/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Header: FGAuxiliary.h Author: Jon Berndt Date started: 01/26/99 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) ------------- This program is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser 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 Lesser General Public License can also be found on the world wide web at http://www.gnu.org. HISTORY -------------------------------------------------------------------------------- 11/22/98 JSB Created 1/1/00 TP Added calcs and getters for VTAS, VCAS, VEAS, Vground, in knots %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SENTRY %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #ifndef FGAUXILIARY_H #define FGAUXILIARY_H /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGModel.h" #include "math/FGColumnVector3.h" #include "math/FGMatrix33.h" #include "math/FGLocation.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #define ID_AUXILIARY "$Id: FGAuxiliary.h,v 1.29 2014/12/27 05:41:11 dpculp Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ namespace JSBSim { /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DOCUMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /** Encapsulates various uncategorized scheduled functions. Pilot sensed accelerations are calculated here. This is used for the coordinated turn ball instrument. Motion base platforms sometimes use the derivative of pilot sensed accelerations as the driving parameter, rather than straight accelerations. The theory behind pilot-sensed calculations is presented: For purposes of discussion and calculation, assume for a minute that the pilot is in space and motionless in inertial space. She will feel no accelerations. If the aircraft begins to accelerate along any axis or axes (without rotating), the pilot will sense those accelerations. If any rotational moment is applied, the pilot will sense an acceleration due to that motion in the amount: [wdot X R] + [w X (w X R)] Term I Term II where: wdot = omegadot, the rotational acceleration rate vector w = omega, the rotational rate vector R = the vector from the aircraft CG to the pilot eyepoint The sum total of these two terms plus the acceleration of the aircraft body axis gives the acceleration the pilot senses in inertial space. In the presence of a large body such as a planet, a gravity field also provides an accelerating attraction. This acceleration can be transformed from the reference frame of the planet so as to be expressed in the frame of reference of the aircraft. This gravity field accelerating attraction is felt by the pilot as a force on her tushie as she sits in her aircraft on the runway awaiting takeoff clearance. In JSBSim the acceleration of the body frame in inertial space is given by the F = ma relation. If the vForces vector is divided by the aircraft mass, the acceleration vector is calculated. The term wdot is equivalent to the JSBSim vPQRdot vector, and the w parameter is equivalent to vPQR. @author Tony Peden, Jon Berndt @version $Id: FGAuxiliary.h,v 1.29 2014/12/27 05:41:11 dpculp Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ class FGAuxiliary : public FGModel { public: /** Constructor @param Executive a pointer to the parent executive object */ FGAuxiliary(FGFDMExec* Executive); /// Destructor ~FGAuxiliary(); bool InitModel(void); /** Runs the Auxiliary routines; called by the Executive Can pass in a value indicating if the executive is directing the simulation to Hold. @param Holding if true, the executive has been directed to hold the sim from advancing time. Some models may ignore this flag, such as the Input model, which may need to be active to listen on a socket for the "Resume" command to be given. @return false if no error */ bool Run(bool Holding); // GET functions // Atmospheric parameters GET functions /** Returns Calibrated airspeed in feet/second.*/ double GetVcalibratedFPS(void) const { return vcas; } /** Returns Calibrated airspeed in knots.*/ double GetVcalibratedKTS(void) const { return vcas*fpstokts; } /** Returns equivalent airspeed in feet/second. */ double GetVequivalentFPS(void) const { return veas; } /** Returns equivalent airspeed in knots. */ double GetVequivalentKTS(void) const { return veas*fpstokts; } /** Returns the true airspeed in feet per second. */ double GetVtrueFPS() const { return vtrue; } /** Returns the true airspeed in knots. */ double GetVtrueKTS() const { return vtrue * fpstokts; } /** Returns the total pressure. Total pressure is freestream total pressure for subsonic only. For supersonic it is the 1D total pressure behind a normal shock. */ double GetTotalPressure(void) const { return pt; } /** Returns the total temperature. The total temperature ("tat", isentropic flow) is calculated: @code tat = in.Temperature*(1 + 0.2*Mach*Mach) @endcode (where "in.Temperature" is standard temperature calculated by the atmosphere model) */ double GetTotalTemperature(void) const { return tat; } double GetTAT_C(void) const { return tatc; } double GetPilotAccel(int idx) const { return vPilotAccel(idx); } double GetNpilot(int idx) const { return vPilotAccelN(idx); } double GetAeroPQR(int axis) const { return vAeroPQR(axis); } double GetEulerRates(int axis) const { return vEulerRates(axis); } const FGColumnVector3& GetPilotAccel (void) const { return vPilotAccel; } const FGColumnVector3& GetNpilot (void) const { return vPilotAccelN; } const FGColumnVector3& GetNcg (void) const { return vNcg; } double GetNcg (int idx) const { return vNcg(idx); } double GetNlf (void) const; const FGColumnVector3& GetAeroPQR (void) const { return vAeroPQR; } const FGColumnVector3& GetEulerRates (void) const { return vEulerRates; } const FGColumnVector3& GetAeroUVW (void) const { return vAeroUVW; } const FGLocation& GetLocationVRP(void) const { return vLocationVRP; } double GethVRP(void) const; double GetAeroUVW (int idx) const { return vAeroUVW(idx); } double Getalpha (void) const { return alpha; } double Getbeta (void) const { return beta; } double Getadot (void) const { return adot; } double Getbdot (void) const { return bdot; } double GetMagBeta (void) const { return fabs(beta); } double Getalpha (int unit) const { if (unit == inDegrees) return alpha*radtodeg; else return BadUnits(); } double Getbeta (int unit) const { if (unit == inDegrees) return beta*radtodeg; else return BadUnits(); } double Getadot (int unit) const { if (unit == inDegrees) return adot*radtodeg; else return BadUnits(); } double Getbdot (int unit) const { if (unit == inDegrees) return bdot*radtodeg; else return BadUnits(); } double GetMagBeta (int unit) const { if (unit == inDegrees) return fabs(beta)*radtodeg; else return BadUnits(); } /** Calculates and returns the wind-to-body axis transformation matrix. @return a reference to the wind-to-body transformation matrix. */ const FGMatrix33& GetTw2b(void) { return mTw2b; } /** Calculates and returns the body-to-wind axis transformation matrix. @return a reference to the wind-to-body transformation matrix. */ const FGMatrix33& GetTb2w(void) { return mTb2w; } double Getqbar (void) const { return qbar; } double GetqbarUW (void) const { return qbarUW; } double GetqbarUV (void) const { return qbarUV; } double GetReynoldsNumber(void) const { return Re; } /** Gets the magnitude of total vehicle velocity including wind effects in feet per second. */ double GetVt (void) const { return Vt; } /** Gets the ground speed in feet per second. The magnitude is the square root of the sum of the squares (RSS) of the vehicle north and east velocity components. @return The magnitude of the vehicle velocity in the horizontal plane. */ double GetVground (void) const { return Vground; } /** Gets the Mach number. */ double GetMach (void) const { return Mach; } /** The mach number calculated using the vehicle X axis velocity. */ double GetMachU (void) const { return MachU; } /** The vertical acceleration in g's of the aircraft center of gravity. */ double GetNz (void) const { return Nz; } /** The lateral acceleration in g's of the aircraft center of gravity. */ double GetNy (void) const { return Ny; } const FGColumnVector3& GetNwcg(void) const { return vNwcg; } double GetHOverBCG(void) const { return hoverbcg; } double GetHOverBMAC(void) const { return hoverbmac; } double GetGamma(void) const { return gamma; } double GetGroundTrack(void) const { return psigt; } double GetHeadWind(void) const; double GetCrossWind(void) const; // Time routines, SET and GET functions, used by FGMSIS atmosphere void SetDayOfYear (int doy) { day_of_year = doy; } void SetSecondsInDay (double sid) { seconds_in_day = sid; } int GetDayOfYear (void) const { return day_of_year; } double GetSecondsInDay (void) const { return seconds_in_day; } double GetLongitudeRelativePosition (void) const { return lon_relative_position; } double GetLatitudeRelativePosition (void) const { return lat_relative_position; } double GetDistanceRelativePosition (void) const { return relative_position; } void SetAeroPQR(const FGColumnVector3& tt) { vAeroPQR = tt; } struct Inputs { double Pressure; double Density; double DensitySL; double PressureSL; double Temperature; double SoundSpeed; double KinematicViscosity; double DistanceAGL; double Wingspan; double Wingchord; double SLGravity; double Mass; FGMatrix33 Tl2b; FGMatrix33 Tb2l; FGColumnVector3 vPQR; FGColumnVector3 vPQRdot; FGColumnVector3 vUVW; FGColumnVector3 vUVWdot; FGColumnVector3 vVel; FGColumnVector3 vBodyAccel; FGColumnVector3 ToEyePt; FGColumnVector3 RPBody; FGColumnVector3 VRPBody; FGColumnVector3 vFw; FGLocation vLocation; double ReferenceRadius; double CosTht; double SinTht; double CosPhi; double SinPhi; double Psi; FGColumnVector3 TotalWindNED; FGColumnVector3 TurbPQR; double WindPsi; double Vwind; double PitotAngle; } in; private: double vcas, veas, vtrue; double pt, tat, tatc; // Don't add a getter for pt! FGMatrix33 mTw2b; FGMatrix33 mTb2w; FGMatrix33 mTw2p; FGColumnVector3 vPilotAccel; FGColumnVector3 vPilotAccelN; FGColumnVector3 vNcg; FGColumnVector3 vNwcg; FGColumnVector3 vAeroPQR; FGColumnVector3 vAeroUVW; FGColumnVector3 vEuler; FGColumnVector3 vEulerRates; FGColumnVector3 vMachUVW; FGColumnVector3 vWindUVW; FGColumnVector3 vPitotUVW; FGLocation vLocationVRP; double Vt, Vground, Vpitot; double Mach, MachU, MachPitot; double qbar, qbarUW, qbarUV; double Re; // Reynolds Number = V*c/mu double alpha, beta; double adot,bdot; double psigt, gamma; double Nz, Ny; double seconds_in_day; // seconds since current GMT day began int day_of_year; // GMT day, 1 .. 366 double hoverbcg, hoverbmac; // helper data, calculation of distance from initial position double lon_relative_position; double lat_relative_position; double relative_position; void UpdateWindMatrices(void); void CalculateRelativePosition(void); void bind(void); double BadUnits(void) const; void Debug(int from); }; } // namespace JSBSim //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% #endif