JSBSim Flight Dynamics Model

Update of /cvsroot/jsbsim/JSBSim/engine
In directory vz-cvs-3.sog:/tmp/cvs-serv13872

Modified Files:
	ah1s_rotor.xml ah1s_tail_rotor.xml 
Log Message:
New ah1s from Thomas Kreitler: 


Index: ah1s_rotor.xml
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/engine/ah1s_rotor.xml,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -r1.2 -r1.3
*** ah1s_rotor.xml	17 Jan 2011 22:08:01 -0000	1.2
--- ah1s_rotor.xml	22 Aug 2012 19:27:20 -0000	1.3
***************
*** 12,22 ****
    <twist>                              -0.175 </twist>
    <massmoment>                           85.0 </massmoment> <!-- SLUG*FT, estimated from mass --> 
!   <tiplossfactor>                        0.98 </tiplossfactor>
    <polarmoment unit="SLUG*FT2">        2900.0 </polarmoment>
    <inflowlag>                            0.09 </inflowlag>
!   <hingeoffset unit="FT">                1.25 </hingeoffset>
  
!   <groundeffectexp>                     0.081 </groundeffectexp>
!   <groundeffectshift unit="FT">          14.0 </groundeffectshift>
  
  </rotor>
--- 12,26 ----
    <twist>                              -0.175 </twist>
    <massmoment>                           85.0 </massmoment> <!-- SLUG*FT, estimated from mass --> 
!   <tiplossfactor>                         1.0 </tiplossfactor>
    <polarmoment unit="SLUG*FT2">        2900.0 </polarmoment>
    <inflowlag>                            0.09 </inflowlag>
!   <hingeoffset unit="FT">                3.30 </hingeoffset> <!-- hingeless 15% -->
  
!   <!--
!         According to the operator's manual, the groundeffect yields to approx. 20% less
!         torque required when hovering near ground, and vanishes around 50ft h-agl.
!       -->
!   <groundeffectexp>                     0.19 </groundeffectexp>
!   <groundeffectshift unit="FT">           10 </groundeffectshift>
  
  </rotor>

Index: ah1s_tail_rotor.xml
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/engine/ah1s_tail_rotor.xml,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -r1.1 -r1.2
*** ah1s_tail_rotor.xml	18 Jan 2011 11:47:38 -0000	1.1
--- ah1s_tail_rotor.xml	22 Aug 2012 19:27:20 -0000	1.2
***************
*** 16,22 ****
      <hingeoffset unit="FT">             0.015 </hingeoffset>
  
-     <groundeffectexp>                   0.081 </groundeffectexp>
-     <groundeffectshift unit="FT">        14.0 </groundeffectshift>
- 
      <ExternalRPM> 0 </ExternalRPM>
      <controlmap> TAIL </controlmap>
--- 16,19 ----

Update of /cvsroot/jsbsim/JSBSim/aircraft/ah1s
In directory vz-cvs-3.sog:/tmp/cvs-serv13630

Modified Files:
	ah1s.xml reset00.xml 
Log Message:
New ah1s from Thomas Kreitler: The main change in the helicopter fdm affects the downwash contributions.


Index: ah1s.xml
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/aircraft/ah1s/ah1s.xml,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -r1.4 -r1.5
*** ah1s.xml	15 Jan 2012 19:56:34 -0000	1.4
--- ah1s.xml	22 Aug 2012 19:26:01 -0000	1.5
***************
*** 1,35 ****
  <?xml version="1.0"?>
! <?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
! <fdm_config 
!   name="ah1s"
!   version="2.0"
!   release="ALPHA"
!   xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
!   xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
! 
    <fileheader>
[...1554 lines suppressed...]
+         <product>
+           <value> -0.1 </value>
+           <property> aero/HWhat-psft </property>
+           <property> velocities/r-aero-rad_sec </property>
+           <property> aero/setup/Nr_limiter </property>
+           <table>
+             <independentVar> aero/mu </independentVar>
+             <tableData>
+                0.0   1.0
+                0.08  0.9
+                0.15  0.0
+             </tableData>
+           </table>
+         </product>
+       </function>
      </axis>
  
    </aerodynamics>
!   
  </fdm_config>

Index: reset00.xml
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/aircraft/ah1s/reset00.xml,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -r1.2 -r1.3
*** reset00.xml	17 Jan 2011 22:08:25 -0000	1.2
--- reset00.xml	22 Aug 2012 19:26:01 -0000	1.3
***************
*** 1,15 ****
  <?xml version="1.0"?>
  <initialize name="reset00">
  
    <ubody unit="FT/SEC">    0.0 </ubody>
    <vbody unit="FT/SEC">    0.0 </vbody>
    <wbody unit="FT/SEC">    0.0 </wbody>
!   <longitude unit="DEG">  30.0 </longitude>
!   <latitude unit="DEG">   30.0 </latitude>
!   <phi unit="DEG">         0.0 </phi>
    <theta unit="DEG">       0.0 </theta>
!   <psi unit="RAD">         1.0 </psi>
!   <altitude unit="FT">    6.22 </altitude>
  
! </initialize>
  
--- 1,36 ----
  <?xml version="1.0"?>
  <initialize name="reset00">
+   <!--
+ 
+     AH1S initialization, in JSBSim-standalone it just plays with the 'elevation'
+     and 'altitudeAGL' features. Additionally it serves as an init file for
+     'native-fdm' visualization with FlightGear. In this case the vehicle is
+     placed at Edwards AFB (KEDW). (Or more precisely on the huge wind rose found
+     at the air base.)
+ 
+     Notes:
+       For visualization with FlightGear, JSBSim needs a proper 'logfile', and in
+       turn FG needs a matching argument on the command line (port 45577 => 0xb209 :).
+ 
+       JSBSim logfile:
+         <output name='localhost' type='FLIGHTGEAR' port='45577' protocol='UDP' rate='25'/>
+ 
+       FlightGear:    
+         add '-\-native-fdm=socket,in,25,127.0.0.1,45577,udp' to your start options.
+ 
+       -->
  
    <ubody unit="FT/SEC">    0.0 </ubody>
    <vbody unit="FT/SEC">    0.0 </vbody>
    <wbody unit="FT/SEC">    0.0 </wbody>
!   <phi   unit="DEG">       0.0 </phi>
    <theta unit="DEG">       0.0 </theta>
!   <psi   unit="DEG">     180.0 </psi>
  
!   <!-- KEDW wind rose location -->
!   <longitude   unit="DEG">  -117.87323 </longitude>
!   <latitude    unit="DEG">    34.95416 </latitude>
!   <elevation   unit="FT">   2283.5     </elevation>
!   <altitudeAGL unit="FT">      6.3     </altitudeAGL>
  
+ </initialize>

Update of /cvsroot/jsbsim/JSBSim/aircraft/ah1s/Systems
In directory vz-cvs-3.sog:/tmp/cvs-serv13575/Systems

Log Message:
Directory /cvsroot/jsbsim/JSBSim/aircraft/ah1s/Systems added to the repository

Update of /cvsroot/jsbsim/JSBSim/systems
In directory vz-cvs-3.sog:/tmp/cvs-serv13369

Modified Files:
	afcs.xml rpm_governor.xml 
Log Message:
afcs was parametrized too. It cab now be turned into a 'simpler' rate-damper (or SAS), also the altitude-hold function can be switched between h-agl/h-sl mode.
The rpm-governor was optimized for the current (ah1s) engine/rotor combination.


Index: afcs.xml
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/systems/afcs.xml,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -r1.2 -r1.3
*** afcs.xml	17 Jan 2011 22:08:56 -0000	1.2
--- afcs.xml	22 Aug 2012 19:23:12 -0000	1.3
***************
*** 1,33 ****
  <?xml version="1.0"?>
  
! <!--  =============================
  
!        outputs:
  
!             ap/rudder-cmd
!             ap/aileron-cmd
!             ap/elevator-cmd
!             ap/collective-cmd
  
-       =============================  -->
  
! <system name="automated flight control">
  
    <!--  ==================
!          ROLL CHANNEL
!       ==================  -->
  
    <property value="0.0"> ap/afcs/roll-channel-active-norm </property>
    <property value="0.0"> ap/afcs/phi-trim-rad </property>
!   <property value="0.0"> ap/afcs/x-lat-trim </property>
  
    <channel name="afcs-roll">
!     <fcs_function name="ap/afcs/x-lat-ctrl">
        <function>
          <product>
!           <value> 0.33 </value>
            <difference>
!             <property> fcs/x-lat </property>
!             <property> ap/afcs/x-lat-trim </property>
            </difference>
          </product>
--- 1,65 ----
  <?xml version="1.0"?>
+ <system name="automated flight control">
  
! <!--  ===================================================================
!         Automatic flight control system (AFCS)
  
!         Based on the AFCS for the CH-54/S-64 helicopter described in
!         /SH79/, eqns. 13-16.
  
!         The system is adjustable via 'ap/afcs/adj/*' properties, it
!         offers basic altitude- and heading-hold features, but can 
!         also be turned into a pure 'Rate-Damper' (or SAS, 'Stability
!         Augmentation System').
  
