - 16.8697*x3prev +
5.8694*totalU)*sample_t;
5.8694*totalU)*sample_time;
deltae = 57.2958*x2;
//deltae = x2;
//printf("x1prev=%f\n",x1prev);
//printf("x2prev=%f\n",x2prev);
//printf("x3prev=%f\n",x3prev);
x1prev = x1;
x2prev = x2;
x3prev = x3;
//printf("x1=%f\n",x1);
//printf("x2=%f\n",x2);
//printf("x3=%f\n",x3);
//printf("deltae=%f\n",deltae);
return deltae;
}

137
src/FDM/UIUCModel/uiuc_rah_ap.cpp Normal file
View file

@ -0,0 +1,137 @@
// * *
// * rah_ap.C *
// * *
// * Roll attitude Hold autopilot function. takes in *
// * the state *
// * variables and reference angle as arguments *
// * (there are other variable too as arguments *
// * as listed below) *
// * and returns the aileron and rudder deflection *
// * angle at every time step *
// * *
// * *
// * Written 2/14/03 by Vikrant Sharma *
// * *
// *****************************************************
//#include <iostream.h>
//#include <stddef.h>
// define u2prev,x1prev,x2prev,x3prev,x4prev,x5prev and x6prev in the main
// function
// that uses this autopilot function. give them initial values at origin.
// Pass these values to the A/P function as an argument and pass by
// reference
// Parameters passed as arguments to the function:
// phi - Current roll angle difference from the trim
// rollrate - current rate of change of roll angle
// yawrate - current rate of change of yaw angle
// b - the wingspan
// roll_ref - reference roll angle to be tracked (increase or decrease
// desired from the trim value)
// sample_t - sampling time
// V - aircraft's current velocity
// u2prev - u2 value at the previous time step.
// x1prev - x1 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x2prev - x2 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x3prev - x3 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x4prev - x4 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x5prev - x5 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// x6prev - x6 ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
// the autpilot function (rah_ap) changes these values at every time step.
// so the simulator guys don't have to do it. Since these values are
// passed by reference to the function.
// Another important thing to do and for you simulator guys to check is the
// way I return the the deltaa (aileron deflection) and deltar (rudder deflection).
// I expect you guys to define an array that holds two float values. The first entry
// is for deltaa and the second for deltar and the pointer to this array (ctr_ptr) is also
// one of the arguments for the function rah_ap and then this function updates the value for
// deltae and deltaa every time its called. PLEASE CHECK IF THE SYNTAX IS RIGHT. Also note that
// these values have to be added to the initial trim values of the control deflection to get the
// entire control deflection.
#include "uiuc_rah_ap.h"
// (RD) changed float to double
void rah_ap(double phi, double phirate, double phi_ref, double V,
double sample_time, double b, double yawrate, double ctr_defl[2],
int init)
{
static double u2prev;
static double x1prev;
static double x2prev;
static double x3prev;
static double x4prev;
static double x5prev;
static double x6prev;
if (init==0)
{
u2prev = 0;
x1prev = 0;
x2prev = 0;
x3prev = 0;
x4prev = 0;
x5prev = 0;
x6prev = 0;
}
double Kphi;
double Kr;
double Ki;
double drr;
double dar;
double deltar;
double deltaa;
double x1, x2, x3, x4, x5, x6;
Kphi = 0.000975*V*V - 0.108*V + 2.335625;
Kr = -4;
Ki = 0.25;
dar = 0.165;
drr = -0.000075*V*V + 0.0095*V -0.4606;
double u1,u2,u3,u4,u5,u6,u7,ubar,udbar;
u1 = Kphi*(phi_ref-phi);
u2 = u2prev + Ki*Kphi*(phi_ref-phi)*sample_time;
u3 = dar*yawrate;
u4 = u1 + u2 + u3;
u2prev = u2;
double K1,K2;
K1 = Kr*9.8*sin(phi)/V;
K2 = drr - Kr;
u5 = K2*yawrate;
u6 = K1*phi;
u7 = u5 + u6;
ubar = phirate*b/(2*V);
udbar = yawrate*b/(2*V);
// the following is using the actuator dynamics to get the aileron
// angle, given in Beaver.
