void FGAtmosphere::Calculate(double altitude)
{
FGPropertyNode* node = PropertyManager->GetNode();
if (!PropertyManager->HasNode("atmosphere/override/temperature"))
Temperature = GetTemperature(altitude);
else
Temperature = node->GetDouble("atmosphere/override/temperature");
if (!PropertyManager->HasNode("atmosphere/override/pressure"))
Pressure = GetPressure(altitude);
else
Pressure = node->GetDouble("atmosphere/override/pressure");
if (!PropertyManager->HasNode("atmosphere/override/density"))
Density = Pressure/(Reng*Temperature);
else
Density = node->GetDouble("atmosphere/override/density");
Soundspeed = sqrt(SHRatio*Reng*(Temperature));
PressureAltitude = altitude;
DensityAltitude = altitude;
Viscosity = Beta * pow(Temperature, 1.5) / (SutherlandConstant + Temperature);
KinematicViscosity = Viscosity / Density;
}
FGSimplexTrim::FGSimplexTrim(FGFDMExec * fdm, TrimMode mode)
{
std::clock_t time_start=clock(), time_trimDone;
// variables
FGTrimmer::Constraints constraints;
if (fdm->GetDebugLevel() > 0) {
std::cout << "\n-----Performing Simplex Based Trim --------------\n" << std::endl;
}
// defaults
std::string aircraftName = fdm->GetAircraft()->GetAircraftName();
FGPropertyNode* node = fdm->GetPropertyManager()->GetNode();
double rtol = node->GetDouble("trim/solver/rtol");
double abstol = node->GetDouble("trim/solver/abstol");
double speed = node->GetDouble("trim/solver/speed"); // must be > 1, 2 typical
double random = node->GetDouble("trim/solver/random");
int iterMax = int(node->GetDouble("trim/solver/iterMax"));
bool showConvergence = node->GetBool("trim/solver/showConvergence");
bool pause = node->GetBool("trim/solver/pause");
bool showSimplex = node->GetBool("trim/solver/showSimplex");
// flight conditions
double phi = fdm->GetIC()->GetPhiRadIC();
double theta = fdm->GetIC()->GetThetaRadIC();
double gd = fdm->GetInertial()->gravity();
constraints.velocity = fdm->GetIC()->GetVtrueFpsIC();
constraints.altitude = fdm->GetIC()->GetAltitudeASLFtIC();
constraints.gamma = fdm->GetIC()->GetFlightPathAngleRadIC();
constraints.rollRate = 0;
constraints.pitchRate = 0;
constraints.yawRate = tan(phi)*gd*cos(theta)/constraints.velocity;
constraints.stabAxisRoll = true; // FIXME, make this an option
// initial solver state
int n = 6;
std::vector<double> initialGuess(n), lowerBound(n), upperBound(n), initialStepSize(n);
lowerBound[0] = node->GetDouble("trim/solver/throttleMin");
lowerBound[1] = node->GetDouble("trim/solver/elevatorMin");
lowerBound[2] = node->GetDouble("trim/solver/alphaMin");
lowerBound[3] = node->GetDouble("trim/solver/aileronMin");
lowerBound[4] = node->GetDouble("trim/solver/rudderMin");
lowerBound[5] = node->GetDouble("trim/solver/betaMin");
upperBound[0] = node->GetDouble("trim/solver/throttleMax");
upperBound[1] = node->GetDouble("trim/solver/elevatorMax");
upperBound[2] = node->GetDouble("trim/solver/alphaMax");
upperBound[3] = node->GetDouble("trim/solver/aileronMax");
upperBound[4] = node->GetDouble("trim/solver/rudderMax");
upperBound[5] = node->GetDouble("trim/solver/betaMax");
initialStepSize[0] = node->GetDouble("trim/solver/throttleStep");
initialStepSize[1] = node->GetDouble("trim/solver/elevatorStep");
initialStepSize[2] = node->GetDouble("trim/solver/alphaStep");
initialStepSize[3] = node->GetDouble("trim/solver/aileronStep");
initialStepSize[4] = node->GetDouble("trim/solver/rudderStep");
initialStepSize[5] = node->GetDouble("trim/solver/betaStep");
initialGuess[0] = node->GetDouble("trim/solver/throttleGuess");
initialGuess[1] = node->GetDouble("trim/solver/elevatorGuess");
initialGuess[2] = node->GetDouble("trim/solver/alphaGuess");
initialGuess[3] = node->GetDouble("trim/solver/aileronGuess");
initialGuess[4] = node->GetDouble("trim/solver/rudderGuess");
initialGuess[5] = node->GetDouble("trim/solver/betaGuess");
// solve
FGTrimmer * trimmer = new FGTrimmer(fdm, &constraints);
Callback callback(aircraftName, trimmer);
FGNelderMead * solver = NULL;
solver = new FGNelderMead(trimmer,initialGuess,
lowerBound, upperBound, initialStepSize,iterMax,rtol,
abstol,speed,random,showConvergence,showSimplex,pause,&callback);
while(solver->status()==1) solver->update();
time_trimDone = std::clock();
// output
if (fdm->GetDebugLevel() > 0) {
trimmer->printSolution(std::cout,solver->getSolution());
std::cout << "\nfinal cost: " << std::scientific << std::setw(10) << trimmer->eval(solver->getSolution()) << std::endl;
std::cout << "\ntrim computation time: " << (time_trimDone - time_start)/double(CLOCKS_PER_SEC) << "s \n" << std::endl;
}
delete solver;
delete trimmer;
}
FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr)
{
Frame = 0;
Error = 0;
IC = 0;
Trim = 0;
Script = 0;
disperse = 0;
RootDir = "";
modelLoaded = false;
IsChild = false;
holding = false;
Terminate = false;
StandAlone = false;
ResetMode = 0;
IncrementThenHolding = false; // increment then hold is off by default
TimeStepsUntilHold = -1;
sim_time = 0.0;
dT = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
// run in standalone mode with no initialization file.
