320 lines
12 KiB
C++
320 lines
12 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGTranslation.cpp
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Author: Jon Berndt
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Date started: 12/02/98
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Purpose: Integrates the translational EOM
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Called by: FDMExec
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------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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details.
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You should have received a copy of the GNU General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU General Public License can also be found on
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the world wide web at http://www.gnu.org.
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FUNCTIONAL DESCRIPTION
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--------------------------------------------------------------------------------
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This class integrates the translational EOM.
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HISTORY
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--------------------------------------------------------------------------------
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12/02/98 JSB Created
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7/23/99 TP Added data member and modified Run and PutState to calcuate
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Mach number
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COMMENTS, REFERENCES, and NOTES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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[1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
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Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
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School, January 1994
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[2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
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JSC 12960, July 1977
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[3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
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NASA-Ames", NASA CR-2497, January 1975
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[4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
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Wiley & Sons, 1979 ISBN 0-471-03032-5
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[5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
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1982 ISBN 0-471-08936-2
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The order of rotations used in this class corresponds to a 3-2-1 sequence,
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or Y-P-R, or Z-Y-X, if you prefer.
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include "FGTranslation.h"
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#include "FGRotation.h"
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#include "FGAtmosphere.h"
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#include "FGState.h"
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#include "FGFDMExec.h"
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#include "FGFCS.h"
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#include "FGMassBalance.h"
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#include "FGAircraft.h"
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#include "FGPosition.h"
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#include "FGAuxiliary.h"
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#include "FGOutput.h"
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#include "FGPropertyManager.h"
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static const char *IdSrc = "$Id$";
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static const char *IdHdr = ID_TRANSLATION;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
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{
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Name = "FGTranslation";
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qbar = 0;
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Vt = 0.0;
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Mach = 0.0;
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alpha = beta = 0.0;
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adot = bdot = 0.0;
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bind();
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Debug(0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGTranslation::~FGTranslation(void)
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{
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unbind();
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Debug(1);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGTranslation::Run(void)
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{
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double Tc = 0.5*State->Getdt()*rate;
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if (!FGModel::Run()) {
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mVel(1,1) = 0.0;
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mVel(1,2) = -vUVW(eW);
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mVel(1,3) = vUVW(eV);
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mVel(2,1) = vUVW(eW);
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mVel(2,2) = 0.0;
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mVel(2,3) = -vUVW(eU);
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mVel(3,1) = -vUVW(eV);
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mVel(3,2) = vUVW(eU);
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mVel(3,3) = 0.0;
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vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel();
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vUVW += Tc*(vUVWdot + vlastUVWdot);
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vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
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Vt = vAeroUVW.Magnitude();
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if ( Vt > 1) {
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if (vAeroUVW(eW) != 0.0)
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alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
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if (vAeroUVW(eV) != 0.0)
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beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV),
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sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
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// stolen, quite shamelessly, from LaRCsim
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double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
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double signU=1;
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if (vAeroUVW(eU) != 0.0)
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signU = vAeroUVW(eU)/fabs(vAeroUVW(eU));
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if ( (mUW == 0.0) || (Vt == 0.0) ) {
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adot = 0.0;
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bdot = 0.0;
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} else {
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adot = (vAeroUVW(eU)*vAeroUVW(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
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bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU)
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+ vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
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}
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} else {
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alpha = beta = adot = bdot = 0;
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}
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qbar = 0.5*Atmosphere->GetDensity()*Vt*Vt;
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qbarUW = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
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qbarUV = 0.5*Atmosphere->GetDensity()*(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eV)*vAeroUVW(eV));
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Mach = Vt / State->Geta();
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vlastUVWdot = vUVWdot;
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if (debug_lvl > 1) Debug(1);
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return false;
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} else {
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return true;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGTranslation::bind(void)
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{
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typedef double (FGTranslation::*PMF)(int) const;
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PropertyManager->Tie("velocities/u-fps", this,1,
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(PMF)&FGTranslation::GetUVW /*,
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&FGTranslation::SetUVW,
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true */);
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PropertyManager->Tie("velocities/v-fps", this,2,
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(PMF)&FGTranslation::GetUVW /*,
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&FGTranslation::SetUVW,
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true*/);
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PropertyManager->Tie("velocities/w-fps", this,3,
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(PMF)&FGTranslation::GetUVW /*,
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&FGTranslation::SetUVW,
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true*/);
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PropertyManager->Tie("accelerations/udot-fps", this,1,
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(PMF)&FGTranslation::GetUVWdot);
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PropertyManager->Tie("accelerations/vdot-fps", this,2,
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(PMF)&FGTranslation::GetUVWdot);
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PropertyManager->Tie("accelerations/wdot-fps", this,3,
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(PMF)&FGTranslation::GetUVWdot);