  
!         'Altitude-hold' and 'heading-hold' features.
! 
!         Setting ap/afcs/adj/altitude-error-ctrl-gain to zero disables
!         the altitude-hold feature. When altitude-hold is used the control
!         input can be turned to 'h-sl' by setting 'ap/afcs/h-agl-mode'
!         to zero.
!         The 'ap/afcs/heading-hold-enable' property switches a simple
!         'heading-hold' function on or off.
! 
! 
!         SH79: Shaugnessy, J. D., Deaux, Thomas N., and Yenni, Kenneth R.;
!               Development and Validation of a Piloted Simulation of a 
!               Helicopter and External Sling Load - NASA TP-1285; 1979
! 
!       ===================================================================  -->
! 
! 
!   <!--  ==================
!           OUTPUT
!         ==================  -->
! 
!   <property value="0.0"> ap/rudder-cmd </property>
!   <property value="0.0"> ap/aileron-cmd </property>
!   <property value="0.0"> ap/elevator-cmd </property>
!   <property value="0.0"> ap/collective-cmd </property>
! 
  
    <!--  ==================
!           ROLL CHANNEL
!         ==================  -->
  
+   <!-- 'control' parameters -->
    <property value="0.0"> ap/afcs/roll-channel-active-norm </property>
    <property value="0.0"> ap/afcs/phi-trim-rad </property>
!   <property value="0.0"> ap/afcs/lateral-trim </property>
!   <!-- afcs 'setup' parameters -->
!   <property value="0.33"> ap/afcs/adj/lateral-ctrl-gain </property>
!   <property value="-0.133"> ap/afcs/adj/roll-err-ctrl-gain </property>
!   <property value="-0.096"> ap/afcs/adj/roll-rate-ctrl-gain </property>
  
    <channel name="afcs-roll">
!     <fcs_function name="ap/afcs/lateral-ctrl">
        <function>
          <product>
!           <property> ap/afcs/adj/lateral-ctrl-gain </property>
            <difference>
!             <property> fcs/lateral-gain </property>
!             <property> ap/afcs/lateral-trim </property>
            </difference>
          </product>
***************
*** 41,45 ****
        <function>
          <product>
!           <value> -0.133 </value>
            <difference>
              <property> attitude/phi-rad </property>
--- 73,77 ----
        <function>
          <product>
!           <property> ap/afcs/adj/roll-err-ctrl-gain </property>
            <difference>
              <property> attitude/phi-rad </property>
***************
*** 56,60 ****
        <function>
          <product>
!           <value> -0.096 </value>
            <property> velocities/p-aero-rad_sec </property>
          </product>
--- 88,92 ----
        <function>
          <product>
!           <property> ap/afcs/adj/roll-rate-ctrl-gain </property>
            <property> velocities/p-aero-rad_sec </property>
          </product>
***************
*** 70,74 ****
            <property> ap/afcs/roll-channel-active-norm </property>
            <sum>
!             <property> ap/afcs/x-lat-ctrl     </property>
              <property> ap/afcs/roll-err-ctrl  </property>
              <property> ap/afcs/roll-rate-ctrl </property>
--- 102,106 ----
            <property> ap/afcs/roll-channel-active-norm </property>
            <sum>
!             <property> ap/afcs/lateral-ctrl   </property>
              <property> ap/afcs/roll-err-ctrl  </property>
              <property> ap/afcs/roll-rate-ctrl </property>
***************
*** 81,99 ****
  
    <!--  ==================
!          PITCH CHANNEL
!       ==================  -->
  
    <property value="0.0"> ap/afcs/pitch-channel-active-norm </property>
    <property value="0.0"> ap/afcs/theta-trim-rad </property>
!   <property value="0.0"> ap/afcs/x-lon-trim </property>
  
    <channel name="afcs-pitch">
!     <fcs_function name="ap/afcs/x-lon-ctrl">
        <function>
          <product>
!           <value> 0.475 </value>
            <difference>
!             <property> fcs/x-lon </property>
!             <property> ap/afcs/x-lon-trim </property>
            </difference>
          </product>
--- 113,136 ----
  
    <!--  ==================
!           PITCH CHANNEL
!         ==================  -->
  
+   <!-- 'control' parameters -->
    <property value="0.0"> ap/afcs/pitch-channel-active-norm </property>
    <property value="0.0"> ap/afcs/theta-trim-rad </property>
!   <property value="0.0"> ap/afcs/longitudinal-trim </property>
!   <!-- afcs 'setup' parameters -->
!   <property value="0.475"> ap/afcs/adj/longitudinal-ctrl-gain </property>
!   <property value="0.281"> ap/afcs/adj/pitch-err-ctrl-gain </property>
!   <property value="0.727"> ap/afcs/adj/pitch-rate-ctrl-gain </property>
  
    <channel name="afcs-pitch">
!     <fcs_function name="ap/afcs/longitudinal-ctrl">
        <function>
          <product>
!           <property> ap/afcs/adj/longitudinal-ctrl-gain </property>
            <difference>
!             <property> fcs/longitudinal-gain </property>
!             <property> ap/afcs/longitudinal-trim </property>
            </difference>
          </product>
***************
*** 107,111 ****
        <function>
          <product>
!           <value> 0.281 </value>
            <difference>
              <property> attitude/theta-rad </property>
--- 144,148 ----
        <function>
          <product>
!           <property> ap/afcs/adj/pitch-err-ctrl-gain </property>
            <difference>
              <property> attitude/theta-rad </property>
***************
*** 122,126 ****
        <function>
          <product>
!           <value> 0.727 </value>
            <property> velocities/q-aero-rad_sec </property>
          </product>
--- 159,163 ----
        <function>
          <product>
!           <property> ap/afcs/adj/pitch-rate-ctrl-gain </property>
            <property> velocities/q-aero-rad_sec </property>
          </product>
***************
*** 136,142 ****
            <property> ap/afcs/pitch-channel-active-norm </property>
            <sum>
!             <property> ap/afcs/x-lon-ctrl     </property>
!             <property> ap/afcs/pitch-err-ctrl  </property>
!             <property> ap/afcs/pitch-rate-ctrl </property>
            </sum>
          </product>
--- 173,179 ----
            <property> ap/afcs/pitch-channel-active-norm </property>
            <sum>
!             <property> ap/afcs/longitudinal-ctrl </property>
!             <property> ap/afcs/pitch-err-ctrl    </property>
!             <property> ap/afcs/pitch-rate-ctrl   </property>
            </sum>
          </product>
***************
*** 148,157 ****
    <!--  ==================
            YAW CHANNEL
!       ==================  -->
  
    <property value="0.0"> ap/afcs/yaw-channel-active-norm </property>
    <property value="0.0"> ap/afcs/psi-trim-rad </property>
  
    <channel name="afcs-yaw">
      <!-- if zero the pid integrator is enabled -->
      <!-- if negative the pid integrator is reset -->
--- 185,209 ----
    <!--  ==================
            YAW CHANNEL
!         ==================  -->
  
+   <!-- 'control' parameters -->
    <property value="0.0"> ap/afcs/yaw-channel-active-norm </property>
    <property value="0.0"> ap/afcs/psi-trim-rad </property>
+   <!-- afcs 'setup' parameters -->
+   <property value="1.0"> ap/afcs/heading-hold-enable </property>
+   <property value="0.0"> ap/afcs/adj/yaw-rate-ctrl-gain </property>
  
