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flightgear/src/FDM/JSBSim/FGAircraft.cpp
curt 5fe0f04702 Updates to JSBSim and FDM interface.
2001-11-06 22:33:05 +00:00

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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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.
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
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include <sys/stat.h>
#include <sys/types.h>
#ifdef FGFS
# ifndef __BORLANDC__
# include <simgear/compiler.h>
# endif
# ifdef SG_HAVE_STD_INCLUDES
# include <cmath>
# else
# include <math.h>
# endif
#else
# if defined (sgi) && !defined(__GNUC__)
# include <math.h>
# else
# include <cmath>
# endif
#endif
#include "FGAircraft.h"
#include "FGMassBalance.h"
#include "FGInertial.h"
#include "FGGroundReactions.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;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex),
vMoments(3),
vForces(3),
vXYZrp(3),
vXYZep(3),
vDXYZcg(3),
vBodyAccel(3),
vNcg(3)
{
Name = "FGAircraft";
alphaclmin = alphaclmax = 0;
HTailArea = VTailArea = HTailArm = VTailArm = 0.0;
lbarh = lbarv = vbarh = vbarv = 0.0;
WingIncidence=0;
impending_stall = 0;
if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGAircraft::~FGAircraft()
{
if (debug_lvl & 2) cout << "Destroyed: FGAircraft" << endl;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAircraft::Load(FGConfigFile* AC_cfg)
{
string token;
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()
vForces.InitMatrix();
vForces += Aerodynamics->GetForces();
vForces += Inertial->GetForces();
vForces += Propulsion->GetForces();
vForces += GroundReactions->GetForces();
vMoments.InitMatrix();
vMoments += Aerodynamics->GetMoments();
vMoments += Propulsion->GetMoments();
vMoments += GroundReactions->GetMoments();
vBodyAccel = vForces/MassBalance->GetMass();
vNcg = vBodyAccel*INVGRAVITY;
if (alphaclmax != 0) {
if (Translation->Getalpha() > 0.85*alphaclmax) {
impending_stall = 10*(Translation->Getalpha()/alphaclmax - 0.85);
} else {
impending_stall = 0;
}
}
return false;
} else { // skip Run() execution this time
return true;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGAircraft::ReadMetrics(FGConfigFile* AC_cfg)
{
string token = "";
string parameter;
float EW, bixx, biyy, bizz, bixz, biyz;
FGColumnVector3 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_WINGINCIDENCE") {
*AC_cfg >> WingIncidence;
if (debug_lvl > 0) cout << " Chord: " << cbar << endl;
} else if (parameter == "AC_CHORD") {
*AC_cfg >> cbar;
if (debug_lvl > 0) cout << " Chord: " << cbar << endl;
} else if (parameter == "AC_HTAILAREA") {
*AC_cfg >> HTailArea;
if (debug_lvl > 0) cout << " H. Tail Area: " << HTailArea << endl;
} else if (parameter == "AC_HTAILARM") {
*AC_cfg >> HTailArm;
if (debug_lvl > 0) cout << " H. Tail Arm: " << HTailArm << endl;
} else if (parameter == "AC_VTAILAREA") {
*AC_cfg >> VTailArea;
if (debug_lvl > 0) cout << " V. Tail Area: " << VTailArea << endl;
} else if (parameter == "AC_VTAILARM") {
*AC_cfg >> VTailArm;
if (debug_lvl > 0) cout << " V. Tail Arm: " << VTailArm << 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;
}
}
// calculate some derived parameters
if (cbar != 0.0) {
lbarh = HTailArm/cbar;
lbarv = VTailArm/cbar;
if (WingArea != 0.0) {
vbarh = HTailArm*HTailArea / (cbar*WingArea);
vbarv = VTailArm*VTailArea / (cbar*WingArea);
}
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGAircraft::ReadPropulsion(FGConfigFile* AC_cfg)
{
if (!Propulsion->Load(AC_cfg)) {
cerr << "Propulsion not successfully loaded" << endl;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGAircraft::ReadFlightControls(FGConfigFile* AC_cfg)
{
if (!FCS->Load(AC_cfg)) {
cerr << "Flight Controls not successfully loaded" << endl;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGAircraft::ReadAerodynamics(FGConfigFile* AC_cfg)
{
if (!Aerodynamics->Load(AC_cfg)) {
cerr << "Aerodynamics not successfully loaded" << endl;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGAircraft::ReadUndercarriage(FGConfigFile* AC_cfg)
{
if (!GroundReactions->Load(AC_cfg)) {
cerr << "Ground Reactions not successfully loaded" << endl;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGAircraft::Debug(void)
{
//TODO: Add your source code here
}
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