c4a1cc047e
Tony submitted:
JSBsim:
Added trimming routine, it is longitudinal & in-air only at this point
Added support for taking wind & weather data from external source
Added support for flaps.
Added independently settable pitch trim
Added alphamin and max to config file, stall modeling and warning to
follow
c172.cfg:
Flaps!
Adjusted Cmo, model should be speed stable now
FG:
Hooked up Christian's weather code, should be using it soon.
Hooked up the trimming routine. Note that the X-15 will not trim.
This is not a model or trimming routine deficiency, just the
nature of the X-15
The trimming routine sets the pitch trim and and throttle at startup.
The throttle is set using Norman's code for the autothrottle so the
autothrottle is on by default. --notrim will turn it off.
Added --vc, --mach, and --notrim switches
(vc is airspeed in knots)
uBody, vBody, and wBody are still supported, last one entered
on the command line counts, i.e. you can set vc or mach or u,v,
and w but any combination will be ignored.
163 lines
5.1 KiB
C++
163 lines
5.1 KiB
C++
/*******************************************************************************
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Module: FGPosition.cpp
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Author: Jon S. Berndt
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Date started: 01/05/99
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Purpose: Integrate the EOM to determine instantaneous position
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Called by: FGFDMExec
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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 encapsulates the integration of rates and accelerations to get the
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current position of the aircraft.
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HISTORY
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--------------------------------------------------------------------------------
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01/05/99 JSB Created
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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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********************************************************************************
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INCLUDES
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*******************************************************************************/
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#ifdef FGFS
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# include <simgear/compiler.h>
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# ifdef FG_HAVE_STD_INCLUDES
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# include <cmath>
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# else
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# include <math.h>
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# endif
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#else
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# include <cmath>
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#endif
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#include "FGPosition.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 "FGAircraft.h"
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#include "FGTranslation.h"
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#include "FGRotation.h"
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#include "FGAuxiliary.h"
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#include "FGOutput.h"
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/*******************************************************************************
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************************************ CODE **************************************
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*******************************************************************************/
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extern float globalTriNormal[3];
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extern double globalSceneryAltitude;
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extern double globalSeaLevelRadius;
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FGPosition::FGPosition(FGFDMExec* fdmex) : FGModel(fdmex),
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vUVW(3),
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vVel(3)
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{
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Name = "FGPosition";
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LongitudeDot = LatitudeDot = RadiusDot = 0.0;
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lastLongitudeDot = lastLatitudeDot = lastRadiusDot = 0.0;
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Longitude = Latitude = 0.0;
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h = 0.0;
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Radius = EARTHRAD + h;
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gamma=Vt=0.0;
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RunwayRadius = EARTHRAD;
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}
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/******************************************************************************/
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FGPosition::~FGPosition(void) {}
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/******************************************************************************/
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bool FGPosition:: Run(void) {
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double cosLat;
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double hdot_Vt;
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if (!FGModel::Run()) {
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GetState();
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vVel = State->GetTl2b()*vUVW;
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cosLat = cos(Latitude);
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if (cosLat != 0) LongitudeDot = vVel(eEast) / (Radius * cosLat);
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LatitudeDot = vVel(eNorth) * invRadius;
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RadiusDot = -vVel(eDown);
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Longitude += 0.5*dt*rate*(LongitudeDot + lastLongitudeDot);
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Latitude += 0.5*dt*rate*(LatitudeDot + lastLatitudeDot);
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Radius += 0.5*dt*rate*(RadiusDot + lastRadiusDot);
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h = Radius - EARTHRAD; // Geocentric
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DistanceAGL = Radius - RunwayRadius; // Geocentric
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cout << "h: " << h << " DistanceAGL: " << DistanceAGL << endl;
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hoverb = h/b;
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if(Vt > 0) {
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hdot_Vt=RadiusDot/Vt;
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//make sure that -Vt <= hdot <= Vt, which, of course, should always be the case
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if(fabs(hdot_Vt) <= 1) gamma= asin(hdot_Vt);
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} else
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gamma=0.0;
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lastLatitudeDot = LatitudeDot;
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lastLongitudeDot = LongitudeDot;
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lastRadiusDot = RadiusDot;
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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 FGPosition::GetState(void) {
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dt = State->Getdt();
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vUVW = Translation->GetUVW();
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Vt = Translation->GetVt();
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invMass = 1.0 / Aircraft->GetMass();
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invRadius = 1.0 / (h + EARTHRAD);
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Radius = h + EARTHRAD;
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b = Aircraft->GetWingSpan();
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}
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