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flightgear/src/FDM/JSBSim/FGState.cpp

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/*******************************************************************************
Module: FGState.cpp
Author: Jon Berndt
Date started: 11/17/98
Called by: FGFDMExec and accessed by all models.
------------- 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
--------------------------------------------------------------------------------
See header file.
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
********************************************************************************
INCLUDES
*******************************************************************************/
#ifdef FGFS
# include <simgear/compiler.h>
# ifdef FG_HAVE_STD_INCLUDES
# include <cmath>
# else
# include <math.h>
# endif
#else
# include <cmath>
#endif
#ifndef M_PI
# include <simgear/constants.h>
# define M_PI FG_PI
#endif
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
static const char *IdSrc = "$Header$";
static const char *IdHdr = ID_STATE;
/*******************************************************************************
MACROS
*******************************************************************************/
#define RegisterVariable(ID,DEF) coeffdef[#ID] = ID; paramdef[ID] = DEF
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
/******************************************************************************/
//
// For every term registered here there must be a corresponding handler in
// GetParameter() below that retrieves that parameter. Also, there must be an
// entry in the enum eParam definition in FGDefs.h. The ID is what must be used
// in any config file entry which references that item.
FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
mTl2b(3,3),
mTs2b(3,3),
vQtrn(4)
{
FDMExec = fdex;
a = 1000.0;
sim_time = 0.0;
dt = 1.0/120.0;
RegisterVariable(FG_QBAR, " qbar " );
RegisterVariable(FG_WINGAREA, " wing_area " );
RegisterVariable(FG_WINGSPAN, " wingspan " );
RegisterVariable(FG_CBAR, " cbar " );
RegisterVariable(FG_ALPHA, " alpha " );
RegisterVariable(FG_ALPHADOT, " alphadot " );
RegisterVariable(FG_BETA, " beta " );
RegisterVariable(FG_BETADOT, " betadot " );
RegisterVariable(FG_PITCHRATE, " pitch_rate " );
RegisterVariable(FG_ROLLRATE, " roll_rate " );
RegisterVariable(FG_YAWRATE, " yaw_rate " );
RegisterVariable(FG_MACH, " mach " );
RegisterVariable(FG_ALTITUDE, " altitude " );
RegisterVariable(FG_BI2VEL, " BI2Vel " );
RegisterVariable(FG_CI2VEL, " CI2Vel " );
RegisterVariable(FG_ELEVATOR_POS, " elevator_pos " );
RegisterVariable(FG_AILERON_POS, " aileron_pos " );
RegisterVariable(FG_RUDDER_POS, " rudder_pos " );
RegisterVariable(FG_SPDBRAKE_POS, " speedbrake_pos " );
RegisterVariable(FG_SPOILERS_POS, " spoiler_pos " );
RegisterVariable(FG_FLAPS_POS, " flaps_pos " );
RegisterVariable(FG_ELEVATOR_CMD, " elevator_cmd " );
RegisterVariable(FG_AILERON_CMD, " aileron_cmd " );
RegisterVariable(FG_RUDDER_CMD, " rudder_cmd " );
RegisterVariable(FG_SPDBRAKE_CMD, " speedbrake_cmd " );
RegisterVariable(FG_SPOILERS_CMD, " spoiler_cmd " );
RegisterVariable(FG_FLAPS_CMD, " flaps_cmd " );
RegisterVariable(FG_THROTTLE_CMD, " throttle_cmd " );
RegisterVariable(FG_THROTTLE_POS, " throttle_pos " );
RegisterVariable(FG_HOVERB, " height/span " );
RegisterVariable(FG_PITCH_TRIM_CMD, " pitch_trim_cmd " );
}
/******************************************************************************/