    <channel name="afcs-yaw">
+ 
+     <fcs_function name="ap/afcs/psi-trim-deg">
+       <!-- utility -->
+       <function>
+         <product>
+           <value> 57.2958 </value>
+           <property> ap/afcs/psi-trim-rad </property>
+         </product>
+       </function>
+     </fcs_function>
+ 
      <!-- if zero the pid integrator is enabled -->
      <!-- if negative the pid integrator is reset -->
***************
*** 160,209 ****
        <test value="0.0"> ap/afcs/yaw-channel-active-norm GT 0.999 </test>
      </switch>
!     <fcs_function name="ap/afcs/psi-error-rad-raw">
!       <function>
!         <difference>
!           <property> attitude/psi-rad </property>
!           <property> ap/afcs/psi-trim-rad </property>
!         </difference>
!       </function>
!     </fcs_function>
!     <fcs_function name="ap/afcs/psi-error-rad-mapped">
!       <function>
!         <product>
!           <value> 2.0 </value>
!           <property> ap/afcs/yaw-channel-active-norm </property>
!           <atan>
!             <tan>
!               <product>
!                 <value> 0.5 </value>
!                 <property> ap/afcs/psi-error-rad-raw </property>
!               </product>
!             </tan>
!           </atan>
!         </product>
!       </function>
!     </fcs_function>
!     <!-- avoid jumping when abs(delta) is around 180 deg -->
      <fcs_function name="ap/afcs/psi-error-rad">
        <function>
!         <product>
!           <property> ap/afcs/psi-error-rad-mapped </property>
!           <table>
!             <independentVar lookup="row"> ap/afcs/psi-error-rad-mapped </independentVar>
!             <tableData>
!               -3.1416   0.0
!               -3.0      1.0
!                3.0      1.0
!                3.1416   0.0
!             </tableData>
!           </table>
!         </product>
        </function>
      </fcs_function>
      <pid name="ap/afcs/yaw-err-pid">
        <input> ap/afcs/psi-error-rad </input>
!       <kp> 0.45 </kp>
!       <!-- G_theta_t_psi 0.133 -->
!       <ki> 0.002 </ki>
        <kd> 0.0 </kd>
        <trigger> ap/afcs/yaw-err-pid-inhibit </trigger>
--- 212,231 ----
        <test value="0.0"> ap/afcs/yaw-channel-active-norm GT 0.999 </test>
      </switch>
! 
      <fcs_function name="ap/afcs/psi-error-rad">
        <function>
!         <sin>
!           <difference>
!             <property> attitude/psi-rad </property>
!             <property> ap/afcs/psi-trim-rad </property>
!           </difference>
!         </sin>
        </function>
      </fcs_function>
+ 
      <pid name="ap/afcs/yaw-err-pid">
        <input> ap/afcs/psi-error-rad </input>
!       <kp> 0.33 </kp>
!       <ki> 0.0025 </ki>
        <kd> 0.0 </kd>
        <trigger> ap/afcs/yaw-err-pid-inhibit </trigger>
***************
*** 216,221 ****
        <function>
          <product>
!           <property> ap/afcs/yaw-channel-active-norm </property>
!           <value> 0.5 </value>
            <property> velocities/r-aero-rad_sec </property>
          </product>
--- 238,242 ----
        <function>
          <product>
!           <property> ap/afcs/adj/yaw-rate-ctrl-gain </property>
            <property> velocities/r-aero-rad_sec </property>
          </product>
***************
*** 226,257 ****
        </clipto>
      </fcs_function>
!     <summer name="ap/afcs/yaw-cmd-sum">
!       <input>  ap/afcs/yaw-err-pid </input>
!       <input>  ap/afcs/yaw-rate-ctrl </input>
        <output> ap/rudder-cmd </output>
!     </summer>
    </channel>
  
    <!--  =====================
!          ALTITUDE CHANNEL
!       =====================  -->
  
    <property value="0.0"> ap/afcs/altitude-channel-active-norm </property>
!   <property value="50.0"> ap/afcs/h-agl-trim-ft </property>
  
    <channel name="afcs-altitude">
!     <!-- reported h-agl-ft seems way jumpy -->
      <lag_filter name="position/h-agl-ft-lag">
        <input> position/h-agl-ft </input>
        <c1>    1.0 </c1>
      </lag_filter>
      <fcs_function name="ap/afcs/altitude-error-ctrl">
        <function>
          <product>
!           <property> ap/afcs/altitude-channel-active-norm </property>
!           <value> -0.00035 </value>
            <difference>
!             <property> position/h-agl-ft-lag </property>
!             <property> ap/afcs/h-agl-trim-ft </property>
            </difference>
          </product>
--- 247,302 ----
        </clipto>
      </fcs_function>
!     <fcs_function name="ap/afcs/yaw-cmd-sum">
!       <function>
!         <product>
!           <property> ap/afcs/yaw-channel-active-norm </property>
!           <sum>
!             <product>
!               <property> ap/afcs/heading-hold-enable </property>
!               <property> ap/afcs/yaw-err-pid </property>
!             </product>
!             <property> ap/afcs/yaw-rate-ctrl </property>
!           </sum>
!         </product>
!       </function>
        <output> ap/rudder-cmd </output>
!    </fcs_function>
! 
    </channel>
  
    <!--  =====================
!           ALTITUDE CHANNEL
!         =====================  -->
  
+   <!-- 'control' parameters -->
    <property value="0.0"> ap/afcs/altitude-channel-active-norm </property>
!   <property value="50.0"> ap/afcs/altitude-trim-ft </property>
!   <!-- afcs 'setup' parameters -->
!   <property value="1.0"> ap/afcs/h-agl-mode </property>
!   <property value="-0.00035"> ap/afcs/adj/altitude-error-ctrl-gain </property>
!   <property value="0.00"> ap/afcs/adj/altitude-rate-ctrl-gain </property>
! 
  
    <channel name="afcs-altitude">
!     <!-- smooth out terrain jumps -->
      <lag_filter name="position/h-agl-ft-lag">
        <input> position/h-agl-ft </input>
        <c1>    1.0 </c1>
      </lag_filter>
+ 
+     <switch name="ap/afcs/altitude-input">
+       <default value="position/h-sl-ft"/>
+       <test value="position/h-agl-ft-lag">
+         ap/afcs/h-agl-mode == 1
+       </test>
+     </switch>
+ 
      <fcs_function name="ap/afcs/altitude-error-ctrl">
        <function>
          <product>
!           <property> ap/afcs/adj/altitude-error-ctrl-gain </property>
            <difference>
!             <property> ap/afcs/altitude-input </property>
!             <property> ap/afcs/altitude-trim-ft </property>
            </difference>
          </product>
***************
*** 261,267 ****
--- 306,339 ----
          <max>  0.40 </max>
        </clipto>
+     </fcs_function>
+ 
+     <fcs_function name="ap/afcs/altitude-rate-ctrl">
+       <function>
+         <product>
+           <property> ap/afcs/adj/altitude-rate-ctrl-gain </property>
+           <property> velocities/h-dot-fps </property><!-- velocities/w-fps ?? -->
+         </product>
+       </function>
+       <clipto>
+         <min> -0.40 </min>
+         <max>  0.40 </max>
+       </clipto>
+     </fcs_function>
+ 
+     <fcs_function name="ap/afcs/collective-cmd-sum">
+       <function>
+         <product>
+           <property> ap/afcs/altitude-channel-active-norm </property>
+           <sum>
+             <property> ap/afcs/altitude-error-ctrl </property>
+             <property> ap/afcs/altitude-rate-ctrl  </property>
+           </sum>
+         </product>
+       </function>
        <output> ap/collective-cmd </output>
      </fcs_function>
+ 
    </channel>
  
  </system>
+ 

Index: rpm_governor.xml
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/systems/rpm_governor.xml,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -r1.2 -r1.3
*** rpm_governor.xml	17 Jan 2011 22:08:56 -0000	1.2
--- rpm_governor.xml	22 Aug 2012 19:23:12 -0000	1.3
***************
*** 1,26 ****
  <?xml version="1.0"?>
  
  <!--  =================================================================
  
!         A very generic RPM governor.
  
!         You need to declare the target RPM 'fcs/nominal-rpm' in your
!         fdm_config, eg:
! 
!           <system name="governor_decl">
!             <property value="300.0"> fcs/nominal-rpm </property>
!           </system>
! 
!         When developing a new helicopter fdm you should run the rotor
!         in constant-speed mode (by setting ExternalRPM to -1 and 
!         manipulate propulsion/engine[x]/x-rpm-dict accordingly),
!         and implement a proper governor as last step. Otherwise a
!         bad governor might spoil a good model.
  
        =================================================================  -->
  
- <system name="RPM Governor">
  
    <property value="0.0">fcs/rpm-governor-active-norm</property>
  
    <channel name="RPM-Governor">
--- 1,27 ----
  <?xml version="1.0"?>
+ <system name="RPM Governor (AH1S)">
  
  <!--  =================================================================
  
!        RPM governor for the ah1s model (Adjusted for electric engines,
!        and rather 'crisp').
  
!        A more basic/lazy PID might use the following values:
!          <kp> 0.0035 </kp>
!          <ki> 0.001  </ki>
!          <kd> 0.0    </kd>
! 
!        Note:
!          When developing a new helicopter fdm you should run the rotor
!          in constant-speed mode (by setting ExternalRPM to -1 and 
!          manipulate propulsion/engine[x]/x-rpm-dict accordingly).
!          Implement the governor as last step, otherwise chances are high 
!          that a bad governor might spoil a good model.
  
        =================================================================  -->
  
  
    <property value="0.0">fcs/rpm-governor-active-norm</property>
+   <property value="324.0"> fcs/nominal-rpm </property>
  
    <channel name="RPM-Governor">
***************
*** 46,52 ****
      <pid name="fcs/throttle-pid">
        <input>fcs/rpm-delta</input>
!       <kp> 0.0035 </kp>
!       <ki> 0.001  </ki>
!       <kd> 0.0    </kd>
        <trigger> fcs/rpm-governor-pid-inhibit </trigger>
        <clipto>
--- 47,53 ----
      <pid name="fcs/throttle-pid">
        <input>fcs/rpm-delta</input>
!       <kp>  0.07   </kp>
!       <ki>  0.0012 </ki>
!       <kd> -0.0008 </kd>
        <trigger> fcs/rpm-governor-pid-inhibit </trigger>
        <clipto>

Update of /cvsroot/jsbsim/JSBSim/scripts
In directory vz-cvs-3.sog:/tmp/cvs-serv12196

Modified Files:
	ah1s_flight_test.xml 
Log Message:
script was extended to check for more performance parameters.
Now it has switchable options for 'max-speed' (default, similar to the old test), 'trimmed-flight' based on data from the trim tables, 'auto-rotation' for a powerless descent (please don't ask for landing :), and a test for the maximum hover height.


