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flightgear/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
*******************************************************************************/
#include <math.h>
#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"
/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/
FGState::FGState(FGFDMExec* fdex)
{
FDMExec = fdex;
Vt = 0.0;
latitude = longitude = 0.0;
adot = bdot = 0.0;
h = 0.0;
a = 1000.0;
qbar = 0.0;
sim_time = dt = 0.1;
}
FGState::~FGState(void)
{
}
bool FGState::Reset(char* fname)
{
char resetDef[256];
float U, V, W;
float phi, tht, psi;
float alpha, beta, gamma;
float Q0, Q1, Q2, Q3;
float T[4][4];
sprintf(resetDef, "/h/curt/projects/FlightGear/Simulator/FDM/JSBsim/aircraft/%s/%s", FDMExec->GetAircraft()->GetAircraftName(), fname);
ifstream resetfile(resetDef);
if (resetfile) {
resetfile >> U;
resetfile >> V;
resetfile >> W;
resetfile >> latitude;
resetfile >> longitude;
resetfile >> phi;
resetfile >> tht;
resetfile >> psi;
resetfile >> h;
resetfile.close();
// Change all angular measurements from degrees (as in config file) to radians
gamma = 0.0;
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;
latitude *= M_PI / 180.0;
longitude *= M_PI / 180.0;
phi *= M_PI / 180.0;
tht *= M_PI / 180.0;
psi *= M_PI / 180.0;
FDMExec->GetTranslation()->SetUVW(U, V, W);
FDMExec->GetRotation()->SetEuler(phi, tht, psi);
FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);
Vt = sqrt(U*U + V*V + W*W);
qbar = sqrt(U*U + V*V + W*W);
Q0 = sin(psi*0.5)*sin(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*cos(phi*0.5);
Q1 = -sin(psi*0.5)*sin(tht*0.5)*cos(phi*0.5) + cos(psi*0.5)*cos(tht*0.5)*sin(phi*0.5);
Q2 = sin(psi*0.5)*cos(tht*0.5)*sin(phi*0.5) + cos(psi*0.5)*sin(tht*0.5)*cos(phi*0.5);
Q3 = sin(psi*0.5)*cos(tht*0.5)*cos(phi*0.5) - cos(psi*0.5)*sin(tht*0.5)*sin(phi*0.5);
FDMExec->GetRotation()->SetQ0123(Q0, Q1, Q2, Q3);
T[1][1] = Q0*Q0 + Q1*Q1 - Q2*Q2 - Q3*Q3;
T[1][2] = 2*(Q1*Q2 + Q0*Q3);
T[1][3] = 2*(Q1*Q3 - Q0*Q2);
T[2][1] = 2*(Q1*Q2 - Q0*Q3);
T[2][2] = Q0*Q0 - Q1*Q1 + Q2*Q2 - Q3*Q3;
T[2][3] = 2*(Q2*Q3 + Q0*Q1);
T[3][1] = 2*(Q1*Q3 + Q0*Q2);
T[3][2] = 2*(Q2*Q3 - Q0*Q1);
T[3][3] = Q0*Q0 - Q1*Q1 - Q2*Q2 + Q3*Q3;
FDMExec->GetPosition()->SetT(T[1][1], T[1][2], T[1][3],
T[2][1], T[2][2], T[2][3],
T[3][1], T[3][2], T[3][3]);
return true;
} else {
cerr << "Unable to load reset file " << fname << endl;
return false;
}
}
bool FGState::StoreData(char* fname)
{
ofstream datafile(fname);
if (datafile) {
datafile << FDMExec->GetTranslation()->GetU();
datafile << FDMExec->GetTranslation()->GetV();
datafile << FDMExec->GetTranslation()->GetW();
datafile << latitude;
datafile << longitude;
datafile << FDMExec->GetRotation()->Getphi();
datafile << FDMExec->GetRotation()->Gettht();
datafile << FDMExec->GetRotation()->Getpsi();
datafile << h;
datafile.close();
return true;
} else {
cerr << "Could not open dump file " << fname << endl;
return false;
}
}
bool FGState::DumpData(char* fname)
{
ofstream datafile(fname);
if (datafile) {
datafile << "U: " << FDMExec->GetTranslation()->GetU() << endl;
datafile << "V: " << FDMExec->GetTranslation()->GetV() << endl;
