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flightgear/src/FDM/JSBSim/FGAircraft.cpp
david aabdd355f0 Modified FGSubsystem::update() to take an int parameter for delta time 
(i.e. multiloop).  Most subsystems currently ignore the parameter, but
eventually, it will allow all subsystems to update by time rather than
by framerate.
2001-12-22 17:33:27 +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)
{
Name = "FGAircraft";
alphaclmin = alphaclmax = 0;
HTailArea = VTailArea = HTailArm = VTailArm = 0.0;
lbarh = lbarv = vbarh = vbarv = 0.0;
WingIncidence=0;
impending_stall = 0;
Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGAircraft::~FGAircraft()
{
Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAircraft::Load(FGConfigFile* AC_cfg)
{
string token;
if (!ReadPrologue(AC_cfg)) return false;
while ((AC_cfg->GetNextConfigLine() != string("EOF")) &&
(token = AC_cfg->GetValue()) != string("/FDM_CONFIG")) {
if (token == "METRICS") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
if (!ReadMetrics(AC_cfg)) return false;
} else if (token == "AERODYNAMICS") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl;
if (!ReadAerodynamics(AC_cfg)) return false;
} else if (token == "UNDERCARRIAGE") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl;
if (!ReadUndercarriage(AC_cfg)) return false;
} else if (token == "PROPULSION") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl;
if (!ReadPropulsion(AC_cfg)) return false;
} else if (token == "FLIGHT_CONTROL") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
if (!ReadFlightControls(AC_cfg)) return false;
} else if (token == "OUTPUT") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
if (!ReadOutput(AC_cfg)) return false;
}
}
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/Inertial->gravity();
vNwcg = State->GetTb2s() * vNcg;
vNwcg(3) = -1*vNwcg(3) + 1;
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;
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
float FGAircraft::GetNlf(void)
{
return vNwcg(3);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool 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;
return false;
}
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAircraft::ReadMetrics(FGConfigFile* AC_cfg)
{
string token = "";
string parameter;
double EW, bixx, biyy, bizz, bixy, bixz;
double pmWt, pmX, pmY, pmZ;
FGColumnVector3 vbaseXYZcg;
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != string("/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_IXY") {
*AC_cfg >> bixy;
if (debug_lvl > 0) cout << " baseIxy: " << bixy << endl;
MassBalance->SetBaseIxy(bixy);
} else if (parameter == "AC_IXZ") {
*AC_cfg >> bixz;
if (debug_lvl > 0) cout << " baseIxz: " << bixz << endl;
MassBalance->SetBaseIxz(bixz);
} 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;
} else if (parameter == "AC_POINTMASS") {
*AC_cfg >> pmWt >> pmX >> pmY >> pmZ;
if (debug_lvl > 0) cout << " Point Mass Object: " << pmWt << " lbs. at "
<< "X, Y, Z (in.): " << pmX << " " << pmY << " " << pmZ
<< 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);
}
}
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAircraft::ReadPropulsion(FGConfigFile* AC_cfg)
{
if (!Propulsion->Load(AC_cfg)) {
cerr << " Propulsion not successfully loaded" << endl;
return false;
}
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAircraft::ReadFlightControls(FGConfigFile* AC_cfg)
{
if (!FCS->Load(AC_cfg)) {
cerr << " Flight Controls not successfully loaded" << endl;
return false;
}
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAircraft::ReadAerodynamics(FGConfigFile* AC_cfg)
{
if (!Aerodynamics->Load(AC_cfg)) {
cerr << " Aerodynamics not successfully loaded" << endl;
return false;
}
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAircraft::ReadUndercarriage(FGConfigFile* AC_cfg)
{
if (!GroundReactions->Load(AC_cfg)) {
cerr << " Ground Reactions not successfully loaded" << endl;
return false;
}
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGAircraft::ReadOutput(FGConfigFile* AC_cfg)
{
if (!Output->Load(AC_cfg)) {
cerr << " Output not successfully loaded" << endl;
return false;
}
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print
// out the normally expected messages, essentially echoing
// the config files as they are read. If the environment
// variable is not set, debug_lvl is set to 1 internally
// 0: This requests JSBSim not to output any messages
// whatsoever.
// 1: This value explicity requests the normal JSBSim
// startup messages
// 2: This value asks for a message to be printed out when
// a class is instantiated
// 4: When this value is set, a message is displayed when a
// FGModel object executes its Run() method
// 8: When this value is set, various runtime state variables
// are printed out periodically
// 16: When set various parameters are sanity checked and
// a message is printed out when they go out of bounds
void FGAircraft::Debug(int from)
{
if (debug_lvl <= 0) return;
if (debug_lvl & 1) { // Standard console startup message output
if (from == 0) { // Constructor
}
}
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
if (from == 0) cout << "Instantiated: FGAircraft" << endl;
if (from == 1) cout << "Destroyed: FGAircraft" << endl;
}
if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
}
if (debug_lvl & 8 ) { // Runtime state variables
}
if (debug_lvl & 16) { // Sanity checking
}
if (debug_lvl & 32) { // Turbulence
}
}
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