// the actuator dynamics for Twin Otter are still unavailable.
x1 = x1prev +(-10.6*x1prev - 2.64*x2prev -7.58*x3prev +
27.46*u4 -0.0008*ubar)*sample_time;
x2 = x2prev + x3prev*sample_time;
x3 = x3prev + (1.09*x1prev - 558.86*x2prev - 23.35*x3prev +
3.02*u4 - 0.164*ubar)*sample_time;
deltaa = 57.3*x2;
x1prev = x1;
x2prev = x2;
x3prev = x3;
// the following is using the actuator dynamics to get the rudder
// angle, given in Beaver.
// the actuator dynamics for Twin Otter are still unavailable.
x4 = x4prev +(-9.2131*x4prev + 5.52*x5prev + 16*x6prev +
24.571*u7 + 0.0036*udbar)*sample_time;
x5 = x5prev + x6prev*sample_time;
x6 = x6prev + (0.672*x4prev - 919.78*x5prev - 56.453*x6prev +
7.54*u7 - 0.636*udbar)*sample_time;
deltar = 57.3*x5;
x4prev = x4;
x5prev = x5;
x6prev = x6;
ctr_defl[0] = deltaa;
ctr_defl[1] = deltar;
return;
}

12
src/FDM/UIUCModel/uiuc_rah_ap.h Normal file
View file

@ -0,0 +1,12 @@
#ifndef _RAH_AP_H_
#define _RAH_AP_H_
#include <FDM/LaRCsim/ls_constants.h>
#include <cmath>
void rah_ap(double phi, double phirate, double phi_ref, double V,
double sample_time, double b, double yawrate, double ctr_defl[2],
int init);
#endif //_RAH_AP_H_

410
src/FDM/UIUCModel/uiuc_recorder.cpp
View file

@ -41,6 +41,8 @@
07/17/2003 (RD) Added error checking code (default
routine) since it was removed from
uiuc_menu_record()
08/20/2003 (RD) Changed spoiler variables to match
flap convention. Added flap_pos_norm
----------------------------------------------------------------------
@ -110,6 +112,16 @@ void uiuc_recorder( double dt )
int modulus = recordStep % recordRate;
//static double lat1;
//static double long1;
//double D_cg_north1;
//double D_cg_east1;
//if (Simtime == 0)
// {
// lat1=Latitude;
// long1=Longitude;
// }
if ((recordStep % recordRate) == 0)
{
command_list = recordParts->getCommands();
@ -248,6 +260,21 @@ void uiuc_recorder( double dt )
fout << Psi << " ";
break;
}
case Phi_deg_record:
{
fout << Phi*RAD_TO_DEG << " ";
break;
}
case Theta_deg_record:
{
fout << Theta*RAD_TO_DEG << " ";
break;
}
case Psi_deg_record:
{
fout << Psi*RAD_TO_DEG << " ";
break;
}
/******************** Accelerations ********************/
case V_dot_north_record:
@ -372,6 +399,11 @@ void uiuc_recorder( double dt )
fout << V_down << " ";
break;
}
case V_down_fpm_record:
{
fout << V_down * 60 << " ";
break;
}
case V_north_rel_ground_record:
{
fout << V_north_rel_ground << " ";
@ -817,6 +849,11 @@ void uiuc_recorder( double dt )
fout << elevator * RAD_TO_DEG << " ";
break;
}
case elevator_sas_deg_record:
{
fout << elevator_sas * RAD_TO_DEG << " ";
break;
}
case Lat_control_record:
{
fout << Lat_control << " ";
@ -832,6 +869,11 @@ void uiuc_recorder( double dt )
fout << aileron * RAD_TO_DEG << " ";
break;
}
case aileron_sas_deg_record:
{
fout << aileron_sas * RAD_TO_DEG << " ";
break;
}
case Rudder_pedal_record:
{
fout << Rudder_pedal << " ";
@ -847,16 +889,16 @@ void uiuc_recorder( double dt )
fout << rudder * RAD_TO_DEG << " ";
break;
}
case rudder_sas_deg_record:
{
fout << rudder_sas * RAD_TO_DEG << " ";
break;
}
case Flap_handle_record:
{
fout << Flap_handle << " ";
break;
}
case flap_record:
{
fout << flap << " ";
