fly/flightgear
1
0
Fork 0
Code Activity
flightgear/src/FDM/JSBSim.cxx

606 lines
18 KiB
C++
Raw Blame History

// JSBsim.cxx -- interface to the JSBsim flight model
//
// Written by Curtis Olson, started February 1999.
//
// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.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., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#include <simgear/compiler.h>
#ifdef SG_MATH_EXCEPTION_CLASH
# include <math.h>
#endif
#include STL_STRING
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include <Scenery/scenery.hxx>
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include <FDM/JSBSim/FGFDMExec.h>
#include <FDM/JSBSim/FGAircraft.h>
#include <FDM/JSBSim/FGFCS.h>
#include <FDM/JSBSim/FGPosition.h>
#include <FDM/JSBSim/FGRotation.h>
#include <FDM/JSBSim/FGState.h>
#include <FDM/JSBSim/FGTranslation.h>
#include <FDM/JSBSim/FGAuxiliary.h>
#include <FDM/JSBSim/FGDefs.h>
#include <FDM/JSBSim/FGInitialCondition.h>
#include <FDM/JSBSim/FGTrim.h>
#include <FDM/JSBSim/FGAtmosphere.h>
#include "JSBSim.hxx"
/******************************************************************************/
FGJSBsim::FGJSBsim( double dt )
: FGInterface(dt)
{
bool result;
fdmex=new FGFDMExec;
State = fdmex->GetState();
Atmosphere = fdmex->GetAtmosphere();
FCS = fdmex->GetFCS();
Propulsion = fdmex->GetPropulsion();
Aircraft = fdmex->GetAircraft();
Translation = fdmex->GetTranslation();
Rotation = fdmex->GetRotation();
Position = fdmex->GetPosition();
Auxiliary = fdmex->GetAuxiliary();
fgic=new FGInitialCondition(fdmex);
needTrim=true;
SGPath aircraft_path( globals->get_fg_root() );
aircraft_path.append( "Aircraft" );
SGPath engine_path( globals->get_fg_root() );
engine_path.append( "Engine" );
set_delta_t( dt );
State->Setdt( dt );
result = fdmex->LoadModel( aircraft_path.str(),
engine_path.str(),
fgGetString("/sim/aircraft") );
int Neng = Propulsion->GetNumEngines();
SG_LOG(SG_FLIGHT,SG_INFO, "Neng: " << Neng );
for(int i=0;i<Neng;i++) {
add_engine( FGEngInterface() );
}
fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
trimmed = fgGetValue("/fdm/trim/trimmed",true);
trimmed->setBoolValue(false);
}
/******************************************************************************/
FGJSBsim::~FGJSBsim(void) {
if(fdmex != NULL) {
delete fdmex;
delete fgic;
}
}
/******************************************************************************/
// Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
void FGJSBsim::init() {
// Explicitly call the superclass's
// init method first.
FGInterface::init();
bool result;
SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
Atmosphere->UseInternal();
SG_LOG( SG_FLIGHT, SG_INFO, " Initializing JSBSim with:" );
switch(fgic->GetSpeedSet()) {
case setned:
SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
<< Position->GetVn() << ", "
<< Position->GetVe() << ", "
<< Position->GetVd() << " ft/s");
break;
case setuvw:
SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
<< Translation->GetUVW(1) << ", "
<< Translation->GetUVW(2) << ", "
<< Translation->GetUVW(3) << " ft/s");
break;
case setmach:
SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
<< Translation->GetMach() );
break;
case setvc:
default:
SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
<< Auxiliary->GetVcalibratedKTS() << " knots" );
break;
}
SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
<< Rotation->Getphi()*RADTODEG << " deg");
SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
<< Rotation->Gettht()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
<< Rotation->Getpsi()*RADTODEG << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
<< Position->GetLatitude() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
<< Position->GetLongitude() << " deg" );
SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
}
/******************************************************************************/
// Run an iteration of the EOM (equations of motion)
bool FGJSBsim::update( int multiloop ) {
int i;
double save_alt = 0.0;
copy_to_JSBsim();
trimmed->setBoolValue(false);
if (needTrim && fgGetBool("/sim/startup/trim")) {
//fgic->SetSeaLevelRadiusFtIC( get_Sea_level_radius() );
//fgic->SetTerrainAltitudeFtIC( scenery.cur_elev * SG_METER_TO_FEET );
FGTrim *fgtrim;
if(fgic->GetVcalibratedKtsIC() < 10 ) {
fgic->SetVcalibratedKtsIC(0.0);
fgtrim=new FGTrim(fdmex,fgic,tGround);
} else {
fgtrim=new FGTrim(fdmex,fgic,tLongitudinal);
}
if(!fgtrim->DoTrim()) {
fgtrim->Report();
fgtrim->TrimStats();
