FGThruster::FGThruster(FGFDMExec *FDMExec, Element *el, int num ): FGForce(FDMExec)
{
Element* thruster_element = el->GetParent();
Element* element;
FGColumnVector3 location, orientation, pointing;
Type = ttDirect;
SetTransformType(FGForce::tCustom);
Name = el->GetAttributeValue("name");
GearRatio = 1.0;
ReverserAngle = 0.0;
Thrust = 0.0;
EngineNum = num;
PropertyManager = FDMExec->GetPropertyManager();
// Determine the initial location and orientation of this thruster and load the
// thruster with this information.
element = thruster_element->FindElement("location");
if (element) location = element->FindElementTripletConvertTo("IN");
else cerr << fgred << " No thruster location found." << reset << endl;
SetLocation(location);
string property_name, base_property_name;
base_property_name = CreateIndexedPropertyName("propulsion/engine", EngineNum);
element = thruster_element->FindElement("pointing");
if (element) {
// This defines a fixed nozzle that has no public interface property to gimbal or reverse it.
pointing = element->FindElementTripletConvertTo("RAD"); // The specification of RAD here is superfluous,
// and simply precludes a conversion.
mT.InitMatrix();
mT(1,1) = pointing(1);
mT(2,1) = pointing(2);
mT(3,1) = pointing(3);
} else {
element = thruster_element->FindElement("orient");
if (element) orientation = element->FindElementTripletConvertTo("RAD");
SetAnglesToBody(orientation);
property_name = base_property_name + "/pitch-angle-rad";
PropertyManager->Tie( property_name.c_str(), (FGForce *)this, &FGForce::GetPitch, &FGForce::SetPitch);
property_name = base_property_name + "/yaw-angle-rad";
PropertyManager->Tie( property_name.c_str(), (FGForce *)this, &FGForce::GetYaw, &FGForce::SetYaw);
if (el->GetName() == "direct") // this is a direct thruster. At this time
// only a direct thruster can be reversed.
{
property_name = base_property_name + "/reverser-angle-rad";
PropertyManager->Tie( property_name.c_str(), (FGThruster *)this, &FGThruster::GetReverserAngle,
&FGThruster::SetReverserAngle);
}
}
Debug(0);
}
FGRotor::FGRotor(FGFDMExec *exec, Element* rotor_element, int num)
: FGThruster(exec, rotor_element, num)
{
FGColumnVector3 location, orientation;
Element *thruster_element;
PropertyManager = fdmex->GetPropertyManager();
dt = fdmex->GetDeltaT();
/* apply defaults */
rho = 0.002356; // just a sane value
RPM = 0.0;
Sense = 1.0;
tailRotorPresent = false;
effective_tail_col = 0.001; // just a sane value
prop_inflow_ratio_lambda = 0.0;
prop_advance_ratio_mu = 0.0;
prop_inflow_ratio_induced_nu = 0.0;
prop_mr_torque = 0.0;
prop_thrust_coefficient = 0.0;
prop_coning_angle = 0.0;
prop_theta_downwash = prop_phi_downwash = 0.0;
hover_threshold = 0.0;
hover_scale = 0.0;
mr.zero();
tr.zero();
// debug stuff
prop_DumpFlag = 0;
/* configure */
Type = ttRotor;
SetTransformType(FGForce::tCustom);
// get data from parent and 'mount' the rotor system
thruster_element = rotor_element->GetParent()->FindElement("sense");
if (thruster_element) {
Sense = thruster_element->GetDataAsNumber() >= 0.0 ? 1.0: -1.0;
}
thruster_element = rotor_element->GetParent()->FindElement("location");
if (thruster_element) location = thruster_element->FindElementTripletConvertTo("IN");
else cerr << "No thruster location found." << endl;
thruster_element = rotor_element->GetParent()->FindElement("orient");
if (thruster_element) orientation = thruster_element->FindElementTripletConvertTo("RAD");
else cerr << "No thruster orientation found." << endl;
SetLocation(location);
SetAnglesToBody(orientation);
// get main rotor parameters
mr.parent = rotor_element;
int flags = eMain;
string a_val="";
a_val = rotor_element->GetAttributeValue("variant");
if ( a_val == "coaxial" ) {
flags += eCoaxial;
cerr << "# found 'coaxial' variant" << endl;
}
if (Sense<0.0) {
flags += eRotCW;
}
mr.configure(flags);
mr.rk.init(0,dt,6);
// get tail rotor parameters
tr.parent=rotor_element->FindElement("tailrotor");
if (tr.parent) {
tailRotorPresent = true;
} else {
tailRotorPresent = false;
cerr << "# No tailrotor found, assuming a single rotor." << endl;
}
if (tailRotorPresent) {
int flags = eTail;
if (Sense<0.0) {
flags += eRotCW;
}
tr.configure(flags, &mr);
tr.rk.init(0,dt,6);
tr.RpmRatio = tr.NominalRPM/mr.NominalRPM; // 'connect'
}
/* remaining parameters */
// ground effect
double c_ground_effect = 0.0; // uh1 ~ 0.28 , larger values increase the effect
ground_effect_exp = 0.0;
ground_effect_shift = 0.0;
if (rotor_element->FindElement("cgroundeffect"))
c_ground_effect = rotor_element->FindElementValueAsNumber("cgroundeffect");
if (rotor_element->FindElement("groundeffectshift"))
ground_effect_shift = rotor_element->FindElementValueAsNumberConvertTo("groundeffectshift","FT");
// prepare calculations, see /TA77/
if (c_ground_effect > 1e-5) {
ground_effect_exp = 1.0 / ( 2.0*mr.Radius * c_ground_effect );
} else {
ground_effect_exp = 0.0; // disable
}
// smooth out jumps in hagl reported, otherwise the ground effect
// calculation would cause jumps too. 1Hz seems sufficient.
damp_hagl = Filter(1.0,dt);
// misc, experimental
if (rotor_element->FindElement("hoverthreshold"))
hover_threshold = rotor_element->FindElementValueAsNumberConvertTo("hoverthreshold", "FT/SEC");
if (rotor_element->FindElement("hoverscale"))
hover_scale = rotor_element->FindElementValueAsNumber("hoverscale");
// enable import-export
bind();
// unused right now
prop_rotorbrake->setDoubleValue(0.0);
prop_freewheel_factor->setDoubleValue(1.0);
Debug(0);
} // Constructor