break;
}
case flap_cmd_record:
{
fout << flap_cmd << " ";
@ -877,19 +919,34 @@ void uiuc_recorder( double dt )
fout << flap_pos * RAD_TO_DEG << " ";
break;
}
case flap_pos_norm_record:
{
fout << flap_pos_norm << " ";
break;
}
case Spoiler_handle_record:
{
fout << Spoiler_handle << " ";
break;
}
case spoiler_cmd_record:
{
fout << spoiler_cmd << " ";
break;
}
case spoiler_cmd_deg_record:
{
fout << spoiler_cmd_deg << " ";
fout << spoiler_cmd * RAD_TO_DEG << " ";
break;
}
case spoiler_pos_record:
{
fout << spoiler_pos << " ";
break;
}
case spoiler_pos_deg_record:
{
fout << spoiler_pos_deg << " ";
fout << spoiler_pos * RAD_TO_DEG << " ";
break;
}
case spoiler_pos_norm_record:
@ -897,9 +954,21 @@ void uiuc_recorder( double dt )
fout << spoiler_pos_norm << " ";
break;
}
case spoiler_pos_record:
/****************** Gear Inputs ************************/
case Gear_handle_record:
{
fout << spoiler_pos << " ";
fout << Gear_handle << " ";
break;
}
case gear_cmd_norm_record:
{
fout << gear_cmd_norm << " ";
break;
}
case gear_pos_norm_record:
{
fout << gear_pos_norm << " ";
break;
}
@ -1901,23 +1970,63 @@ void uiuc_recorder( double dt )
fout << eps_airspeed_min << " ";
break;
}
case tactilefadefI_record:
{
fout << tactilefadefI << " ";
break;
}
/*******************Autopilot***************************/
case ap_Theta_ref_deg_record:
{
fout << ap_Theta_ref_deg << " ";
break;
}
/****************** Autopilot **************************/
case ap_pah_on_record:
{
fout << ap_pah_on << " ";
break;
}
case ap_alh_on_record:
{
fout << ap_alh_on << " ";
break;
}
case ap_rah_on_record:
{
fout << ap_rah_on << " ";
break;
}
case ap_hh_on_record:
{
fout << ap_hh_on << " ";
break;
}
case ap_Theta_ref_deg_record:
{
fout << ap_Theta_ref_rad*RAD_TO_DEG << " ";
break;
}
case ap_Theta_ref_rad_record:
{
fout << ap_Theta_ref_rad << " ";
break;
}
case ap_alt_ref_ft_record:
{
fout << ap_alt_ref_ft << " ";
break;
}
case ap_Phi_ref_deg_record:
{
fout << ap_Phi_ref_rad*RAD_TO_DEG << " ";
break;
}
case ap_Phi_ref_rad_record:
{
fout << ap_Phi_ref_rad << " ";
break;
}
case ap_Psi_ref_deg_record:
{
fout << ap_Psi_ref_rad*RAD_TO_DEG << " ";
break;
}
case ap_Psi_ref_rad_record:
{
fout << ap_Psi_ref_rad << " ";
break;
}
/************************ Forces ***********************/
case F_X_wind_record:
@ -2072,8 +2181,23 @@ void uiuc_recorder( double dt )
fout << M_n_rp << " ";
break;
}
case M_l_cg_record:
{
fout << M_l_cg << " ";
break;
}
case M_m_cg_record:
{
fout << M_m_cg << " ";
break;
}
case M_n_cg_record:
{
fout << M_n_cg << " ";
break;
}
/********************* flapper variables *********************/
/********************* flapper *********************/
case flapper_freq_record:
{
fout << flapper_freq << " ";
@ -2109,7 +2233,131 @@ void uiuc_recorder( double dt )
fout << flapper_Moment << " ";
break;
}
/********* MSS debug and other data *******************/
/****************Other Variables*******************/
case gyroMomentQ_record:
{
fout << polarInertia * engineOmega * Q_body << " ";
break;
}
case gyroMomentR_record:
{
fout << -polarInertia * engineOmega * R_body << " ";
break;
}
case eta_q_record:
{
fout << eta_q << " ";
break;