Index: ah1s_flight_test.xml
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/scripts/ah1s_flight_test.xml,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -r1.1 -r1.2
*** ah1s_flight_test.xml	18 Jan 2011 14:03:43 -0000	1.1
--- ah1s_flight_test.xml	22 Aug 2012 19:21:18 -0000	1.2
***************
*** 7,20 ****
  
    <description>
!      A rudimentary performance test. The script could be used to test for maximum
!      speed and range of the helicopter. Since the AFCS is no autopilot 'manual' 
!      input must be provided too.
    </description>
  
    <use aircraft="ah1s" initialize="reset00"/>
  
!   <run start="0.0" end="3000.1" dt="0.0075">
  
      <property value="0"> simulation/notify-time-trigger </property>
  
      <!-- ===========
--- 7,47 ----
  
    <description>
! 
!      Runs some performance tests on the model. The tests are selected via 
!      simulation/test-variant:
! 
!        0) syntax check - nothing happens
!        1) max speed at 5000ft-sl with afcs (default)
!        2) 'trimmed' flight, using precalculated trim values from steady flight data
!        3) auto-rotation, descent with windmilling rotor
!        4) maximum hover height
! 
!      For FlightGear visualization, see the notes in 'ah1s/reset00.xml'
! 
    </description>
  
    <use aircraft="ah1s" initialize="reset00"/>
  
!   <run start="0.0" end="2800.1" dt="0.0075">
  
+     <property value="1"> simulation/test-variant </property>
      <property value="0"> simulation/notify-time-trigger </property>
+     <property value="240.0"> simulation/notify-time-trigger-ar </property>
+     <property value="3.14159"> ap/afcs/psi-trim-rad </property>
+     <property value="0.0"> propulsion/tank[0]/contents-lbs </property>
+     <property value="0.0"> propulsion/tank[1]/contents-lbs </property>
+     
+     <!-- vehicle setup: ensure defaults -->
+     <property value="1.0"> aero/setup/downwash-enable </property>
+     <property value="0.05"> aero/setup/Nr_limiter </property>
+ 
+     <!-- rotor control: disable features which are only useful for interactive use -->
+     <property value="0.0"> fcs/adj/collective-profile </property>
+     <property value="1.0"> fcs/adj/center-sensitivity </property>
+ 
+     <!--
+     when x-rpm-dict is used
+     <property value="0"> fcs/rpm-governor-active-norm </property>
+     -->
  
      <!-- ===========
***************
*** 22,99 ****
           =========== -->
  
-     <event name="Start engine">
-       <condition> simulation/sim-time-sec  ge  5 </condition>
-       <set name="propulsion/tank[0]/contents-lbs" value="500.0" action="FG_RAMP" tc="0.5"/>
-       <set name="propulsion/tank[1]/contents-lbs" value="500.0" action="FG_RAMP" tc="0.5"/>
-       <set name="propulsion/set-running" value="-1"/>
-       <notify/>
-     </event>
- 
-     <event name="Set controls">
-       <condition> simulation/sim-time-sec  ge  6 </condition>
-       <set name="fcs/mixture-cmd-norm"    value="0.0"/>
-       <set name="fcs/advance-cmd-norm"    value="0.0"/>
-       <set name="fcs/throttle-cmd-norm"   value="0.0"/>
-       <set name="fcs/aileron-cmd-norm"    value="0.0"/>
-       <set name="fcs/elevator-cmd-norm"   value="0.0"/>
-       <set name="fcs/rudder-cmd-norm"     value="0.0"/>
-       <set name="ap/afcs/psi-trim-rad"    value="1.0"/>
-       <set name="ap/afcs/x-lat-trim"      value="-0.0108"/>
-       <set name="ap/afcs/x-lon-trim"      value="0.025"/>
-       <set name="ap/afcs/theta-trim-rad"  value="0.0"/>
-       <set name="ap/afcs/phi-trim-rad"    value="-0.001"/>
-       <set name="ap/afcs/h-agl-trim-ft"   value="150.0"/>
-       <notify/>
-     </event>
- 
      <event name="Engage RPM governor">
!       <condition>simulation/sim-time-sec  ge  7</condition>
!       <set name="fcs/mixture-cmd-norm" value="0.0"/>
!       <set name="fcs/rpm-governor-active-norm" value="1.0" action="FG_RAMP" tc="2.0"/>
        <notify>
!         <property> fcs/mixture-cmd-norm </property>
          <property> ap/collective-cmd </property>
          <property> position/h-agl-ft </property>
          <property> propulsion/engine/rotor-rpm </property>
-         <property> propulsion/engine[1]/rotor-rpm </property>
          <property> velocities/u-aero-fps </property>
          <property> velocities/v-aero-fps </property>
          <property> velocities/w-aero-fps </property>
        </notify>
      </event>
  
      <!-- 
!          Example for using  x-rpm-dict, make sure to disable the RPM governor above
        -->
      <!-- 
      <event name="Set RPM">
!       <condition>simulation/sim-time-sec  ge  7.1</condition>
!       <set name="fcs/mixture-cmd-norm" value="0.0"/>
        <set name="propulsion/engine[0]/x-rpm-dict" value="6600.0" action="FG_RAMP" tc="12.0"/>
        <set name="propulsion/engine[1]/x-rpm-dict" value="6600.0" action="FG_RAMP" tc="12.0"/>
! 
!       <notify>
!         <property> fcs/mixture-cmd-norm </property>
!         <property> ap/collective-cmd </property>
!         <property> position/h-agl-ft </property>
!         <property> propulsion/engine/rotor-rpm </property>
!         <property> propulsion/engine[1]/rotor-rpm </property>
!         <property> velocities/u-aero-fps </property>
!         <property> velocities/v-aero-fps </property>
!         <property> velocities/w-aero-fps </property>
!       </notify>
      </event>
      -->
  
      <event name="Raise collective">
!       <condition> simulation/sim-time-sec  ge  20 </condition>
!       <set name="fcs/mixture-cmd-norm" value="0.13" action="FG_RAMP" tc="3.0"/>
        <notify>
          <property> propulsion/engine/rotor-rpm </property>
        </notify>
      </event>
  
      <event name="Engage yaw afcs">
!       <condition> simulation/sim-time-sec  ge  20 </condition>
        <set name="ap/afcs/yaw-channel-active-norm" value="1.0" action="FG_RAMP" tc="3.0"/>
        <notify/>
--- 49,105 ----
           =========== -->
  
      <event name="Engage RPM governor">
!       <condition>
!          simulation/test-variant gt 0
!          simulation/sim-time-sec ge 1
!       </condition>
!       <set name="fcs/collective-cmd-norm" value="0.0"/>
!       <set name="fcs/rpm-governor-active-norm" value="1.0" action="FG_RAMP" tc="5.0"/>
        <notify>
!         <property> fcs/collective-cmd-norm </property>
          <property> ap/collective-cmd </property>
          <property> position/h-agl-ft </property>
          <property> propulsion/engine/rotor-rpm </property>
          <property> velocities/u-aero-fps </property>
          <property> velocities/v-aero-fps </property>
          <property> velocities/w-aero-fps </property>
+         <property> position/distance-from-start-mag-mt </property>
        </notify>
      </event>
  
      <!-- 
!          Example for using 'x-rpm-dict', make sure to disable the RPM governor above.
        -->
      <!-- 
      <event name="Set RPM">
!       <condition> simulation/sim-time-sec  ge  1 </condition>
!       <set name="fcs/collective-cmd-norm" value="0.0"/>
        <set name="propulsion/engine[0]/x-rpm-dict" value="6600.0" action="FG_RAMP" tc="12.0"/>
        <set name="propulsion/engine[1]/x-rpm-dict" value="6600.0" action="FG_RAMP" tc="12.0"/>
!       <notify/>
      </event>
      -->
  
      <event name="Raise collective">
!       <condition>
!         simulation/test-variant gt 0
!         simulation/sim-time-sec ge 10 
!       </condition>
!       <set name="fcs/collective-cmd-norm" value="0.35" action="FG_RAMP" tc="3.0"/>
!       <set name="fcs/rudder-cmd-norm" value="0.35" action="FG_RAMP" tc="3.0"/>
        <notify>
          <property> propulsion/engine/rotor-rpm </property>
+         <property> velocities/u-aero-fps </property>
+         <property> velocities/v-aero-fps </property>
+         <property> velocities/w-aero-fps </property>
+         <property> position/distance-from-start-mag-mt </property>
        </notify>
      </event>
  
      <event name="Engage yaw afcs">
!       <condition>
!         simulation/test-variant gt 0
!         simulation/sim-time-sec ge 10
!       </condition>
        <set name="ap/afcs/yaw-channel-active-norm" value="1.0" action="FG_RAMP" tc="3.0"/>
        <notify/>
***************
*** 101,115 ****
  
      <event name="Lift off">
!       <condition> simulation/sim-time-sec  ge  30 </condition>
!       <set name="fcs/mixture-cmd-norm" value="0.34" action="FG_RAMP" tc="5.0"/>
!       <set name="fcs/aileron-cmd-norm" value="0.00" action="FG_RAMP" tc="2.0"/>
!       <set name="fcs/elevator-cmd-norm" value="0.0" action="FG_RAMP" tc="2.0"/>
        <notify>
          <property> propulsion/engine/rotor-rpm </property>
        </notify>
      </event>
  