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PropertyManager->Tie("velocities/u-aero-fps", this,1,
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(PMF)&FGTranslation::GetAeroUVW);
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PropertyManager->Tie("velocities/v-aero-fps", this,2,
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(PMF)&FGTranslation::GetAeroUVW);
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PropertyManager->Tie("velocities/w-aero-fps", this,3,
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(PMF)&FGTranslation::GetAeroUVW);
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PropertyManager->Tie("aero/alpha-rad", this,
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&FGTranslation::Getalpha,
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&FGTranslation::Setalpha,
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true);
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PropertyManager->Tie("aero/beta-rad", this,
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&FGTranslation::Getbeta,
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&FGTranslation::Setbeta,
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true);
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PropertyManager->Tie("aero/mag-beta-rad", this,
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&FGTranslation::GetMagBeta);
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PropertyManager->Tie("aero/qbar-psf", this,
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&FGTranslation::Getqbar,
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&FGTranslation::Setqbar,
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true);
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PropertyManager->Tie("aero/qbarUW-psf", this,
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&FGTranslation::GetqbarUW,
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&FGTranslation::SetqbarUW,
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true);
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PropertyManager->Tie("aero/qbarUV-psf", this,
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&FGTranslation::GetqbarUV,
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&FGTranslation::SetqbarUV,
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true);
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PropertyManager->Tie("velocities/vt-fps", this,
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&FGTranslation::GetVt,
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&FGTranslation::SetVt,
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true);
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PropertyManager->Tie("velocities/mach-norm", this,
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&FGTranslation::GetMach,
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&FGTranslation::SetMach,
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true);
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PropertyManager->Tie("aero/alphadot-rad_sec", this,
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&FGTranslation::Getadot,
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&FGTranslation::Setadot,
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true);
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PropertyManager->Tie("aero/betadot-rad_sec", this,
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&FGTranslation::Getbdot,
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&FGTranslation::Setbdot,
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true);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGTranslation::unbind(void)
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{
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PropertyManager->Untie("velocities/u-fps");
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PropertyManager->Untie("velocities/v-fps");
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PropertyManager->Untie("velocities/w-fps");
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PropertyManager->Untie("accelerations/udot-fps");
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PropertyManager->Untie("accelerations/vdot-fps");
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PropertyManager->Untie("accelerations/wdot-fps");
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PropertyManager->Untie("velocities/u-aero-fps");
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PropertyManager->Untie("velocities/v-aero-fps");
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PropertyManager->Untie("velocities/w-aero-fps");
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PropertyManager->Untie("aero/alpha-rad");
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PropertyManager->Untie("aero/beta-rad");
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PropertyManager->Untie("aero/qbar-psf");
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PropertyManager->Untie("aero/qbarUW-psf");
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PropertyManager->Untie("aero/qbarUV-psf");
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PropertyManager->Untie("velocities/vt-fps");
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PropertyManager->Untie("velocities/mach-norm");
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PropertyManager->Untie("aero/alphadot-rad_sec");
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PropertyManager->Untie("aero/betadot-rad_sec");
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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// The bitmasked value choices are as follows:
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// unset: In this case (the default) JSBSim would only print
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// out the normally expected messages, essentially echoing
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// the config files as they are read. If the environment
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// variable is not set, debug_lvl is set to 1 internally
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// 0: This requests JSBSim not to output any messages
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// whatsoever.
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// 1: This value explicity requests the normal JSBSim
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// startup messages
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// 2: This value asks for a message to be printed out when
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// a class is instantiated
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// 4: When this value is set, a message is displayed when a
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// FGModel object executes its Run() method
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// 8: When this value is set, various runtime state variables
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// are printed out periodically
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// 16: When set various parameters are sanity checked and
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// a message is printed out when they go out of bounds
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void FGTranslation::Debug(int from)
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{
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if (debug_lvl <= 0) return;
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if (debug_lvl & 1) { // Standard console startup message output
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if (from == 0) { // Constructor
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}
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}
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if (debug_lvl & 2 ) { // Instantiation/Destruction notification
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if (from == 0) cout << "Instantiated: FGTranslation" << endl;
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if (from == 1) cout << "Destroyed: FGTranslation" << endl;
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}
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if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
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}
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if (debug_lvl & 8 ) { // Runtime state variables
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}
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if (debug_lvl & 16) { // Sanity checking
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if (fabs(vUVW(eU)) > 1e6)
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cout << "FGTranslation::U velocity out of bounds: " << vUVW(eU) << endl;
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if (fabs(vUVW(eV)) > 1e6)
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cout << "FGTranslation::V velocity out of bounds: " << vUVW(eV) << endl;
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if (fabs(vUVW(eW)) > 1e6)
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cout << "FGTranslation::W velocity out of bounds: " << vUVW(eW) << endl;
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if (fabs(vUVWdot(eU)) > 1e4)
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cout << "FGTranslation::U acceleration out of bounds: " << vUVWdot(eU) << endl;
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if (fabs(vUVWdot(eV)) > 1e4)
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cout << "FGTranslation::V acceleration out of bounds: " << vUVWdot(eV) << endl;
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if (fabs(vUVWdot(eW)) > 1e4)
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cout << "FGTranslation::W acceleration out of bounds: " << vUVWdot(eW) << endl;
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if (Mach > 100 || Mach < 0.00)
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cout << "FGTranslation::Mach is out of bounds: " << Mach << endl;
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if (qbar > 1e6 || qbar < 0.00)
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cout << "FGTranslation::qbar is out of bounds: " << qbar << endl;
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}
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if (debug_lvl & 64) {
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if (from == 0) { // Constructor
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cout << IdSrc << endl;
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cout << IdHdr << endl;
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}
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}
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}
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