fginertial.cpp

6 DOF Missle Simulation

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Module:       FGInertial.cpp
 Author:       Jon S. Berndt
 Date started: 09/13/00
 Purpose:      Encapsulates the inertial frame forces (coriolis and centrifugal)

 ------------- Copyright (C) 2000  Jon S. Berndt ([e-mail]) -------------

 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.

FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------

HISTORY
--------------------------------------------------------------------------------
09/13/00   JSB   Created

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include "FGInertial.h"
#include "FGPropagate.h"
#include "FGState.h"
#include "FGMassBalance.h"

namespace JSBSim {

static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_INERTIAL;

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/


FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex)
{
  Name = "FGInertial";

  // Defaults
  RotationRate    = 0.00007292115;
  GM              = 14.07644180E15;     // WGS84 value
  RadiusReference = 20925650.00;        // Equatorial radius (WGS84)
  C2_0            = -4.84165371736E-04; // WGS84 value for the C2,0 coefficient
  J2              = 1.0826266836E-03;   // WGS84 value for J2
  a               = 20925646.3255;      // WGS84 semimajor axis length in feet 
  b               = 20855486.5951;      // WGS84 semiminor axis length in feet
  earthPosAngle   = 0.0;

  gAccelReference = GM/(RadiusReference*RadiusReference);
  gAccel          = GM/(RadiusReference*RadiusReference);

  bind();

  Debug(0);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGInertial::~FGInertial(void)
{
  Debug(1);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

bool FGInertial::InitModel(void)
{
  if (!FGModel::InitModel()) return false;

  earthPosAngle   = 0.0;

  return true;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

bool FGInertial::Run(void)
{
  // Fast return if we have nothing to do ...
  if (FGModel::Run()) return true;
  if (FDMExec->Holding()) return false;

  // Gravitation accel
  double r = Propagate->GetRadius();
  gAccel = GetGAccel(r);
  earthPosAngle += State->Getdt()*RotationRate;

  return false;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

double FGInertial::GetGAccel(double r) const
{
  return GM/(r*r);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGInertial::bind(void)
{
  PropertyManager->Tie("position/epa-rad", this, &FGInertial::GetEarthPositionAngle);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//    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 FGInertial::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: FGInertial" << endl;
    if (from == 1) cout << "Destroyed:    FGInertial" << 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;
    }
  }
}
}