308 lines
12 KiB
C++
308 lines
12 KiB
C++
/*******************************************************************************
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Header: FGInitialCondition.h
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Author: Tony Peden
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Date started: 7/1/99
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------------- Copyright (C) 1999 Anthony K. Peden (apeden@earthlink.net) -------------
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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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HISTORY
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--------------------------------------------------------------------------------
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7/1/99 TP Created
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FUNCTIONAL DESCRIPTION
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--------------------------------------------------------------------------------
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The purpose of this class is to take a set of initial conditions and provide
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a kinematically consistent set of body axis velocity components, euler
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angles, and altitude. This class does not attempt to trim the model i.e.
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the sim will most likely start in a very dynamic state (unless, of course,
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you have chosen your IC's wisely) even after setting it up with this class.
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********************************************************************************
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SENTRY
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*******************************************************************************/
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#ifndef FGINITIALCONDITION_H
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#define FGINITIALCONDITION_H
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/*******************************************************************************
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INCLUDES
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*******************************************************************************/
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#include "FGFDMExec.h"
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#include "FGJSBBase.h"
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#include "FGAtmosphere.h"
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#include "FGMatrix33.h"
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#include "FGColumnVector3.h"
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#include "FGColumnVector4.h"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_INITIALCONDITION "$Id$"
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namespace JSBSim {
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typedef enum { setvt, setvc, setve, setmach, setuvw, setned, setvg } speedset;
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typedef enum { setwned, setwmd, setwhc } windset;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DOCUMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/** Takes a set of initial conditions and provide a kinematically consistent set
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of body axis velocity components, euler angles, and altitude. This class
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does not attempt to trim the model i.e. the sim will most likely start in a
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very dynamic state (unless, of course, you have chosen your IC's wisely)
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even after setting it up with this class.
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USAGE NOTES
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With a valid object of FGFDMExec and an aircraft model loaded
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FGInitialCondition fgic=new FGInitialCondition(FDMExec);
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fgic->SetVcalibratedKtsIC()
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fgic->SetAltitudeFtIC();
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.
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.
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.
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//to directly into Run
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FDMExec->GetState()->Initialize(fgic)
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delete fgic;
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FDMExec->Run()
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//or to loop the sim w/o integrating
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FDMExec->RunIC(fgic)
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Speed:
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Since vc, ve, vt, and mach all represent speed, the remaining
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three are recalculated each time one of them is set (using the
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current altitude). The most recent speed set is remembered so
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that if and when altitude is reset, the last set speed is used
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to recalculate the remaining three. Setting any of the body
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components forces a recalculation of vt and vt then becomes the
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most recent speed set.
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Alpha,Gamma, and Theta:
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This class assumes that it will be used to set up the sim for a
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steady, zero pitch rate condition. Since any two of those angles
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specifies the third gamma (flight path angle) is favored when setting
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alpha and theta and alpha is favored when setting gamma. i.e.
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set alpha : recalculate theta using gamma as currently set
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set theta : recalculate alpha using gamma as currently set
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set gamma : recalculate theta using alpha as currently set
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The idea being that gamma is most interesting to pilots (since it
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is indicative of climb rate).
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Setting climb rate is, for the purpose of this discussion,
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considered equivalent to setting gamma.
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@author Anthony K. Peden
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@version $Id$
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@see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGInitialCondition.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">
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Header File </a>
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@see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGInitialCondition.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup">
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Source File </a>
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGInitialCondition : public FGJSBBase
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{
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public:
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/// Constructor
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FGInitialCondition(FGFDMExec *fdmex);
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/// Destructor
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~FGInitialCondition();
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void SetVcalibratedKtsIC(double tt);
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void SetVequivalentKtsIC(double tt);
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inline void SetVtrueKtsIC(double tt) { SetVtrueFpsIC(tt*ktstofps); }
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inline void SetVgroundKtsIC(double tt) { SetVgroundFpsIC(tt*ktstofps); }
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void SetMachIC(double tt);
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inline void SetAlphaDegIC(double tt) { SetAlphaRadIC(tt*degtorad); }
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inline void SetBetaDegIC(double tt) { SetBetaRadIC(tt*degtorad);}
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inline void SetPitchAngleDegIC(double tt) { SetPitchAngleRadIC(tt*degtorad); }
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inline void SetRollAngleDegIC(double tt) { SetRollAngleRadIC(tt*degtorad);}
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inline void SetTrueHeadingDegIC(double tt){ SetTrueHeadingRadIC(tt*degtorad); }
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void SetClimbRateFpmIC(double tt);
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inline void SetFlightPathAngleDegIC(double tt) { SetFlightPathAngleRadIC(tt*degtorad); }
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void SetAltitudeFtIC(double tt);
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void SetAltitudeAGLFtIC(double tt);
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void SetSeaLevelRadiusFtIC(double tt);
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void SetTerrainAltitudeFtIC(double tt);
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inline void SetLatitudeDegIC(double tt) { latitude=tt*degtorad; }
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inline void SetLongitudeDegIC(double tt) { longitude=tt*degtorad; }