      <event name="Engage pitch'n'roll afcs">
!       <condition> simulation/sim-time-sec  ge  30 </condition>
        <set name="ap/afcs/pitch-channel-active-norm" value="1.0" action="FG_RAMP" tc="3.0"/>
        <set name="ap/afcs/roll-channel-active-norm" value="1.0" action="FG_RAMP" tc="3.0"/>
--- 107,134 ----
  
      <event name="Lift off">
!       <condition>
!         simulation/test-variant gt 0
!         simulation/sim-time-sec ge 15 
!       </condition>
!       <set name="fcs/collective-cmd-norm" value="0.615" action="FG_RAMP" tc="10.0"/>
!       <set name="fcs/elevator-cmd-norm" value="-0.18" action="FG_RAMP" tc="20.0"/>
!       <set name="fcs/aileron-cmd-norm" value="0.22" action="FG_RAMP" tc="20.0"/>
!       <set name="fcs/rudder-cmd-norm" value="0.39" action="FG_RAMP" tc="3.0"/>
        <notify>
          <property> propulsion/engine/rotor-rpm </property>
+         <property> velocities/u-aero-fps </property>
+         <property> velocities/v-aero-fps </property>
+         <property> velocities/w-aero-fps </property>
+         <property> position/distance-from-start-mag-mt </property>
        </notify>
      </event>
  
      <event name="Engage pitch'n'roll afcs">
!       <condition>
!         simulation/test-variant gt 0
!         simulation/sim-time-sec ge 15
!       </condition>
!       <set name="ap/afcs/manual/phi-trim-rad" value="-0.049254"/>
!       <set name="ap/afcs/manual/theta-trim-rad" value="-0.006428"/>
        <set name="ap/afcs/pitch-channel-active-norm" value="1.0" action="FG_RAMP" tc="3.0"/>
        <set name="ap/afcs/roll-channel-active-norm" value="1.0" action="FG_RAMP" tc="3.0"/>
***************
*** 117,132 ****
      </event>
  
!     <event name="Readjust trim values">
!       <condition> simulation/sim-time-sec  ge  40 </condition>
!       <set name="ap/afcs/x-lat-trim" value="-0.015" action="FG_RAMP" tc="0.01"/>
!       <set name="ap/afcs/x-lon-trim" value="0.0255" action="FG_RAMP" tc="0.01"/>
        <notify/>
      </event>
  
!     <event name="Try to reach approx 30 kts at 100 ft">
!       <condition>simulation/sim-time-sec ge 100</condition>
!       <set name="fcs/elevator-cmd-norm" value="0.12" action="FG_RAMP" tc="25.0"/>
!       <set name="fcs/aileron-cmd-norm" value="-0.05" action="FG_RAMP" tc="25.0"/>
!       <set name="fcs/mixture-cmd-norm" value="0.40" action="FG_RAMP" tc="15.0"/>
        <notify>
          <property> velocities/vc-kts </property>
--- 136,158 ----
      </event>
  
!     <event name="Hover around at approx 75ft hagl (OGE)">
!       <condition>
!         simulation/test-variant gt 0
!         position/h-agl-ft ge 50 
!       </condition>
!       <set name="fcs/collective-cmd-norm" value="0.615" action="FG_RAMP" tc="5.0"/>
!       <set name="fcs/elevator-cmd-norm" value="-0.1558" tvalue="-0.222788" action="FG_RAMP" tc="5.0"/>
!       <set name="fcs/aileron-cmd-norm" value="0.19095" tvalue="0.242343" action="FG_RAMP" tc="5.0"/>
!       <set name="fcs/rudder-cmd-norm" value="0.39" action="FG_RAMP" tc="3.0"/>
        <notify/>
      </event>
  
!     <event name="Avoid rising over 100ft hagl">
!       <condition>
!         simulation/test-variant gt 0
!         position/h-agl-ft ge 90 
!         simulation/sim-time-sec lt 120
!       </condition>
!       <set name="fcs/collective-cmd-norm" value="0.6007" action="FG_RAMP" tc="5.0"/>
        <notify>
          <property> velocities/vc-kts </property>
***************
*** 135,176 ****
      </event>
  
!     <event name="Try to reach approx 60 kts at 1000 ft">
!       <condition> simulation/sim-time-sec  ge  200 </condition>
!       <set name="fcs/elevator-cmd-norm" value="0.26" action="FG_RAMP" tc="30.0"/>
!       <set name="fcs/aileron-cmd-norm" value="-0.12" action="FG_RAMP" tc="30.0"/>
!       <set name="fcs/mixture-cmd-norm" value="0.38" action="FG_RAMP" tc="30.0"/>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
        </notify>
      </event>
  
!     <event name="Try to reach approx 90 kts at 2000 ft">
!       <condition> simulation/sim-time-sec  ge  400 </condition>
!       <set name="fcs/elevator-cmd-norm" value="0.35" action="FG_RAMP" tc="30.0"/>
!       <set name="fcs/aileron-cmd-norm" value="-0.135" action="FG_RAMP" tc="30.0"/>
!       <set name="fcs/mixture-cmd-norm" value="0.44" action="FG_RAMP" tc="30.0"/>
!       <set name="ap/afcs/h-agl-trim-ft" value="5000.0"/>
        <notify>
!         <property> velocities/vc-kts</property>
!         <property> position/h-agl-ft</property>
        </notify>
      </event>
  
!     <event name="Engage altitude afcs">
        <condition>
!          simulation/sim-time-sec  ge  100
!          position/h-agl-ft  ge  4900
        </condition>
!       <!-- tweak a bit (the altitude afcs is intended for hover)  -->
!       <set name="ap/afcs/altitude-channel-active-norm" value="1.0" action="FG_RAMP" tc="30.0"/>
        <notify/>
      </event>
  
!     <event name="Trying max speed at 5000 ft - the AFCS will now go a bit haywire">
!       <condition> simulation/sim-time-sec  ge  600 </condition>
!       <set name="fcs/elevator-cmd-norm" value="0.96" action="FG_RAMP" tc="300.0"/>
!       <set name="fcs/aileron-cmd-norm" value="-0.155" action="FG_RAMP" tc="300.0"/>
!       <set name="fcs/mixture-cmd-norm" value="0.96" action="FG_RAMP" tc="300.0"/>
        <notify>
          <property> velocities/vc-kts</property>
--- 161,281 ----
      </event>
  
!     <!-- Raise attention when watching in FlightGear  -->
!     <event name="20 seconds before fly off">
!       <condition> 
!          simulation/test-variant gt 0
!          simulation/sim-time-sec ge 100
!       </condition>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
+         <property> propulsion/engine/rotor-rpm </property>
+         <property> velocities/u-aero-fps </property>
+         <property> velocities/v-aero-fps </property>
+         <property> velocities/w-aero-fps </property>
+         <property> position/distance-from-start-mag-mt </property>
        </notify>
      </event>
  
!     <!-- end of common part -->
! 
! 
!     <!-- =========== test-variant eq 1 (max speed) =========== -->
! 
!     <event name="1: fly off">
!       <condition> 
!          simulation/test-variant eq 1
!          simulation/sim-time-sec ge 120
!       </condition>
!       <set name="fcs/collective-cmd-norm" value="0.59" action="FG_RAMP" tc="20.0"/>
!       <set name="fcs/elevator-cmd-norm" value="0.1" action="FG_RAMP" tc="15.0"/>
!       <set name="fcs/aileron-cmd-norm" value="0.02" action="FG_RAMP" tc="15.0"/>
!       <set name="ap/afcs/manual/phi-trim-rad" value="-0.025139" action="FG_RAMP" tc="15.0"/>
!       <set name="ap/afcs/manual/theta-trim-rad" value="-0.034275" action="FG_RAMP" tc="15.0"/>
!       <set name="ap/afcs/altitude-trim-ft" value="2650.0"/><!-- ~ 5000ft sl  -->
        <notify>
!         <property> velocities/vc-kts </property>
!         <property> position/h-agl-ft </property>
!       </notify>
!     </event>
! 
!     <event name="1: Engage altitude afcs">
!       <condition>
!          simulation/test-variant eq 1
!          simulation/sim-time-sec ge 120
!          position/h-agl-ft ge 1500
!       </condition>
!       <!-- tweak: activate the channel slowly -->
!       <set name="ap/afcs/altitude-channel-active-norm" value="1.0" action="FG_RAMP" tc="90.0"/>
!       <notify/>
!     </event>
! 
!     <event name="1: Trying max speed at 5000 ft">
!       <condition> 
!          simulation/test-variant eq 1
!          simulation/sim-time-sec ge 120
!          velocities/vc-kts ge 75
!       </condition>
!       <set name="fcs/collective-cmd-norm" value="0.90" action="FG_RAMP" tc="30.0"/>
!       <set name="fcs/elevator-cmd-norm" value="0.6" action="FG_RAMP" tc="30.0"/>
!       <set name="fcs/aileron-cmd-norm" value="-0.1" action="FG_RAMP" tc="30.0"/>
!       <set name="fcs/rudder-cmd-norm" value="-0.071092" action="FG_RAMP" tc="30.0"/>
!       <set name="ap/afcs/manual/phi-trim-rad" value="-0.039" action="FG_RAMP" tc="15.0"/>
!       <set name="ap/afcs/manual/theta-trim-rad" value="-0.070" action="FG_RAMP" tc="15.0"/>
!       <notify>
!         <property> velocities/vc-kts </property>
!         <property> position/h-agl-ft </property>
        </notify>
      </event>
  