AircraftPath = "aircraft";
EnginePath = "engine";
SystemsPath = "systems";
try {
char* num = getenv("JSBSIM_DEBUG");
if (num) debug_lvl = atoi(num); // set debug level
} catch (...) { // if error set to 1
debug_lvl = 1;
}
if (Root == 0) { // Then this is the root FDM
Root = new FGPropertyManager; // Create the property manager
StandAlone = true;
}
if (FDMctr == 0) {
FDMctr = new unsigned int; // Create and initialize the child FDM counter
(*FDMctr) = 0;
}
// Store this FDM's ID
IdFDM = (*FDMctr); // The main (parent) JSBSim instance is always the "zeroth"
// Prepare FDMctr for the next child FDM id
(*FDMctr)++; // instance. "child" instances are loaded last.
FGPropertyNode* instanceRoot = Root->GetNode("/fdm/jsbsim",IdFDM,true);
instance = new FGPropertyManager(instanceRoot);
try {
char* num = getenv("JSBSIM_DISPERSE");
if (num) {
if (atoi(num) != 0) disperse = 1; // set dispersions on
}
} catch (...) { // if error set to false
disperse = 0;
std::cerr << "Could not process JSBSIM_DISPERSIONS environment variable: Assumed NO dispersions." << endl;
}
Debug(0);
// this is to catch errors in binding member functions to the property tree.
try {
Allocate();
} catch ( string msg ) {
cout << "Caught error: " << msg << endl;
exit(1);
}
trim_status = false;
ta_mode = 99;
Constructing = true;
typedef int (FGFDMExec::*iPMF)(void) const;
// instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis, false);
instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim, false);
instance->Tie("simulation/do_simplex_trim", this, (iPMF)0, &FGFDMExec::DoSimplexTrim);
instance->Tie("simulation/do_linearization", this, (iPMF)0, &FGFDMExec::DoLinearization);
instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions, false);
instance->Tie("simulation/disperse", this, &FGFDMExec::GetDisperse);
instance->Tie("simulation/randomseed", this, (iPMF)0, &FGFDMExec::SRand, false);
instance->Tie("simulation/terminate", (int *)&Terminate);
instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime);
instance->Tie("simulation/dt", this, &FGFDMExec::GetDeltaT);
instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
instance->Tie("simulation/frame", (int *)&Frame, false);
// simplex trim properties
instanceRoot->SetDouble("trim/solver/rtol",0.0001);
instanceRoot->SetDouble("trim/solver/speed",2);
instanceRoot->SetDouble("trim/solver/abstol",0.001);
instanceRoot->SetDouble("trim/solver/iterMax",2000);
instanceRoot->SetInt("trim/solver/debugLevel",0);
instanceRoot->SetDouble("trim/solver/random",0);
instanceRoot->SetBool("trim/solver/showSimplex",false);
instanceRoot->SetBool("trim/solver/showConvergence",false);
instanceRoot->SetBool("trim/solver/pause",false);
instanceRoot->SetBool("trim/solver/variablePropPitch",false);
instanceRoot->SetDouble("trim/solver/throttleGuess",0.50);
instanceRoot->SetDouble("trim/solver/throttleMin",0.0);
instanceRoot->SetDouble("trim/solver/throttleMax",1.0);
instanceRoot->SetDouble("trim/solver/throttleStep",0.1);
instanceRoot->SetDouble("trim/solver/aileronGuess",0);
instanceRoot->SetDouble("trim/solver/aileronMin",-1.00);
instanceRoot->SetDouble("trim/solver/aileronMax",1.00);
instanceRoot->SetDouble("trim/solver/aileronStep",0.1);
instanceRoot->SetDouble("trim/solver/rudderGuess",0);
instanceRoot->SetDouble("trim/solver/rudderMin",-1.00);
instanceRoot->SetDouble("trim/solver/rudderMax",1.00);
instanceRoot->SetDouble("trim/solver/rudderStep",0.1);
instanceRoot->SetDouble("trim/solver/elevatorGuess",-0.1);
instanceRoot->SetDouble("trim/solver/elevatorMin",-1.0);
instanceRoot->SetDouble("trim/solver/elevatorMax",1.0);
instanceRoot->SetDouble("trim/solver/elevatorStep",0.1);
instanceRoot->SetDouble("trim/solver/alphaGuess",0.05);
instanceRoot->SetDouble("trim/solver/alphaMin",-0.1);
instanceRoot->SetDouble("trim/solver/alphaMax",.18);
instanceRoot->SetDouble("trim/solver/alphaStep",0.05);
instanceRoot->SetDouble("trim/solver/betaGuess",0);
instanceRoot->SetDouble("trim/solver/betaMin",-0.1);