} else {
trimmed->setBoolValue(true);
}
fgtrim->ReportState();
delete fgtrim;
needTrim=false;
fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
controls.set_elevator_trim(FCS->GetPitchTrimCmd());
controls.set_elevator(FCS->GetDeCmd());
controls.set_throttle(FGControls::ALL_ENGINES,
FCS->GetThrottleCmd(0));
controls.set_aileron(FCS->GetDaCmd());
controls.set_rudder( FCS->GetDrCmd());
SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
}
for( i=0; i<get_num_engines(); i++ ) {
get_engine(i)->set_RPM( Propulsion->GetThruster(i)->GetRPM() );
get_engine(i)->set_Throttle( controls.get_throttle(i) );
}
for ( i=0; i < multiloop; i++ ) {
fdmex->Run();
}
// printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
// printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
// translate JSBsim back to FG structure so that the
// autopilot (and the rest of the sim can use the updated values
copy_from_JSBsim();
return true;
}
/******************************************************************************/
// Convert from the FGInterface struct to the JSBsim generic_ struct
bool FGJSBsim::copy_to_JSBsim() {
// copy control positions into the JSBsim structure
FCS->SetDaCmd( controls.get_aileron());
FCS->SetDeCmd( controls.get_elevator());
FCS->SetPitchTrimCmd(controls.get_elevator_trim());
FCS->SetDrCmd( -controls.get_rudder());
FCS->SetDfCmd( controls.get_flaps() );
FCS->SetDsbCmd( 0.0 ); //speedbrakes
FCS->SetDspCmd( 0.0 ); //spoilers
FCS->SetThrottleCmd( FGControls::ALL_ENGINES,
controls.get_throttle( 0 ));
FCS->SetLBrake( controls.get_brake( 0 ) );
FCS->SetRBrake( controls.get_brake( 1 ) );
FCS->SetCBrake( controls.get_brake( 2 ) );
Position->SetSeaLevelRadius( get_Sea_level_radius() );
Position->SetRunwayRadius( scenery.cur_elev*SG_METER_TO_FEET
+ get_Sea_level_radius() );
Atmosphere->SetExTemperature(get_Static_temperature());
Atmosphere->SetExPressure(get_Static_pressure());
Atmosphere->SetExDensity(get_Density());
Atmosphere->SetWindNED(get_V_north_airmass(),
get_V_east_airmass(),
get_V_down_airmass());
// SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
// << get_V_north_airmass() << ", "
// << get_V_east_airmass() << ", "
// << get_V_down_airmass() );
return true;
}
/******************************************************************************/
// Convert from the JSBsim generic_ struct to the FGInterface struct
bool FGJSBsim::copy_from_JSBsim() {
unsigned int i, j;
_set_Inertias( Aircraft->GetMass(),
Aircraft->GetIxx(),
Aircraft->GetIyy(),
Aircraft->GetIzz(),
Aircraft->GetIxz() );
_set_CG_Position( Aircraft->GetXYZcg(1),
Aircraft->GetXYZcg(2),
Aircraft->GetXYZcg(3) );
_set_Accels_Body( Translation->GetUVWdot(1),
Translation->GetUVWdot(2),
Translation->GetUVWdot(3) );
_set_Accels_CG_Body( Translation->GetUVWdot(1),
Translation->GetUVWdot(2),
Translation->GetUVWdot(3) );
//_set_Accels_CG_Body_N ( Translation->GetNcg(1),
// Translation->GetNcg(2),
// Translation->GetNcg(3) );
//
_set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
Auxiliary->GetPilotAccel(2),
Auxiliary->GetPilotAccel(3) );
//_set_Accels_Pilot_Body_N( Auxiliary->GetNpilot(1),
// Auxiliary->GetNpilot(2),
// Auxiliary->GetNpilot(3) );
_set_Nlf( Aircraft->GetNlf() );
// Velocities
_set_Velocities_Local( Position->GetVn(),
Position->GetVe(),
Position->GetVd() );
_set_Velocities_Wind_Body( Translation->GetUVW(1),
Translation->GetUVW(2),
Translation->GetUVW(3) );
_set_V_rel_wind( Translation->GetVt() );
_set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
// _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
_set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
_set_V_ground_speed( Position->GetVground() );
_set_Omega_Body( Rotation->GetPQR(1),
Rotation->GetPQR(2),
Rotation->GetPQR(3) );
_set_Euler_Rates( Rotation->GetEulerRates(1),
Rotation->GetEulerRates(2),
Rotation->GetEulerRates(3) );
_set_Geocentric_Rates(Position->GetLatitudeDot(),
Position->GetLongitudeDot(),
Position->Gethdot() );
_set_Mach_number( Translation->GetMach() );
// Positions
_updatePosition( Position->GetLatitude(),
Position->GetLongitude(),
Position->Geth() );
_set_Euler_Angles( Rotation->Getphi(),
Rotation->Gettht(),
Rotation->Getpsi() );
_set_Alpha( Translation->Getalpha() );
_set_Beta( Translation->Getbeta() );
_set_Gamma_vert_rad( Position->GetGamma() );
// set_Gamma_horiz_rad( Gamma_horiz_rad );
_set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
_set_Climb_Rate( Position->Gethdot() );
for ( i = 1; i <= 3; i++ ) {
for ( j = 1; j <= 3; j++ ) {