FGState::~FGState(void) {}
/******************************************************************************/
float FGState::GetParameter(eParam val_idx) {
switch(val_idx) {
case FG_QBAR:
return FDMExec->GetTranslation()->Getqbar();
case FG_WINGAREA:
return FDMExec->GetAircraft()->GetWingArea();
case FG_WINGSPAN:
return FDMExec->GetAircraft()->GetWingSpan();
case FG_CBAR:
return FDMExec->GetAircraft()->Getcbar();
case FG_ALPHA:
return FDMExec->GetTranslation()->Getalpha();
case FG_ALPHADOT:
return FDMExec->GetTranslation()->Getadot();
case FG_BETA:
return FDMExec->GetTranslation()->Getbeta();
case FG_BETADOT:
return FDMExec->GetTranslation()->Getbdot();
case FG_PITCHRATE:
return (FDMExec->GetRotation()->GetPQR())(2);
case FG_ROLLRATE:
return (FDMExec->GetRotation()->GetPQR())(1);
case FG_YAWRATE:
return (FDMExec->GetRotation()->GetPQR())(3);
case FG_ELEVATOR_POS:
return FDMExec->GetFCS()->GetDePos();
case FG_AILERON_POS:
return FDMExec->GetFCS()->GetDaPos();
case FG_RUDDER_POS:
return FDMExec->GetFCS()->GetDrPos();
case FG_SPDBRAKE_POS:
return FDMExec->GetFCS()->GetDsbPos();
case FG_SPOILERS_POS:
return FDMExec->GetFCS()->GetDspPos();
case FG_FLAPS_POS:
return FDMExec->GetFCS()->GetDfPos();
case FG_ELEVATOR_CMD:
return FDMExec->GetFCS()->GetDeCmd();
case FG_AILERON_CMD:
return FDMExec->GetFCS()->GetDaCmd();
case FG_RUDDER_CMD:
return FDMExec->GetFCS()->GetDrCmd();
case FG_SPDBRAKE_CMD:
return FDMExec->GetFCS()->GetDsbCmd();
case FG_SPOILERS_CMD:
return FDMExec->GetFCS()->GetDspCmd();
case FG_FLAPS_CMD:
return FDMExec->GetFCS()->GetDfCmd();
case FG_MACH:
return FDMExec->GetTranslation()->GetMach();
case FG_ALTITUDE:
return FDMExec->GetPosition()->Geth();
case FG_BI2VEL:
if(FDMExec->GetTranslation()->GetVt() > 0)
return FDMExec->GetAircraft()->GetWingSpan()/(2.0 * FDMExec->GetTranslation()->GetVt());
else
return 0;
case FG_CI2VEL:
if(FDMExec->GetTranslation()->GetVt() > 0)
return FDMExec->GetAircraft()->Getcbar()/(2.0 * FDMExec->GetTranslation()->GetVt());
else
return 0;
case FG_THROTTLE_CMD:
return FDMExec->GetFCS()->GetThrottleCmd(0);
case FG_THROTTLE_POS:
return FDMExec->GetFCS()->GetThrottlePos(0);
case FG_HOVERB:
return FDMExec->GetPosition()->GetHOverB();
case FG_PITCH_TRIM_CMD:
return FDMExec->GetFCS()->GetPitchTrimCmd();
default:
cerr << "FGState::GetParameter() - No handler for parameter " << val_idx << endl;
return 0.0;
}
return 0;
}
/******************************************************************************/
float FGState::GetParameter(string val_string) {
return GetParameter(coeffdef[val_string]);
}
/******************************************************************************/
eParam FGState::GetParameterIndex(string val_string) {
return coeffdef[val_string];
}
/******************************************************************************/
void FGState::SetParameter(eParam val_idx, float val) {
switch(val_idx) {
case FG_ELEVATOR_POS:
FDMExec->GetFCS()->SetDePos(val);
break;
case FG_AILERON_POS:
FDMExec->GetFCS()->SetDaPos(val);
break;
case FG_RUDDER_POS:
FDMExec->GetFCS()->SetDrPos(val);
break;
case FG_SPDBRAKE_POS:
FDMExec->GetFCS()->SetDsbPos(val);
break;
case FG_SPOILERS_POS:
FDMExec->GetFCS()->SetDspPos(val);
break;
case FG_FLAPS_POS:
FDMExec->GetFCS()->SetDfPos(val);
break;
case FG_THROTTLE_POS:
FDMExec->GetFCS()->SetThrottlePos(-1,val);
}
}
//***************************************************************************
//
// Reset: Assume all angles READ FROM FILE IN DEGREES !!