instanceRoot->SetDouble("trim/solver/betaMax",0.1);
instanceRoot->SetDouble("trim/solver/betaStep",0.0001);
Constructing = false;
}
void FGScript::Debug(int from)
{
if (debug_lvl <= 0) return;
if (debug_lvl & 1) { // Standard console startup message output
if (from == 0) { // Constructor
} else if (from == 3) {
} else if (from == 4) { // print out script data
cout << endl;
cout << "Script: \"" << ScriptName << "\"" << endl;
cout << " begins at " << StartTime << " seconds and runs to " << EndTime
<< " seconds with dt = " << setprecision(6) << FDMExec->GetDeltaT() << " (" <<
ceil(1.0/FDMExec->GetDeltaT()) << " Hz)" << endl;
cout << endl;
FGPropertyReader::const_iterator it;
for (it = LocalProperties.begin(); it != LocalProperties.end(); ++it) {
FGPropertyNode* node = *it;
cout << "Local property: " << node->GetName()
<< " = " << node->getDoubleValue()
<< endl;
}
if (LocalProperties.empty()) cout << endl;
for (unsigned i=0; i<Events.size(); i++) {
cout << "Event " << i;
if (!Events[i].Name.empty()) cout << " (" << Events[i].Name << ")";
cout << ":" << endl;
if (Events[i].Persistent)
cout << " " << "Whenever triggered, executes once";
else if (Events[i].Continuous)
cout << " " << "While true, always executes";
else
cout << " " << "When first triggered, executes once";
Events[i].Condition->PrintCondition();
cout << endl << " Actions taken";
if (Events[i].Delay > 0.0)
cout << " (after a delay of " << Events[i].Delay << " secs)";
cout << ":" << endl << " {";
for (unsigned j=0; j<Events[i].SetValue.size(); j++) {
if (Events[i].SetValue[j] == 0.0 && Events[i].Functions[j] != 0L) {
if (Events[i].SetParam[j] == 0) {
if (Events[i].SetParamName[j].size() == 0) {
std::stringstream error;
error << fgred << highint << endl
<< " An attempt has been made to access a non-existent property" << endl
<< " in this event. Please check the property names used, spelling, etc."
<< reset << endl;
throw std::runtime_error(error.str());
} else {
cout << endl << " set " << Events[i].SetParamName[j]
<< " to function value (Late Bound)";
}
} else {
cout << endl << " set " << Events[i].SetParam[j]->GetRelativeName("/fdm/jsbsim/")
<< " to function value";
}
} else {
if (Events[i].SetParam[j] == 0) {
if (Events[i].SetParamName[j].size() == 0) {
std::stringstream error;
error << fgred << highint << endl
<< " An attempt has been made to access a non-existent property" << endl
<< " in this event. Please check the property names used, spelling, etc."
<< reset << endl;
throw std::runtime_error(error.str());
} else {
cout << endl << " set " << Events[i].SetParamName[j]
<< " to function value (Late Bound)";
}
} else {
cout << endl << " set " << Events[i].SetParam[j]->GetRelativeName("/fdm/jsbsim/")
<< " to " << Events[i].SetValue[j];
}
}
switch (Events[i].Type[j]) {
case FG_VALUE:
case FG_BOOL:
cout << " (constant";
break;
case FG_DELTA:
cout << " (delta";
break;
default:
cout << " (unspecified type";
}
switch (Events[i].Action[j]) {
case FG_RAMP:
cout << " via ramp";
break;
case FG_STEP:
cout << " via step)";
break;
case FG_EXP:
cout << " via exponential approach";
break;
default:
cout << " via unspecified action)";
}
if (Events[i].Action[j] == FG_RAMP || Events[i].Action[j] == FG_EXP)
cout << " with time constant " << Events[i].TC[j] << ")";
}
cout << endl << " }" << endl;
// Print notifications
if (Events[i].Notify) {
if (Events[i].NotifyProperties.size() > 0) {
if (Events[i].NotifyKML) {
cout << " Notifications (KML Format):" << endl << " {" << endl;
} else {
cout << " Notifications:" << endl << " {" << endl;
}
for (unsigned j=0; j<Events[i].NotifyPropertyNames.size();j++) {
cout << " "
<< Events[i].NotifyPropertyNames[j]
<< endl;
}
cout << " }" << endl;
}
}
cout << endl;
}
}
}
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
if (from == 0) cout << "Instantiated: FGScript" << endl;
if (from == 1) cout << "Destroyed: FGScript" << 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 & 64) {
if (from == 0) { // Constructor
cout << IdSrc << endl;
cout << IdHdr << endl;
}
}
}