_set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
}
}
return true;
}
void FGJSBsim::snap_shot(void) {
fgic->SetLatitudeRadIC(get_Lat_geocentric() );
fgic->SetLongitudeRadIC( get_Longitude() );
fgic->SetAltitudeFtIC( get_Altitude() );
fgic->SetTerrainAltitudeFtIC( get_Runway_altitude() );
fgic->SetVtrueFpsIC( get_V_rel_wind() );
fgic->SetPitchAngleRadIC( get_Theta() );
fgic->SetRollAngleRadIC( get_Phi() );
fgic->SetTrueHeadingRadIC( get_Psi() );
fgic->SetClimbRateFpsIC( get_Climb_Rate() );
}
bool FGJSBsim::ToggleDataLogging(void) {
return fdmex->GetOutput()->Toggle();
}
bool FGJSBsim::ToggleDataLogging(bool state) {
if (state) {
fdmex->GetOutput()->Enable();
return true;
} else {
fdmex->GetOutput()->Disable();
return false;
}
}
//Positions
void FGJSBsim::set_Latitude(double lat) {
double sea_level_radius_meters,lat_geoc;
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
snap_shot();
sgGeodToGeoc( lat, get_Altitude() , &sea_level_radius_meters, &lat_geoc);
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Longitude(double lon) {
SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
snap_shot();
fgic->SetLongitudeRadIC(lon);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Altitude(double alt) {
double sea_level_radius_meters,lat_geoc;
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
snap_shot();
sgGeodToGeoc( get_Latitude(), alt , &sea_level_radius_meters, &lat_geoc);
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
fgic->SetLatitudeRadIC( lat_geoc );
fgic->SetAltitudeFtIC(alt);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_V_calibrated_kts(double vc) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
snap_shot();
fgic->SetVcalibratedKtsIC(vc);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Mach_number(double mach) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
snap_shot();
fgic->SetMachIC(mach);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
<< north << ", " << east << ", " << down );
snap_shot();
fgic->SetVnorthFpsIC(north);
fgic->SetVeastFpsIC(east);
fgic->SetVdownFpsIC(down);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
<< u << ", " << v << ", " << w );
snap_shot();
fgic->SetUBodyFpsIC(u);
fgic->SetVBodyFpsIC(v);
fgic->SetWBodyFpsIC(w);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
//Euler angles
void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
<< phi << ", " << theta << ", " << psi );
snap_shot();
fgic->SetPitchAngleRadIC(theta);
fgic->SetRollAngleRadIC(phi);
fgic->SetTrueHeadingRadIC(psi);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
//Flight Path
void FGJSBsim::set_Climb_Rate( double roc) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
snap_shot();
fgic->SetClimbRateFpsIC(roc);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Gamma_vert_rad( double gamma) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
snap_shot();
fgic->SetFlightPathAngleRadIC(gamma);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
//Earth
void FGJSBsim::set_Sea_level_radius(double slr) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Sea_level_radius: " << slr );
snap_shot();
fgic->SetSeaLevelRadiusFtIC(slr);
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Runway_altitude(double ralt) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Runway_altitude: " << ralt );
snap_shot();
_set_Runway_altitude( ralt );
fgic->SetTerrainAltitudeFtIC( ralt );
fdmex->RunIC(fgic); //loop JSBSim once
copy_from_JSBsim(); //update the bus
needTrim=true;
}
void FGJSBsim::set_Static_pressure(double p) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_pressure: " << p );
snap_shot();
Atmosphere->SetExPressure(p);
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::set_Static_temperature(double T) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Static_temperature: " << T );
snap_shot();
Atmosphere->SetExTemperature(T);
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::set_Density(double rho) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Density: " << rho );
snap_shot();
Atmosphere->SetExDensity(rho);
if(Atmosphere->External() == true)
needTrim=true;
}
void FGJSBsim::set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown ) {
SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local_Airmass: "
<< wnorth << ", " << weast << ", " << wdown );
_set_Velocities_Local_Airmass( wnorth, weast, wdown );
snap_shot();
Atmosphere->SetWindNED(wnorth, weast, wdown );
if(Atmosphere->External() == true)
needTrim=true;
}
View git blame Copy permalink