}
case rpm_record:
{
fout << (engineOmega * 60 / (2 * LS_PI)) << " ";
break;
}
case w_induced_record:
{
fout << w_induced << " ";
break;
}
case downwashAngle_deg_record:
{
fout << downwashAngle * RAD_TO_DEG << " ";
break;
}
case alphaTail_deg_record:
{
fout << alphaTail * RAD_TO_DEG << " ";
break;
}
case gammaWing_record:
{
fout << gammaWing << " ";
break;
}
case LD_record:
{
fout << V_ground_speed/V_down_rel_ground << " ";
break;
}
case gload_record:
{
fout << -A_Z_cg/32.174 << " ";
break;
}
case tactilefadefI_record:
{
fout << tactilefadefI << " ";
break;
}
/****************Trigger Variables*******************/
case trigger_on_record:
{
fout << trigger_on << " ";
break;
}
case trigger_num_record:
{
fout << trigger_num << " ";
break;
}
case trigger_toggle_record:
{
fout << trigger_toggle << " ";
break;
}
case trigger_counter_record:
{
fout << trigger_counter << " ";
break;
}
/*********local to body transformation matrix********/
case T_local_to_body_11_record:
{
fout << T_local_to_body_11 << " ";
break;
}
case T_local_to_body_12_record:
{
fout << T_local_to_body_12 << " ";
break;
}
case T_local_to_body_13_record:
{
fout << T_local_to_body_13 << " ";
break;
}
case T_local_to_body_21_record:
{
fout << T_local_to_body_21 << " ";
break;
}
case T_local_to_body_22_record:
{
fout << T_local_to_body_22 << " ";
break;
}
case T_local_to_body_23_record:
{
fout << T_local_to_body_23 << " ";
break;
}
case T_local_to_body_31_record:
{
fout << T_local_to_body_31 << " ";
break;
}
case T_local_to_body_32_record:
{
fout << T_local_to_body_32 << " ";
break;
}
case T_local_to_body_33_record:
{
fout << T_local_to_body_33 << " ";
break;
}
/********* MSS debug and other data *******************/
/* debug variables for use in probing data */
/* comment out old lines, and add new */
/* only remove code that you have written */
@ -2169,7 +2417,11 @@ void uiuc_recorder( double dt )
case debug4_record:
{
// flapper F_X_aero_flapper
fout << F_X_aero_flapper << " ";
//fout << F_X_aero_flapper << " ";
//ap_pah_on
//fout << ap_pah_on << " ";
//D_cg_north1 = Radius_to_rwy*(Latitude - lat1);
//fout << D_cg_north1 << " ";
break;
}
case debug5_record:
@ -2177,119 +2429,39 @@ void uiuc_recorder( double dt )
// flapper F_Z_aero_flapper
//fout << F_Z_aero_flapper << " ";
// gear_rate
fout << gear_rate << " ";
//D_cg_east1 = Radius_to_rwy*cos(lat1)*(Longitude - long1);
//fout << D_cg_east1 << " ";
break;
}
case debug6_record:
{
//gear_max
fout << gear_max << " ";
//fout << gear_max << " ";
//fout << sqrt(D_cg_north1*D_cg_north1+D_cg_east1*D_cg_east1) << " ";
break;
}
case V_down_fpm_record:
case debug7_record:
{
fout << V_down * 60 << " ";
//Debug7
fout << debug7 << " ";
break;
}
case eta_q_record:
case debug8_record:
{
fout << eta_q << " ";
//Debug8
fout << debug8 << " ";
break;
}
case rpm_record:
case debug9_record:
{
fout << (engineOmega * 60 / (2 * LS_PI)) << " ";
//Debug9
fout << debug9 << " ";
break;
}
case elevator_sas_deg_record:
case debug10_record:
{
fout << elevator_sas * RAD_TO_DEG << " ";
break;
}
case aileron_sas_deg_record:
{
fout << aileron_sas * RAD_TO_DEG << " ";
break;
}
case rudder_sas_deg_record:
{