//
bool FGState::Reset(string path, string acname, string fname) {
string resetDef;
float U, V, W;
float phi, tht, psi;
float latitude, longitude, h;
resetDef = path + "/" + acname + "/" + fname;
ifstream resetfile(resetDef.c_str());
if (resetfile) {
resetfile >> U;
resetfile >> V;
resetfile >> W;
resetfile >> latitude;
resetfile >> longitude;
resetfile >> phi;
resetfile >> tht;
resetfile >> psi;
resetfile >> h;
resetfile.close();
FDMExec->GetPosition()->SetLatitude(latitude*DEGTORAD);
FDMExec->GetPosition()->SetLongitude(longitude*DEGTORAD);
FDMExec->GetPosition()->Seth(h);
Initialize(U, V, W, phi*DEGTORAD, tht*DEGTORAD, psi*DEGTORAD,
latitude*DEGTORAD, longitude*DEGTORAD, h);
return true;
} else {
cerr << "Unable to load reset file " << fname << endl;
return false;
}
}
//***************************************************************************
//
// Initialize: Assume all angles GIVEN IN RADIANS !!
//
void FGState::Initialize(float U, float V, float W,
float phi, float tht, float psi,
float Latitude, float Longitude, float H) {
FGColumnVector vUVW(3);
FGColumnVector vLocalVelNED(3);
FGColumnVector vEuler(3);
float alpha, beta;
float qbar, Vt;
FDMExec->GetPosition()->SetLatitude(Latitude);
FDMExec->GetPosition()->SetLongitude(Longitude);
FDMExec->GetPosition()->Seth(H);
FDMExec->GetAtmosphere()->Run();
if (W != 0.0)
alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
else
alpha = 0.0;
if (V != 0.0)
beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
else
beta = 0.0;
vUVW << U << V << W;
FDMExec->GetTranslation()->SetUVW(vUVW);
vEuler << phi << tht << psi;
FDMExec->GetRotation()->SetEuler(vEuler);
FDMExec->GetTranslation()->SetAB(alpha, beta);
Vt = sqrt(U*U + V*V + W*W);
FDMExec->GetTranslation()->SetVt(Vt);
FDMExec->GetTranslation()->SetMach(Vt/FDMExec->GetAtmosphere()->GetSoundSpeed());
qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->GetDensity();
FDMExec->GetTranslation()->Setqbar(qbar);
InitMatrices(phi, tht, psi);
vLocalVelNED = mTb2l*vUVW;
FDMExec->GetPosition()->SetvVel(vLocalVelNED);
}
/******************************************************************************/
void FGState::Initialize(FGInitialCondition *FGIC) {
float tht,psi,phi;
float U, V, W, h;
float latitude, longitude;
latitude = FGIC->GetLatitudeRadIC();
longitude = FGIC->GetLongitudeRadIC();
h = FGIC->GetAltitudeFtIC();
U = FGIC->GetUBodyFpsIC();
V = FGIC->GetVBodyFpsIC();
W = FGIC->GetWBodyFpsIC();
tht = FGIC->GetThetaRadIC();
phi = FGIC->GetPhiRadIC();
psi = FGIC->GetPsiRadIC();
Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
FDMExec->GetPosition()->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
FDMExec->GetPosition()->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() +
FGIC->GetTerrainAltitudeFtIC() );
}
/******************************************************************************/
bool FGState::StoreData(string fname) {
ofstream datafile(fname.c_str());
if (datafile) {
datafile << (FDMExec->GetTranslation()->GetUVW())(1);
datafile << (FDMExec->GetTranslation()->GetUVW())(2);
datafile << (FDMExec->GetTranslation()->GetUVW())(3);
datafile << FDMExec->GetPosition()->GetLatitude();
datafile << FDMExec->GetPosition()->GetLongitude();
datafile << (FDMExec->GetRotation()->GetEuler())(1);
datafile << (FDMExec->GetRotation()->GetEuler())(2);
datafile << (FDMExec->GetRotation()->GetEuler())(3);
datafile << FDMExec->GetPosition()->Geth();