!     <event name="1: Rise to 8000 ft (sl)">
!       <!-- this avoids hitting some mountains when observing with FG  -->
        <condition>
!          simulation/test-variant eq 1
!          simulation/sim-time-sec ge 900
        </condition>
!          <set name="ap/afcs/altitude-trim-ft" value="5650.0" action="FG_RAMP" tc="90.0"/>
        <notify/>
      </event>
  
!     <event name="1: Back to 5000 ft (sl)">
!       <condition>
!          simulation/test-variant eq 1
!          simulation/sim-time-sec ge 1200
!       </condition>
!          <set name="ap/afcs/altitude-trim-ft" value="2650.0" action="FG_RAMP" tc="90.0"/>
!       <notify/>
!     </event>
! 
! 
!     <!-- =========== test-variant eq 2 (trimmed flight) =========== -->
!     <!--
!           Test the usability of the steady flight data (SFD) tables.
!           Note: In this test the pilot inputs are *relative* to the
!                 varying values provided by the SFD-tables.
!          -->
! 
!     <event name="2: Switch to trim table based control">
!       <condition> 
!          simulation/test-variant eq 2
!          simulation/sim-time-sec ge 120
!       </condition>
!       <!-- 'undo' pilot inputs -->
!       <set name="fcs/automatic/steady-flight-data-enable" value="1.0" action="FG_RAMP" tc="5.0"/>
!       <set name="fcs/collective-cmd-norm" value="0.00" action="FG_RAMP" tc="5.0"/>
!       <set name="fcs/elevator-cmd-norm" value="0.0" action="FG_RAMP" tc="5.0"/>
!       <set name="fcs/aileron-cmd-norm" value="0.0" action="FG_RAMP" tc="5.0"/>
!       <set name="fcs/rudder-cmd-norm" value="0.0" action="FG_RAMP" tc="5.0"/>
!       <set name="ap/afcs/manual/phi-trim-rad" value="0.0" action="FG_RAMP" tc="5.0"/>
!       <set name="ap/afcs/manual/theta-trim-rad" value="0.0" action="FG_RAMP" tc="5.0"/>
!       <set name="ap/afcs/altitude-trim-ft" value="100.0"/>
!       <set name="ap/afcs/altitude-channel-active-norm" value="1.0" action="FG_RAMP" tc="5.0"/>
!       <!--
!            'afcs hacking'
!                disable afcs/lateral-ctrl and afcs/longitudinal-ctrl components,
!                but keep the pitch- and roll-damping functionality.
!         -->
!       <set name="ap/afcs/adj/lateral-ctrl-gain" value="0.0" action="FG_RAMP" tc="5.0"/>
!       <set name="ap/afcs/adj/longitudinal-ctrl-gain" value="0.0" action="FG_RAMP" tc="5.0"/>
        <notify>
          <property> velocities/vc-kts</property>
***************
*** 179,187 ****
      </event>
  
!     <event name="Correct comtrols">
!       <condition> simulation/sim-time-sec  ge  1000 </condition>
!       <set name="fcs/elevator-cmd-norm" value="0.98" action="FG_RAMP" tc="100.0"/>
!       <set name="fcs/aileron-cmd-norm" value="-0.21" action="FG_RAMP" tc="100.0"/>
!       <set name="fcs/mixture-cmd-norm" value="0.98" action="FG_RAMP" tc="100.0"/>
        <notify>
          <property> velocities/vc-kts</property>
--- 284,293 ----
      </event>
  
!     <event name="2: Climb to 5000ft sl (with approx 1800 ft/min)">
!       <condition> 
!          simulation/test-variant eq 2
!          simulation/sim-time-sec ge 180
!       </condition>
!       <set name="ap/afcs/altitude-trim-ft" value="2760.0" action="FG_RAMP" tc="90.0"/>
        <notify>
          <property> velocities/vc-kts</property>
***************
*** 190,226 ****
      </event>
  
      <!-- ===========
            Reporters
           =========== -->
  
!     <event name="Time Notify" persistent="true">
        <condition>
           simulation/sim-time-sec ge simulation/notify-time-trigger
        </condition>
!       <set name="simulation/notify-time-trigger" value="100.0" type="FG_DELTA"/>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
          <property> attitude/heading-true-rad </property>
          <property> aero/alpha-deg </property>
          <property> aero/beta-deg </property>
          <property> aero/mu </property>
          <property> aero/force/D0_fus </property>
          <property> velocities/u-aero-fps </property>
          <property> velocities/v-aero-fps </property>
          <property> velocities/w-aero-fps </property>
          <property> propulsion/engine/rotor-rpm </property>
!         <property> propulsion/engine[1]/rotor-rpm </property>
          <property> propulsion/tank[0]/contents-lbs </property>
          <property> propulsion/tank[1]/contents-lbs </property>
!         <property> position/distance-from-start-mag-mt </property>
!         <property> forces/fbx-prop-lbs  </property>
!         <property> forces/fby-prop-lbs  </property>
!         <property> forces/fbz-prop-lbs  </property>
!         <property> moments/l-prop-lbsft </property>
!         <property> moments/m-prop-lbsft </property>
!         <property> moments/n-prop-lbsft </property>
          <property> propulsion/engine/vi-fps </property>
!         <property> propulsion/engine[1]/vi-fps </property>
        </notify>
      </event>
--- 296,592 ----
      </event>
  
