/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Module: FGAircraft.cpp Author: Jon S. Berndt Date started: 12/12/98 Purpose: Encapsulates an aircraft Called by: FGFDMExec ------------- 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 -------------------------------------------------------------------------------- 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 -------------------------------------------------------------------------------- 12/12/98 JSB Created 04/03/99 JSB Changed Aero() method to correct body axis force calculation from wind vector. Fix provided by Tony Peden. 05/03/99 JSB Changed (for the better?) the way configurations are read in. 9/17/99 TP Combined force and moment functions. Added aero reference point to config file. Added calculations for moments due to difference in cg and aero reference point %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 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 aerodynamic coefficients used in this model are: Longitudinal CL0 - Reference lift at zero alpha CD0 - Reference drag at zero alpha CDM - Drag due to Mach CLa - Lift curve slope (w.r.t. alpha) CDa - Drag curve slope (w.r.t. alpha) CLq - Lift due to pitch rate CLM - Lift due to Mach CLadt - Lift due to alpha rate Cmadt - Pitching Moment due to alpha rate Cm0 - Reference Pitching moment at zero alpha Cma - Pitching moment slope (w.r.t. alpha) Cmq - Pitch damping (pitch moment due to pitch rate) CmM - Pitch Moment due to Mach Lateral Cyb - Side force due to sideslip Cyr - Side force due to yaw rate Clb - Dihedral effect (roll moment due to sideslip) Clp - Roll damping (roll moment due to roll rate) Clr - Roll moment due to yaw rate Cnb - Weathercocking stability (yaw moment due to sideslip) Cnp - Rudder adverse yaw (yaw moment due to roll rate) Cnr - Yaw damping (yaw moment due to yaw rate) Control CLDe - Lift due to elevator CDDe - Drag due to elevator CyDr - Side force due to rudder CyDa - Side force due to aileron CmDe - Pitch moment due to elevator ClDa - Roll moment due to aileron ClDr - Roll moment due to rudder CnDr - Yaw moment due to rudder CnDa - Yaw moment due to aileron %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include #include #ifdef FGFS # ifndef __BORLANDC__ # include # endif # ifdef SG_HAVE_STD_INCLUDES # include # else # include # endif #else # include #endif #include "FGAircraft.h" #include "FGMassBalance.h" #include "FGInertial.h" #include "FGAerodynamics.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" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% GLOBAL DATA %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ static const char *IdSrc = "$Id$"; static const char *IdHdr = ID_AIRCRAFT; extern char highint[5]; extern char halfint[5]; extern char normint[6]; extern char reset[5]; extern char underon[5]; extern char underoff[6]; extern char fgblue[6]; extern char fgcyan[6]; extern char fgred[6]; extern char fggreen[6]; extern char fgdef[6]; extern short debug_lvl; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex), vMoments(3), vForces(3), vXYZrp(3), vXYZep(3), vEuler(3), vDXYZcg(3), vAeroBodyForces(3) { Name = "FGAircraft"; GearUp = false; alphaclmin = alphaclmax = 0; if (debug_lvl & 2) cout << "Instantiated: " << Name << endl; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGAircraft::~FGAircraft() { if (debug_lvl & 2) cout << "Destroyed: FGAircraft" << endl; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGAircraft::LoadAircraft(string aircraft_path, string engine_path, string fname) { string path; string filename; string aircraftCfgFileName; string token; AircraftPath = aircraft_path; EnginePath = engine_path; # ifndef macintosh aircraftCfgFileName = AircraftPath + "/" + fname + "/" + fname + ".xml"; # else aircraftCfgFileName = AircraftPath + ";" + fname + ";" + fname + ".xml"; # endif FGConfigFile AC_cfg(aircraftCfgFileName); if (!AC_cfg.IsOpen()) return