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inline double GetVcalibratedKtsIC(void) const { return vc*fpstokts; }
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inline double GetVequivalentKtsIC(void) const { return ve*fpstokts; }
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inline double GetVgroundKtsIC(void) const { return vg*fpstokts; }
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inline double GetVtrueKtsIC(void) const { return vt*fpstokts; }
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inline double GetMachIC(void) const { return mach; }
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inline double GetClimbRateFpmIC(void) const { return hdot*60; }
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inline double GetFlightPathAngleDegIC(void)const { return gamma*radtodeg; }
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inline double GetAlphaDegIC(void) const { return alpha*radtodeg; }
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inline double GetBetaDegIC(void) const { return beta*radtodeg; }
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inline double GetPitchAngleDegIC(void) const { return theta*radtodeg; }
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inline double GetRollAngleDegIC(void) const { return phi*radtodeg; }
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inline double GetHeadingDegIC(void) const { return psi*radtodeg; }
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inline double GetLatitudeDegIC(void) const { return latitude*radtodeg; }
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inline double GetLongitudeDegIC(void) const { return longitude*radtodeg; }
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inline double GetAltitudeFtIC(void) const { return altitude; }
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inline double GetAltitudeAGLFtIC(void) const { return altitude - terrain_altitude; }
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inline double GetSeaLevelRadiusFtIC(void) const { return sea_level_radius; }
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inline double GetTerrainAltitudeFtIC(void) const { return terrain_altitude; }
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void SetVgroundFpsIC(double tt);
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void SetVtrueFpsIC(double tt);
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void SetUBodyFpsIC(double tt);
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void SetVBodyFpsIC(double tt);
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void SetWBodyFpsIC(double tt);
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void SetVnorthFpsIC(double tt);
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void SetVeastFpsIC(double tt);
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void SetVdownFpsIC(double tt);
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void SetWindNEDFpsIC(double wN, double wE, double wD);
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void SetWindMagKtsIC(double mag);
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void SetWindDirDegIC(double dir);
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void SetHeadWindKtsIC(double head);
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void SetCrossWindKtsIC(double cross);// positive from left
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void SetWindDownKtsIC(double wD);
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void SetClimbRateFpsIC(double tt);
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inline double GetVgroundFpsIC(void) const { return vg; }
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inline double GetVtrueFpsIC(void) const { return vt; }
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inline double GetWindUFpsIC(void) const { return uw; }
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inline double GetWindVFpsIC(void) const { return vw; }
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inline double GetWindWFpsIC(void) const { return ww; }
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inline double GetWindNFpsIC(void) const { return wnorth; }
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inline double GetWindEFpsIC(void) const { return weast; }
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inline double GetWindDFpsIC(void) const { return wdown; }
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inline double GetWindFpsIC(void) const { return sqrt(wnorth*wnorth + weast*weast); }
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double GetWindDirDegIC(void);
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inline double GetClimbRateFpsIC(void) const { return hdot; }
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double GetUBodyFpsIC(void);
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double GetVBodyFpsIC(void);
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double GetWBodyFpsIC(void);
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void SetFlightPathAngleRadIC(double tt);
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void SetAlphaRadIC(double tt);
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void SetPitchAngleRadIC(double tt);
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void SetBetaRadIC(double tt);
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void SetRollAngleRadIC(double tt);
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void SetTrueHeadingRadIC(double tt);
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inline void SetLatitudeRadIC(double tt) { latitude=tt; }
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inline void SetLongitudeRadIC(double tt) { longitude=tt; }
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inline double GetFlightPathAngleRadIC(void) const { return gamma; }
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inline double GetAlphaRadIC(void) const { return alpha; }
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inline double GetPitchAngleRadIC(void) const { return theta; }
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inline double GetBetaRadIC(void) const { return beta; }
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inline double GetRollAngleRadIC(void) const { return phi; }
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inline double GetHeadingRadIC(void) const { return psi; }
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inline double GetLatitudeRadIC(void) const { return latitude; }
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inline double GetLongitudeRadIC(void) const { return longitude; }
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inline double GetThetaRadIC(void) const { return theta; }
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inline double GetPhiRadIC(void) const { return phi; }
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inline double GetPsiRadIC(void) const { return psi; }
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inline speedset GetSpeedSet(void) { return lastSpeedSet; }
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inline windset GetWindSet(void) { return lastWindSet; }
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bool Load(string rstname, bool useStoredPath = true );
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void bind(void);
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void unbind(void);
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private:
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double vt,vc,ve,vg;
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double mach;
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double altitude,hdot;
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double latitude,longitude;
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double u,v,w;
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double uw,vw,ww;
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double vnorth,veast,vdown;
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double wnorth,weast,wdown;
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double whead, wcross, wdir, wmag;
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double sea_level_radius;
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double terrain_altitude;
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double radius_to_vehicle;
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double alpha, beta, theta, phi, psi, gamma;
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double salpha,sbeta,stheta,sphi,spsi,sgamma;
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double calpha,cbeta,ctheta,cphi,cpsi,cgamma;
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double xlo, xhi,xmin,xmax;
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typedef double (FGInitialCondition::*fp)(double x);
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fp sfunc;
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speedset lastSpeedSet;
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windset lastWindSet;
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FGFDMExec *fdmex;
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FGPropertyManager *PropertyManager;
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bool getAlpha(void);
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bool getTheta(void);
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bool getMachFromVcas(double *Mach,double vcas);
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double GammaEqOfTheta(double Theta);
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double GammaEqOfAlpha(double Alpha);
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double calcVcas(double Mach);
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void calcUVWfromNED(void);
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void calcWindUVW(void);
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bool findInterval(double x,double guess);
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bool solve(double *y, double x);
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void Debug(int from);
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};
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}
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#endif
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