+     <event name="2: Slowly fly away">
+       <condition> 
+          simulation/test-variant eq 2
+          simulation/sim-time-sec ge 300
+          position/h-sl-ft ge 5000
+       </condition>
+       <set name="fcs/elevator-cmd-norm" value="0.04" action="FG_RAMP" tc="5.0"/>
+       <notify>
+         <property> velocities/vc-kts</property>
+         <property> position/h-agl-ft</property>
+       </notify>
+     </event>
+ 
+     <event name="2: Avoid high speed">
+       <condition> 
+          simulation/test-variant eq 2
+          simulation/sim-time-sec ge 300
+          position/h-sl-ft ge 5000
+          velocities/vc-kts ge 100
+       </condition>
+       <set name="fcs/elevator-cmd-norm" value="-0.0175" action="FG_RAMP" tc="5.0"/>
+       <notify>
+         <property> velocities/vc-kts</property>
+         <property> position/h-agl-ft</property>
+       </notify>
+     </event>
+ 
+     <!-- =========== test-variant eq 3 (autorotation) =========== -->
+     <!--
+           Descending in autorotation comes pretty close to real
+           flight data, but scripted landing is rather a painful
+           task.
+           
+           This test is orientated on the maximum glide distance 
+           condition shown in the 'Climb-descent chart' in the
+           AH-1S Operator's Manual (TM 55-1520-234-10, A.D. 1976, 
+           or the similar chart found the Hefley paper /HE88/. )
+ 
+           HE88: Heffley, Robert K., Mnich, Marc A.,
+                 "Minimum-Complexity Helicopter Simulation Math Model",
+                 USA AVSCOM TR-87-A-7, 1988.
+ 
+         -->
+ 
+     <event name="3: reach 90kts at 5000ft sl">
+       <condition> 
+          simulation/test-variant eq 3
+          simulation/sim-time-sec ge 120
+       </condition>
+       <set name="fcs/elevator-cmd-norm" value="0.32" action="FG_RAMP" tc="30.0"/>
+       <set name="fcs/aileron-cmd-norm" value="0.00" action="FG_RAMP" tc="30.0"/>
+       <set name="ap/afcs/altitude-trim-ft" value="2760.0" action="FG_RAMP" tc="75.0"/>
+       <set name="ap/afcs/altitude-channel-active-norm" value="1.0" action="FG_RAMP" tc="10.0"/>
+       <set name="ap/afcs/manual/phi-trim-rad" value="-0.025" action="FG_RAMP" tc="15.0"/>
+       <set name="ap/afcs/manual/theta-trim-rad" value="-0.04" action="FG_RAMP" tc="15.0"/>
+       <set name="fcs/rudder-cmd-norm" value="-0.013" action="FG_RAMP" tc="30.0"/>
+       <notify>
+         <property> velocities/vc-kts</property>
+         <property> position/h-agl-ft</property>
+       </notify>
+     </event>
+ 
+     <event name="3: keep 90kts">
+       <condition> 
+          velocities/vc-kts ge 85
+          simulation/test-variant eq 3
+          simulation/sim-time-sec ge 120
+       </condition>
+       <set name="fcs/elevator-cmd-norm" value="0.165" action="FG_RAMP" tc="5.0"/>
+       <notify>
+         <property> velocities/vc-kts</property>
+         <property> position/h-agl-ft</property>
+         <property> position/h-sl-ft </property>
+         <property> velocities/u-aero-fps </property>
+         <property> velocities/v-aero-fps </property>
+         <property> velocities/w-aero-fps </property>
+       </notify>
+     </event>
+ 
+     <event name="3: simulate powerloss and go into autorotation">
+       <condition>
+          simulation/test-variant eq 3
+          simulation/sim-time-sec ge 240
+       </condition>
+       <!-- detach engine -->
+       <set name="propulsion/engine/clutch-ctrl-norm" value="0.0" action="FG_RAMP" tc="1.0"/>
+       <set name="ap/afcs/altitude-channel-active-norm" value="0.0" action="FG_RAMP" tc="1.0"/>
+       <set name="fcs/rpm-governor-active-norm" value="0.0" action="FG_RAMP" tc="1.0"/>
+       <!-- set controls for descent -->
+       <set name="fcs/collective-cmd-norm" value="0.11" action="FG_RAMP" tc="10.0"/>
+       <set name="fcs/aileron-cmd-norm" value="0.075" action="FG_RAMP" tc="10.0"/>
+       <set name="fcs/elevator-cmd-norm" value="-0.12" action="FG_RAMP" tc="10.0"/>
+       <set name="fcs/rudder-cmd-norm" value="0.0" action="FG_RAMP" tc="10.0"/>
+       <set name="ap/afcs/lateral-trim" value="0.0063" action="FG_RAMP" tc="10.0"/>
+       <set name="ap/afcs/longitudinal-trim" value="-0.049" action="FG_RAMP" tc="10.0"/>
+       <!-- bug afcs -->
+       <set name="ap/afcs/adj/lateral-ctrl-gain" value="0.0" action="FG_RAMP" tc="5.0"/>
+       <set name="ap/afcs/adj/longitudinal-ctrl-gain" value="0.0" action="FG_RAMP" tc="5.0"/>
+       <!-- adjust for the touchdown zone, useful when visualized within flightgear -->
+       <set name="position/terrain-elevation-asl-ft" value="2290.0" action="FG_RAMP" tc="5.0"/>
+       <notify>
+         <property> velocities/vc-kts </property>
+         <property> position/h-agl-ft </property>
+         <property> position/h-sl-ft </property>
+       </notify>
+     </event>
+ 
+     <event name="3: try a flare - ok, this will hurt!">
+       <condition>
+          simulation/test-variant eq 3
+          simulation/sim-time-sec ge 240 
+          position/h-agl-ft lt 190
+       </condition>
+       <set name="fcs/collective-cmd-norm" value="0.45" action="FG_RAMP" tc="20.0"/>
+       <set name="fcs/elevator-cmd-norm" value="-0.68" action="FG_RAMP" tc="11.0"/>
+       <set name="fcs/aileron-cmd-norm" value="0.15" action="FG_RAMP" tc="10.0"/>
+       <notify>
+         <property> velocities/vc-kts </property>
+         <property> position/h-agl-ft </property>
+         <property> velocities/u-aero-fps </property>
+         <property> velocities/v-aero-fps </property>
+         <property> velocities/w-aero-fps </property>
+         <property> propulsion/engine/rotor-rpm </property>
+         <property> propulsion/engine/thrust-lbs </property>
+         <property> propulsion/engine/collective-ctrl-rad </property>
+       </notify>
+     </event>
+ 
+     <event name="3: try to level (or at least: avoid hitting with the rear bumper)">
+       <condition>
+          simulation/test-variant eq 3
+          simulation/sim-time-sec ge 240 
+          position/h-agl-ft lt 40
+       </condition>
+       <set name="fcs/elevator-cmd-norm" value="-0.2" action="FG_RAMP" tc="12.0"/>
+       <notify>
+         <property> velocities/vc-kts </property>
+         <property> position/h-agl-ft </property>
+         <property> velocities/u-aero-fps </property>
+         <property> velocities/v-aero-fps </property>
+         <property> velocities/w-aero-fps </property>
+         <property> propulsion/engine/rotor-rpm </property>
+         <property> propulsion/engine/thrust-lbs </property>
+         <property> propulsion/engine/collective-ctrl-rad </property>
+       </notify>
+     </event>
+ 
+     <event name="3: about to touchdown">
+       <condition>
+          position/h-agl-ft lt 9.0
+          simulation/test-variant eq 3
+          simulation/sim-time-sec ge 240 
+       </condition>
+       <set name="simulation/terminate" value="0"/>
+       <notify>
+         <property> velocities/vc-kts </property>
+         <property> position/h-agl-ft </property>
+         <property> velocities/u-aero-fps </property>
+         <property> velocities/v-aero-fps </property>
+         <property> velocities/w-aero-fps </property>
+         <property> propulsion/engine/rotor-rpm </property>
+         <property> propulsion/engine/thrust-lbs </property>
+         <property> propulsion/engine/collective-ctrl-rad </property>
+         <property> propulsion/engine/rotor-rpm </property>
+         <property> attitude/pitch-deg </property>
+       </notify>
+     </event>
+ 
+     <event name="3: after touchdown/crash">
+       <condition>
+          position/h-agl-ft lt 9
+          simulation/test-variant eq 3
+          simulation/sim-time-sec ge 240 
+       </condition>
+       <set name="simulation/terminate" value="1"/>
+       <delay> 10 </delay>
+       <notify>
+         <property> velocities/vc-kts </property>
+         <property> position/h-agl-ft </property>
+         <property> velocities/u-aero-fps </property>
+         <property> velocities/v-aero-fps </property>
+         <property> velocities/w-aero-fps </property>
+         <property> propulsion/engine/rotor-rpm </property>
+         <property> propulsion/engine/thrust-lbs </property>
+         <property> propulsion/engine/collective-ctrl-rad </property>
+         <property> propulsion/engine/rotor-rpm </property>
+       </notify>
+     </event>
+ 
+     <!-- =========== test-variant eq 4 (max. hover height) =========== -->
+     <!--
+           Try a pure vertical ascent, and check the (estimated!)
+           bell-torque-sensor output.
+         -->
+     <event name="4: Climb w/o exceeding engine limits (56/50 PSI)">
+       <condition> 
+          simulation/test-variant eq 4
+          simulation/sim-time-sec ge 120
+       </condition>
+       <set name="fcs/collective-cmd-norm" value="0.85" action="FG_EXP" tc="300.0"/>
+       <set name="fcs/elevator-cmd-norm" value="-0.155" action="FG_EXP" tc="300.0"/>
+       <set name="fcs/aileron-cmd-norm" value="0.255" action="FG_EXP" tc="300.0"/>
+       <set name="fcs/rudder-cmd-norm" value="0.50" action="FG_EXP" tc="300.0"/>
+       <set name="ap/afcs/manual/phi-trim-rad" value="-0.05" action="FG_EXP" tc="300.0"/>
+       <set name="ap/afcs/manual/theta-trim-rad" value="-0.006" action="FG_EXP" tc="300.0"/>
+       <notify>
+         <property> velocities/vc-kts </property>
+         <property> position/h-agl-ft </property>
+       </notify>
+     </event>
+ 
+     <event name="4: Passing max height from operators manual (assuming 8500lbs grossweight)">
+       <condition> 
+          simulation/test-variant eq 4
+          simulation/sim-time-sec ge 120
+          position/h-sl-ft ge 13000
+       </condition>
+       <notify>
+         <property> position/h-sl-ft </property>
+         <property> velocities/u-aero-fps </property>
+         <property> velocities/v-aero-fps </property>
+         <property> velocities/w-aero-fps </property>
+         <property> velocities/h-dot-fps </property>
+         <property> propulsion/engine/bell-torque-sensor-psi </property>
+       </notify>
+     </event>
+ 
+     <!-- end of tests -->
+ 
      <!-- ===========
            Reporters
           =========== -->
  