false; ReadPrologue(&AC_cfg); while ((AC_cfg.GetNextConfigLine() != "EOF") && (token = AC_cfg.GetValue()) != "/FDM_CONFIG") { if (token == "METRICS") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl; ReadMetrics(&AC_cfg); } else if (token == "AERODYNAMICS") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl; ReadAerodynamics(&AC_cfg); } else if (token == "UNDERCARRIAGE") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl; ReadUndercarriage(&AC_cfg); } else if (token == "PROPULSION") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl; ReadPropulsion(&AC_cfg); } else if (token == "FLIGHT_CONTROL") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl; ReadFlightControls(&AC_cfg); } else if (token == "OUTPUT") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl; ReadOutput(&AC_cfg); } } return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGAircraft::Run(void) { if (!FGModel::Run()) { // if false then execute this Run() GetState(); vForces.InitMatrix(); vMoments.InitMatrix(); FMProp(); FMAero(); FMMass(); FMGear(); return false; } else { // skip Run() execution this time return true; } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::FMAero(void) { vForces += Aerodynamics->GetForces(); vMoments += Aerodynamics->GetMoments(); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::FMGear(void) { if ( !GearUp ) { vector ::iterator iGear = lGear.begin(); while (iGear != lGear.end()) { vForces += iGear->Force(); vMoments += iGear->Moment(); iGear++; } } else { // Crash Routine } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::FMMass(void) { vForces += Inertial->GetForces(); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::FMProp(void) { vForces += Propulsion->GetForces(); vMoments += Propulsion->GetMoments(); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::GetState(void) { dt = State->Getdt(); alpha = Translation->Getalpha(); beta = Translation->Getbeta(); vEuler = Rotation->GetEuler(); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::ReadMetrics(FGConfigFile* AC_cfg) { string token = ""; string parameter; float EW, bixx, biyy, bizz, bixz, biyz; FGColumnVector vbaseXYZcg(3); AC_cfg->GetNextConfigLine(); while ((token = AC_cfg->GetValue()) != "/METRICS") { *AC_cfg >> parameter; if (parameter == "AC_WINGAREA") { *AC_cfg >> WingArea; if (debug_lvl > 0) cout << " WingArea: " << WingArea << endl; } else if (parameter == "AC_WINGSPAN") { *AC_cfg >> WingSpan; if (debug_lvl > 0) cout << " WingSpan: " << WingSpan << endl; } else if (parameter == "AC_CHORD") { *AC_cfg >> cbar; if (debug_lvl > 0) cout << " Chord: " << cbar << endl; } else if (parameter == "AC_IXX") { *AC_cfg >> bixx; if (debug_lvl > 0) cout << " baseIxx: " << bixx << endl; MassBalance->SetBaseIxx(bixx); } else if (parameter == "AC_IYY") { *AC_cfg >> biyy; if (debug_lvl > 0) cout << " baseIyy: " << biyy << endl; MassBalance->SetBaseIyy(biyy); } else if (parameter == "AC_IZZ") { *AC_cfg >> bizz; if (debug_lvl > 0) cout << " baseIzz: " << bizz << endl; MassBalance->SetBaseIzz(bizz); } else if (parameter == "AC_IXZ") { *AC_cfg >> bixz; if (debug_lvl > 0) cout << " baseIxz: " << bixz << endl; MassBalance->SetBaseIxz(bixz); } else if (parameter == "AC_IYZ") { *AC_cfg >> biyz; if (debug_lvl > 0) cout << " baseIyz: " << biyz << endl; MassBalance->SetBaseIyz(biyz); } else if (parameter == "AC_EMPTYWT") { *AC_cfg >> EW; MassBalance->SetEmptyWeight(EW); if (debug_lvl > 0) cout << " EmptyWeight: " << EW << endl; } else if (parameter == "AC_CGLOC") { *AC_cfg >> vbaseXYZcg(eX) >> vbaseXYZcg(eY) >> vbaseXYZcg(eZ); MassBalance->SetBaseCG(vbaseXYZcg); if (debug_lvl > 0) cout << " CG (x, y, z): " << vbaseXYZcg << endl; } else if (parameter == "AC_EYEPTLOC") { *AC_cfg >> vXYZep(eX) >> vXYZep(eY) >> vXYZep(eZ); if (debug_lvl > 0) cout << " Eyepoint (x, y, z): " << vXYZep << endl; } else if (parameter == "AC_AERORP") { *AC_cfg >> vXYZrp(eX) >> vXYZrp(eY) >> vXYZrp(eZ); if (debug_lvl > 0) cout << " Ref Pt (x, y, z): " << vXYZrp << endl; } else if (parameter == "AC_ALPHALIMITS") { *AC_cfg >> alphaclmin >> alphaclmax; if (debug_lvl > 0) cout << " Maximum Alpha: " << alphaclmax << " Minimum Alpha: " << alphaclmin << endl; } } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::ReadPropulsion(FGConfigFile* AC_cfg) { if (!Propulsion->LoadPropulsion(AC_cfg)) { cerr << "Propulsion not successfully loaded" << endl; } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::ReadFlightControls(FGConfigFile* AC_cfg) { if (!FCS->LoadFCS(AC_cfg)) { cerr << "Flight Controls not successfully loaded" << endl; } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::ReadAerodynamics(FGConfigFile* AC_cfg) { if (!Aerodynamics->LoadAerodynamics(AC_cfg)) { cerr << "Aerodynamics not successfully loaded" << endl; } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::ReadUndercarriage(FGConfigFile* AC_cfg) { string token; AC_cfg->GetNextConfigLine(); while ((token = AC_cfg->GetValue()) != "/UNDERCARRIAGE") { lGear.push_back(FGLGear(AC_cfg, FDMExec)); } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::ReadOutput(FGConfigFile* AC_cfg) { string token, parameter; int OutRate = 0; int subsystems = 0; token = AC_cfg->GetValue("NAME"); Output->SetFilename(token); token = AC_cfg->GetValue("TYPE"); Output->SetType(token); AC_cfg->GetNextConfigLine(); while ((token = AC_cfg->GetValue()) != "/OUTPUT") { *AC_cfg >> parameter; if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate; if (parameter == "SIMULATION") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssSimulation; } if (parameter == "AEROSURFACES") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssAerosurfaces; } if (parameter == "RATES") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssRates; } if (parameter == "VELOCITIES") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssVelocities; } if (parameter == "FORCES") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssForces; } if (parameter == "MOMENTS") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssMoments; } if (parameter == "ATMOSPHERE") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssAtmosphere; } if (parameter == "MASSPROPS") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssMassProps; } if (parameter == "POSITION") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssPosition; } if (parameter == "COEFFICIENTS") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssCoefficients; } if (parameter == "GROUND_REACTIONS") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssGroundReactions; } if (parameter == "FCS") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssFCS; } if (parameter == "PROPULSION") { *AC_cfg >> parameter; if (parameter == "ON") subsystems += ssPropulsion; } } Output->SetSubsystems(subsystems); OutRate = OutRate>120?120:(OutRate<0?0:OutRate); Output->SetRate( (int)(0.5 + 1.0/(State->Getdt()*OutRate)) ); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGAircraft::ReadPrologue(FGConfigFile* AC_cfg) { string token = AC_cfg->GetValue(); string scratch; AircraftName = AC_cfg->GetValue("NAME"); if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File" << underoff << ": " << highint << AircraftName << normint << endl; scratch = AC_cfg->GetValue("VERSION").c_str(); CFGVersion = AC_cfg->GetValue("VERSION"); if (debug_lvl > 0) cout << " Version: " << highint << CFGVersion << normint << endl; if (CFGVersion != NEEDED_CFG_VERSION) { cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT." " RESULTS WILL BE UNPREDICTABLE !!" << endl; cerr << "Current version needed is: " << NEEDED_CFG_VERSION << endl; cerr << " You have version: " << CFGVersion << endl << fgdef << endl; } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% string FGAircraft::GetGroundReactionStrings(void) { string GroundReactionStrings = ""; bool firstime = true; for (unsigned int i=0;i