fout << rudder_sas * RAD_TO_DEG << " ";
break;
}
case w_induced_record:
{
fout << w_induced << " ";
break;
}
case downwashAngle_deg_record:
{
fout << downwashAngle * RAD_TO_DEG << " ";
break;
}
case alphaTail_deg_record:
{
fout << alphaTail * RAD_TO_DEG << " ";
break;
}
case gammaWing_record:
{
fout << gammaWing << " ";
break;
}
case LD_record:
{
fout << V_ground_speed/V_down_rel_ground << " ";
break;
}
case gload_record:
{
fout << -A_Z_cg/32.174 << " ";
break;
}
case gyroMomentQ_record:
{
fout << polarInertia * engineOmega * Q_body << " ";
break;
}
case gyroMomentR_record:
{
fout << -polarInertia * engineOmega * R_body << " ";
break;
}
case Gear_handle_record:
{
fout << Gear_handle << " ";
break;
}
case gear_cmd_norm_record:
{
fout << gear_cmd_norm << " ";
break;
}
case gear_pos_norm_record:
{
fout << gear_pos_norm << " ";
break;
}
/****************Trigger Variables*******************/
case trigger_on_record:
{
fout << trigger_on << " ";
break;
}
case trigger_num_record:
{
fout << trigger_num << " ";
break;
}
case trigger_toggle_record:
{
fout << trigger_toggle << " ";
break;
}
case trigger_counter_record:
{
fout << trigger_counter << " ";
//Debug10
fout << debug10 << " ";
break;
}
default:

24
src/FDM/UIUCModel/uiuc_wrapper.cpp
View file

@ -195,7 +195,6 @@ void uiuc_defaults_inits ()
W_body_init_true = false;
trim_case_2 = false;
use_uiuc_network = false;
old_flap_routine = false;
icing_demo = false;
outside_control = false;
set_Long_trim = false;
@ -270,7 +269,9 @@ void uiuc_defaults_inits ()
demo_eps_pitch_input = false;
tactilefadef = false;
demo_ap_pah_on = false;
demo_ap_Theta_ref_deg = false;
demo_ap_alh_on = false;
demo_ap_Theta_ref = false;
demo_ap_alt_ref = false;
demo_tactile = false;
demo_ice_tail = false;
demo_ice_left = false;
@ -281,16 +282,17 @@ void uiuc_defaults_inits ()
Dx_cg = 0.0;
Dy_cg = 0.0;
Dz_cg = 0.0;
ap_pah_on = 0;
ap_alh_on = 0;
// Calculates the local velocity (V_north, V_east, V_down) from the body
// velocities.
// Called from uiuc_local_vel_init which is called from ls_step.
// Used during initialization (while Simtime=0)
}
void uiuc_vel_init ()
{
// Calculates the local velocity (V_north, V_east, V_down) from the body
// velocities.
// Called from uiuc_local_vel_init which is called from ls_step.
// Used during initialization (while Simtime=0)
if (U_body_init_true && V_body_init_true && W_body_init_true)
{
double det_T_l_to_b, cof11, cof12, cof13, cof21, cof22, cof23, cof31, cof32, cof33;
@ -312,12 +314,12 @@ void uiuc_vel_init ()
V_east = V_east_rel_ground + OMEGA_EARTH*Sea_level_radius*cos(Lat_geocentric);
}
// Initializes the UIUC aircraft model.
// Called once from uiuc_init_2_wrapper
}
void uiuc_init_aeromodel ()
{
// Initializes the UIUC aircraft model.
// Called once from uiuc_init_2_wrapper
SGPath path(globals->get_fg_root());
path.append(aircraft_dir);
path.append("aircraft.dat");
@ -483,12 +485,12 @@ void uiuc_record_routine(double dt)
void uiuc_network_recv_routine()
{
//if (use_uiuc_network)
//uiuc_network(1);
// uiuc_network(1);
}
void uiuc_network_send_routine()
{
//if (use_uiuc_network)
//uiuc_network(2);
// uiuc_network(2);
}
//end uiuc_wrapper.cpp