/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Module: FGTranslation.cpp Author: Jon Berndt Date started: 12/02/98 Purpose: Integrates the translational EOM Called by: FDMExec ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) ------------- 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; either version 2 of the License, or (at your option) any later version. 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. Further information about the GNU General Public License can also be found on the world wide web at http://www.gnu.org. FUNCTIONAL DESCRIPTION -------------------------------------------------------------------------------- This class integrates the translational EOM. HISTORY -------------------------------------------------------------------------------- 12/02/98 JSB Created 7/23/99 TP Added data member and modified Run and PutState to calcuate Mach number %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% COMMENTS, REFERENCES, and NOTES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% [1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate School, January 1994 [2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices", JSC 12960, July 1977 [3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at NASA-Ames", NASA CR-2497, January 1975 [4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics", Wiley & Sons, 1979 ISBN 0-471-03032-5 [5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons, 1982 ISBN 0-471-08936-2 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. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGTranslation.h" #include "FGRotation.h" #include "FGAtmosphere.h" #include "FGState.h" #include "FGFDMExec.h" #include "FGFCS.h" #include "FGMassBalance.h" #include "FGAircraft.h" #include "FGPosition.h" #include "FGAuxiliary.h" #include "FGOutput.h" #include "FGPropertyManager.h" static const char *IdSrc = "$Id$"; static const char *IdHdr = ID_TRANSLATION; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex) { Name = "FGTranslation"; qbar = 0; qbarUW = 0.0; qbarUV = 0.0; Vt = 0.0; Mach = 0.0; alpha = beta = 0.0; adot = bdot = 0.0; vUVWdot.InitMatrix(); vUVWdot_prev[0].InitMatrix(); vUVWdot_prev[1].InitMatrix(); vUVWdot_prev[2].InitMatrix(); bind(); Debug(0); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGTranslation::~FGTranslation(void) { unbind(); Debug(1); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGTranslation::Run(void) { if (!FGModel::Run()) { mVel(1,1) = 0.0; mVel(1,2) = -vUVW(eW); mVel(1,3) = vUVW(eV); mVel(2,1) = vUVW(eW); mVel(2,2) = 0.0; mVel(2,3) = -vUVW(eU); mVel(3,1) = -vUVW(eV); mVel(3,2) = vUVW(eU); mVel(3,3) = 0.0; vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel(); vUVW += State->Integrate(FGState::TRAPZ, State->Getdt()*rate, vUVWdot, vUVWdot_prev); vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED(); Vt = vAeroUVW.Magnitude(); if ( Vt > 1) { if (vAeroUVW(eW) != 0.0) alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0; if (vAeroUVW(eV) != 0.0) beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0; // stolen, quite shamelessly, from LaRCsim double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW)); double signU=1; if (vAeroUVW(eU) != 0.0) signU = vAeroUVW(eU)/fabs(vAeroUVW(eU)); if ( (mUW == 0.0) || (Vt == 0.0) ) { adot = 0.0; bdot = 0.0; } else { adot = (vAeroUVW(eU)*vAeroUVW(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW; bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU) + vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW)); } } else { alpha = beta = adot = bdot = 0; } qbar = 0.5*Atmosphere->GetDensity()*Vt*Vt; qbarUW = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW)); qbarUV = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV)); Mach = Vt / State->Geta(); if (debug_lvl > 1) Debug(1); return false; } else { return true; } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGTranslation::bind(void) { typedef double (FGTranslation::*PMF)(int) const; PropertyManager->Tie("velocities/u-fps", this,1, (PMF)&FGTranslation::GetUVW /*, &FGTranslation::SetUVW, true */); PropertyManager->Tie("velocities/v-fps", this,2, (PMF)&FGTranslation::GetUVW /*, &FGTranslation::SetUVW, true*/); PropertyManager->Tie("velocities/w-fps", this,3, (PMF)&FGTranslation::GetUVW /*, &FGTranslation::SetUVW, true*/); PropertyManager->Tie("accelerations/udot-fps", this,1, (PMF)&FGTranslation::GetUVWdot); PropertyManager->Tie("accelerations/vdot-fps", this,2, (PMF)&FGTranslation::GetUVWdot); PropertyManager->Tie("accelerations/wdot-fps", this,3, (PMF)&FGTranslation::GetUVWdot); PropertyManager->Tie("velocities/u-aero-fps", this,1, (PMF)&FGTranslation::GetAeroUVW); PropertyManager->Tie("velocities/v-aero-fps", this,2, (PMF)&FGTranslation::GetAeroUVW); PropertyManager->Tie("velocities/w-aero-fps", this,3, (PMF)&FGTranslation::GetAeroUVW); PropertyManager->Tie("aero/alpha-rad", this, &FGTranslation::Getalpha, &FGTranslation::Setalpha, true); PropertyManager->Tie("aero/beta-rad", this, &FGTranslation::Getbeta, &FGTranslation::Setbeta, true); PropertyManager->Tie("aero/mag-beta-rad", this, &FGTranslation::GetMagBeta); PropertyManager->Tie("aero/qbar-psf", this, &FGTranslation::Getqbar, &FGTranslation::Setqbar, true); PropertyManager->Tie("aero/qbarUW-psf", this, &FGTranslation::GetqbarUW, &FGTranslation::SetqbarUW, true); PropertyManager->Tie("aero/qbarUV-psf", this, &FGTranslation::GetqbarUV, &FGTranslation::SetqbarUV, true); PropertyManager->Tie("velocities/vt-fps", this, &FGTranslation::GetVt, &FGTranslation::SetVt, true); PropertyManager->Tie("velocities/mach-norm", this, &FGTranslation::GetMach, &FGTranslation::SetMach, true); PropertyManager->Tie("aero/alphadot-rad_sec", this, &FGTranslation::Getadot, &FGTranslation::Setadot, true); PropertyManager->Tie("aero/betadot-rad_sec", this, &FGTranslation::Getbdot, &FGTranslation::Setbdot, true); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGTranslation::unbind(void) { PropertyManager->Untie("velocities/u-fps"); PropertyManager->Untie("velocities/v-fps"); PropertyManager->Untie("velocities/w-fps"); PropertyManager->Untie("accelerations/udot-fps"); PropertyManager->Untie("accelerations/vdot-fps"); PropertyManager->Untie("accelerations/wdot-fps"); PropertyManager->Untie("velocities/u-aero-fps"); PropertyManager->Untie("velocities/v-aero-fps"); PropertyManager->Untie("velocities/w-aero-fps"); PropertyManager->Untie("aero/alpha-rad"); PropertyManager->Untie("aero/beta-rad"); PropertyManager->Untie("aero/qbar-psf"); PropertyManager->Untie("aero/qbarUW-psf"); PropertyManager->Untie("aero/qbarUV-psf"); PropertyManager->Untie("velocities/vt-fps"); PropertyManager->Untie("velocities/mach-norm"); PropertyManager->Untie("aero/alphadot-rad_sec"); PropertyManager->Untie("aero/betadot-rad_sec"); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print // out the normally expected messages, essentially echoing // the config files as they are read. If the environment // variable is not set, debug_lvl is set to 1 internally // 0: This requests JSBSim not to output any messages // whatsoever. // 1: This value explicity requests the normal JSBSim // startup messages // 2: This value asks for a message to be printed out when // a class is instantiated // 4: When this value is set, a message is displayed when a // FGModel object executes its Run() method // 8: When this value is set, various runtime state variables // are printed out periodically // 16: When set various parameters are sanity checked and // a message is printed out when they go out of bounds void FGTranslation::Debug(int from) { if (debug_lvl <= 0) return; if (debug_lvl & 1) { // Standard console startup message output if (from == 0) { // Constructor } } if (debug_lvl & 2 ) { // Instantiation/Destruction notification if (from == 0) cout << "Instantiated: FGTranslation" << endl; if (from == 1) cout << "Destroyed: FGTranslation" << endl; } if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects } if (debug_lvl & 8 ) { // Runtime state variables } if (debug_lvl & 16) { // Sanity checking if (fabs(vUVW(eU)) > 1e6) cout << "FGTranslation::U velocity out of bounds: " << vUVW(eU) << endl; if (fabs(vUVW(eV)) > 1e6) cout << "FGTranslation::V velocity out of bounds: " << vUVW(eV) << endl; if (fabs(vUVW(eW)) > 1e6) cout << "FGTranslation::W velocity out of bounds: " << vUVW(eW) << endl; if (fabs(vUVWdot(eU)) > 1e4) cout << "FGTranslation::U acceleration out of bounds: " << vUVWdot(eU) << endl; if (fabs(vUVWdot(eV)) > 1e4) cout << "FGTranslation::V acceleration out of bounds: " << vUVWdot(eV) << endl; if (fabs(vUVWdot(eW)) > 1e4) cout << "FGTranslation::W acceleration out of bounds: " << vUVWdot(eW) << endl; if (Mach > 100 || Mach < 0.00) cout << "FGTranslation::Mach is out of bounds: " << Mach << endl; if (qbar > 1e6 || qbar < 0.00) cout << "FGTranslation::qbar is out of bounds: " << qbar << endl; } if (debug_lvl & 64) { if (from == 0) { // Constructor cout << IdSrc << endl; cout << IdHdr << endl; } } }