datafile << "W: " << FDMExec->GetTranslation()->GetW() << endl;
datafile << "P: " << FDMExec->GetRotation()->GetP() << endl;
datafile << "Q: " << FDMExec->GetRotation()->GetQ() << endl;
datafile << "R: " << FDMExec->GetRotation()->GetR() << endl;
datafile << "L: " << FDMExec->GetAircraft()->GetL() << endl;
datafile << "M: " << FDMExec->GetAircraft()->GetM() << endl;
datafile << "N: " << FDMExec->GetAircraft()->GetN() << endl;
datafile << "latitude: " << latitude << endl;
datafile << "longitude: " << longitude << endl;
datafile << "alpha: " << FDMExec->GetTranslation()->Getalpha() << endl;
datafile << "beta: " << FDMExec->GetTranslation()->Getbeta() << endl;
datafile << "gamma: " << FDMExec->GetTranslation()->Getgamma() << endl;
datafile << "phi: " << FDMExec->GetRotation()->Getphi() << endl;
datafile << "tht: " << FDMExec->GetRotation()->Gettht() << endl;
datafile << "psi: " << FDMExec->GetRotation()->Getpsi() << endl;
datafile << "Pdot: " << FDMExec->GetRotation()->GetPdot() << endl;
datafile << "Qdot: " << FDMExec->GetRotation()->GetQdot() << endl;
datafile << "Rdot: " << FDMExec->GetRotation()->GetRdot() << endl;
datafile << "h: " << h << endl;
datafile << "a: " << a << endl;
datafile << "rho: " << FDMExec->GetAtmosphere()->Getrho() << endl;
datafile << "qbar: " << qbar << endl;
datafile << "sim_time: " << sim_time << endl;
datafile << "dt: " << dt << endl;
datafile << "m: " << FDMExec->GetAircraft()->GetMass() << endl;
datafile.close();
return true;
} else {
return false;
}
}
bool FGState::DisplayData(void)
{
cout << "U: " << FDMExec->GetTranslation()->GetU() << endl;
cout << "V: " << FDMExec->GetTranslation()->GetV() << endl;
cout << "W: " << FDMExec->GetTranslation()->GetW() << endl;
cout << "P: " << FDMExec->GetRotation()->GetP() << endl;
cout << "Q: " << FDMExec->GetRotation()->GetQ() << endl;
cout << "R: " << FDMExec->GetRotation()->GetR() << endl;
cout << "L: " << FDMExec->GetAircraft()->GetL() << endl;
cout << "M: " << FDMExec->GetAircraft()->GetM() << endl;
cout << "N: " << FDMExec->GetAircraft()->GetN() << endl;
cout << "Vt: " << Vt << endl;
cout << "latitude: " << latitude << endl;
cout << "longitude: " << longitude << endl;
cout << "alpha: " << FDMExec->GetTranslation()->Getalpha() << endl;
cout << "beta: " << FDMExec->GetTranslation()->Getbeta() << endl;
cout << "gamma: " << FDMExec->GetTranslation()->Getgamma() << endl;
cout << "phi: " << FDMExec->GetRotation()->Getphi() << endl;
cout << "tht: " << FDMExec->GetRotation()->Gettht() << endl;
cout << "psi: " << FDMExec->GetRotation()->Getpsi() << endl;
cout << "Pdot: " << FDMExec->GetRotation()->GetPdot() << endl;
cout << "Qdot: " << FDMExec->GetRotation()->GetQdot() << endl;
cout << "Rdot: " << FDMExec->GetRotation()->GetRdot() << endl;
cout << "h: " << h << endl;
cout << "a: " << a << endl;
cout << "rho: " << FDMExec->GetAtmosphere()->Getrho() << endl;
cout << "qbar: " << qbar << endl;
cout << "sim_time: " << sim_time << endl;
cout << "dt: " << dt << endl;
cout << "m: " << FDMExec->GetAircraft()->GetMass() << endl;
return true;
}
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