datafile.close();
return true;
} else {
cerr << "Could not open dump file " << fname << endl;
return false;
}
}
/******************************************************************************/
void FGState::InitMatrices(float phi, float tht, float psi) {
float thtd2, psid2, phid2;
float Sthtd2, Spsid2, Sphid2;
float Cthtd2, Cpsid2, Cphid2;
float Cphid2Cthtd2;
float Cphid2Sthtd2;
float Sphid2Sthtd2;
float Sphid2Cthtd2;
thtd2 = tht/2.0;
psid2 = psi/2.0;
phid2 = phi/2.0;
Sthtd2 = sin(thtd2);
Spsid2 = sin(psid2);
Sphid2 = sin(phid2);
Cthtd2 = cos(thtd2);
Cpsid2 = cos(psid2);
Cphid2 = cos(phid2);
Cphid2Cthtd2 = Cphid2*Cthtd2;
Cphid2Sthtd2 = Cphid2*Sthtd2;
Sphid2Sthtd2 = Sphid2*Sthtd2;
Sphid2Cthtd2 = Sphid2*Cthtd2;
vQtrn(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
vQtrn(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
vQtrn(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
vQtrn(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
CalcMatrices();
}
/******************************************************************************/
void FGState::CalcMatrices(void) {
float Q0Q0, Q1Q1, Q2Q2, Q3Q3;
float Q0Q1, Q0Q2, Q0Q3, Q1Q2;
float Q1Q3, Q2Q3;
Q0Q0 = vQtrn(1)*vQtrn(1);
Q1Q1 = vQtrn(2)*vQtrn(2);
Q2Q2 = vQtrn(3)*vQtrn(3);
Q3Q3 = vQtrn(4)*vQtrn(4);
Q0Q1 = vQtrn(1)*vQtrn(2);
Q0Q2 = vQtrn(1)*vQtrn(3);
Q0Q3 = vQtrn(1)*vQtrn(4);
Q1Q2 = vQtrn(2)*vQtrn(3);
Q1Q3 = vQtrn(2)*vQtrn(4);
Q2Q3 = vQtrn(3)*vQtrn(4);
mTl2b(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
mTl2b(1,2) = 2*(Q1Q2 + Q0Q3);
mTl2b(1,3) = 2*(Q1Q3 - Q0Q2);
mTl2b(2,1) = 2*(Q1Q2 - Q0Q3);
mTl2b(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
mTl2b(2,3) = 2*(Q2Q3 + Q0Q1);
mTl2b(3,1) = 2*(Q1Q3 + Q0Q2);
mTl2b(3,2) = 2*(Q2Q3 - Q0Q1);
mTl2b(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
mTb2l = mTl2b;
mTb2l.T();
}
/******************************************************************************/
void FGState::IntegrateQuat(FGColumnVector vPQR, int rate) {
static FGColumnVector vlastQdot(4);
static FGColumnVector vQdot(4);
vQdot(1) = -0.5*(vQtrn(2)*vPQR(eP) + vQtrn(3)*vPQR(eQ) + vQtrn(4)*vPQR(eR));
vQdot(2) = 0.5*(vQtrn(1)*vPQR(eP) + vQtrn(3)*vPQR(eR) - vQtrn(4)*vPQR(eQ));
vQdot(3) = 0.5*(vQtrn(1)*vPQR(eQ) + vQtrn(4)*vPQR(eP) - vQtrn(2)*vPQR(eR));
vQdot(4) = 0.5*(vQtrn(1)*vPQR(eR) + vQtrn(2)*vPQR(eQ) - vQtrn(3)*vPQR(eP));
vQtrn += 0.5*dt*rate*(vlastQdot + vQdot);
vQtrn.Normalize();
vlastQdot = vQdot;
}
/******************************************************************************/
FGColumnVector FGState::CalcEuler(void) {
static FGColumnVector vEuler(3);
if (mTl2b(3,3) == 0.0) mTl2b(3,3) = 0.0000001;
if (mTl2b(1,1) == 0.0) mTl2b(1,1) = 0.0000001;
vEuler(ePhi) = atan2(mTl2b(2,3), mTl2b(3,3));
vEuler(eTht) = asin(-mTl2b(1,3));
vEuler(ePsi) = atan2(mTl2b(1,2), mTl2b(1,1));
if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;
return vEuler;
}
/******************************************************************************/
FGMatrix FGState::GetTs2b(float alpha, float beta) {
float ca, cb, sa, sb;
ca = cos(alpha);
sa = sin(alpha);
cb = cos(beta);
sb = sin(beta);
mTs2b(1,1) = -ca*cb;
mTs2b(1,2) = -ca*sb;
mTs2b(1,3) = sa;
mTs2b(2,1) = -sb;
mTs2b(2,2) = cb;
mTs2b(2,3) = 0.0;
mTs2b(3,1) = -sa*cb;
mTs2b(3,2) = -sa*sb;
mTs2b(3,3) = -ca;
return mTs2b;
}
/******************************************************************************/
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