!     <event name="State report" persistent="true">
        <condition>
           simulation/sim-time-sec ge simulation/notify-time-trigger
        </condition>
!       <set name="simulation/notify-time-trigger" value="60.0" type="FG_DELTA"/>
        <notify>
          <property> velocities/vc-kts </property>
+         <property> fcs/SFD/trim/v_dir_kts </property>
          <property> position/h-agl-ft </property>
+         <property> position/h-sl-ft </property>
          <property> attitude/heading-true-rad </property>
          <property> aero/alpha-deg </property>
          <property> aero/beta-deg </property>
+ 
          <property> aero/mu </property>
+         <property> aero/qbar-psf </property>
          <property> aero/force/D0_fus </property>
+ 
          <property> velocities/u-aero-fps </property>
          <property> velocities/v-aero-fps </property>
          <property> velocities/w-aero-fps </property>
+         <property> velocities/h-dot-fps </property>
          <property> propulsion/engine/rotor-rpm </property>
!         <property> position/distance-from-start-mag-mt </property>
!         <property> propulsion/engine/torque-lbsft </property>
!         <property> propulsion/engine/bell-torque-sensor-psi </property>
!         <!--
          <property> propulsion/tank[0]/contents-lbs </property>
          <property> propulsion/tank[1]/contents-lbs </property>
!         -->
!       </notify>
!     </event>
! 
!     <event name="3: State report - autorotation" persistent="true">
!       <condition>
!          simulation/test-variant eq 3
!          simulation/sim-time-sec ge simulation/notify-time-trigger-ar
!       </condition>
!       <set name="simulation/notify-time-trigger-ar" value="10.0" type="FG_DELTA"/>
!       <notify>
!         <property> velocities/vc-kts </property>
!         <property> fcs/SFD/trim/v_dir_kts </property>
!         <property> position/h-agl-ft </property>
!         <property> position/h-sl-ft </property>
!         <property> attitude/heading-true-rad </property>
!         <property> aero/alpha-deg </property>
!         <property> aero/beta-deg </property>
!         <property> aero/mu </property>
!         <property> aero/qbar-psf </property>
! 
!         <property> velocities/u-aero-fps </property>
!         <property> velocities/v-aero-fps </property>
!         <property> velocities/w-aero-fps </property>
!         <property> velocities/h-dot-fps </property>
!         <property> propulsion/engine/rotor-rpm </property>
!         <property> propulsion/engine/torque-lbsft </property>
!         <property> attitude/approach-angle-deg </property>
!         <property> propulsion/engine/thrust-lbs </property>
          <property> propulsion/engine/vi-fps </property>
!         <property> propulsion/engine/torque-lbsft </property>
        </notify>
      </event>
***************
*** 234,248 ****
        </condition>
        <notify>
-         <property> fcs/mixture-cmd-norm </property>
-         <property> ap/collective-cmd </property>
          <property> position/h-agl-ft </property>
          <property> velocities/u-aero-fps </property>
          <property> velocities/v-aero-fps </property>
          <property> velocities/w-aero-fps </property>
        </notify>
      </event>
  
      <event name="9 feet high">
!       <description> Check for a more or less straight start </description>
        <condition> position/h-agl-ft  ge  9 </condition>
        <notify>
--- 600,613 ----
        </condition>
        <notify>
          <property> position/h-agl-ft </property>
          <property> velocities/u-aero-fps </property>
          <property> velocities/v-aero-fps </property>
          <property> velocities/w-aero-fps </property>
+         <property> position/distance-from-start-mag-mt </property>
        </notify>
      </event>
  
      <event name="9 feet high">
!       <description> Check for a more or less straight start. </description>
        <condition> position/h-agl-ft  ge  9 </condition>
        <notify>
***************
*** 250,261 ****
          <property> velocities/v-aero-fps </property>
          <property> velocities/w-aero-fps </property>
        </notify>
      </event>
  
!     <event name="Catch 30kts and 100ft">
!       <condition>
!           velocities/vc-kts ge 30
!           position/h-agl-ft ge 100
!       </condition>
        <notify>
          <property> velocities/vc-kts </property>
--- 615,624 ----
          <property> velocities/v-aero-fps </property>
          <property> velocities/w-aero-fps </property>
+         <property> position/distance-from-start-mag-mt </property>
        </notify>
      </event>
  
!     <event name="Catch 30 kts">
!       <condition> velocities/vc-kts ge 30 </condition>
        <notify>
          <property> velocities/vc-kts </property>
***************
*** 264,272 ****
      </event>
  
!     <event name="Catch 60kts and 1000ft">
!       <condition>
!           velocities/vc-kts ge 60
!           position/h-agl-ft ge 1000
!       </condition>
        <notify>
          <property> velocities/vc-kts </property>
--- 627,632 ----
      </event>
  
!     <event name="Catch 60 kts">
!       <condition> velocities/vc-kts ge 60 </condition>
        <notify>
          <property> velocities/vc-kts </property>
***************
*** 275,323 ****
      </event>
  
!     <event name="Catch 90kts and 2000ft">
!       <condition>
!           velocities/vc-kts ge 90
!           position/h-agl-ft ge 2000
!       </condition>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
        </notify>
      </event>
  
      <event name="Catch 150 kts">
!       <condition>
!           velocities/vc-kts ge 150
!       </condition>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
        </notify>
      </event>
  
!     <event name="Nearly out of fuel">
!       <condition>
!           propulsion/tank[0]/contents-lbs  lt  50
!           propulsion/tank[1]/contents-lbs  lt  50
!       </condition>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
!         <property> position/distance-from-start-mag-mt </property>
        </notify>
      </event>
  
!     <event name="Out of fuel">
!       <condition>
!           propulsion/tank[0]/contents-lbs  lt  0.001
!           propulsion/tank[1]/contents-lbs  lt  0.001
!       </condition>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
!         <property> position/distance-from-start-mag-mt </property>
        </notify>
      </event>
  
    </run>
  </runscript>
--- 635,676 ----
      </event>
  
!     <event name="Catch 90 kts">
!       <condition> velocities/vc-kts ge 90 </condition>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
+         <property> position/h-sl-ft </property>
        </notify>
      </event>
  
      <event name="Catch 150 kts">
!       <condition> velocities/vc-kts ge 150 </condition>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
+         <property> position/h-sl-ft </property>
        </notify>
      </event>
  
!     <event name="Catch 5000 ft">
!       <condition> position/h-sl-ft ge 5000 </condition>
        <notify>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
!         <property> position/h-sl-ft </property>
        </notify>
      </event>
  
!     <event name="Regular end of script">
!       <condition> simulation/sim-time-sec ge 2800 </condition>
        <notify>
+         <property> simulation/test-variant </property>
          <property> velocities/vc-kts </property>
          <property> position/h-agl-ft </property>
!         <property> position/h-sl-ft </property>
        </notify>
      </event>
  
    </run>
+ 
  </runscript>

Update of /cvsroot/jsbsim/JSBSim/src/models
In directory vz-cvs-3.sog:/tmp/cvs-serv20094/src/models

Modified Files:
	FGAtmosphere.cpp FGAtmosphere.h 
Log Message:
Fixed atmosphere untie problem; patch from akhamutov

Index: FGAtmosphere.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/FGAtmosphere.cpp,v
retrieving revision 1.51
retrieving revision 1.52
diff -C2 -r1.51 -r1.52
*** FGAtmosphere.cpp	13 Apr 2012 13:18:28 -0000	1.51
--- FGAtmosphere.cpp	20 Aug 2012 12:28:50 -0000	1.52
***************
*** 202,205 ****
--- 202,229 ----
  }
  
+ double FGAtmosphere::ConvertFromPSF(double p, ePressure unit) const
+ {
+   double targetPressure=0; // Pressure in PSF
+ 
+   switch(unit) {
+   case ePSF:
+     targetPressure = p;
+     break;
+   case eMillibars:
+     targetPressure = p/2.08854342;
+     break;
+   case ePascals:
+     targetPressure = p/0.0208854342;
+     break;
+   case eInchesHg:
+     targetPressure = p/70.7180803;
+     break;
+   default:
+     throw("Undefined pressure unit given");
+   }
+ 
+   return targetPressure;
+ }
+ 
  //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  

Index: FGAtmosphere.h
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/FGAtmosphere.h,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -r1.30 -r1.31
*** FGAtmosphere.h	13 Apr 2012 13:18:28 -0000	1.30
--- FGAtmosphere.h	20 Aug 2012 12:28:50 -0000	1.31
***************
*** 155,160 ****
    virtual double GetPressure(double altitude) const = 0;
  
!   /// Returns the sea level pressure in psf.
!   virtual double GetPressureSL(void) const { return SLpressure; }
  
    /// Returns the ratio of at-altitude pressure over the sea level value.
--- 155,160 ----
    virtual double GetPressure(double altitude) const = 0;
  
!   // Returns the sea level pressure in target units, default in psf.
!   virtual double GetPressureSL(ePressure to=ePSF) const { return ConvertFromPSF(SLpressure, to);  }
  
    /// Returns the ratio of at-altitude pressure over the sea level value.
***************
*** 236,239 ****
--- 236,242 ----
    virtual double ConvertToPSF(double t, ePressure unit=ePSF) const;
  
+   // Converts from PSF (pounds per square foot) to one of several unit systems.
+   virtual double ConvertFromPSF(double t, ePressure unit=ePSF) const;
+ 
    virtual void bind(void);
    void Debug(int from);

Update of /cvsroot/jsbsim/JSBSim/src/math
In directory vz-cvs-3.sog:/tmp/cvs-serv7667/src/math

Modified Files:
	FGFunction.cpp 
Log Message:
Fixed some minor bugs

Index: FGFunction.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/math/FGFunction.cpp,v
retrieving revision 1.43
retrieving revision 1.44
diff -C2 -r1.43 -r1.44
*** FGFunction.cpp	5 Feb 2012 11:15:54 -0000	1.43
--- FGFunction.cpp	11 Aug 2012 15:02:19 -0000	1.44
***************
*** 204,208 ****
  
    element = el->GetElement();
!   if (!element) {
      cerr << fgred << highint << endl;
      cerr << "  No element was specified as an argument to the \"" << operation << "\" operation" << endl;
--- 204,208 ----
  
    element = el->GetElement();
!   if (!element && Type != eRandom) {
      cerr << fgred << highint << endl;
      cerr << "  No element was specified as an argument to the \"" << operation << "\" operation" << endl;
***************
*** 335,339 ****
    if (cached) return cachedValue;
  
!   temp = Parameters[0]->GetValue();
    
    switch (Type) {
--- 335,339 ----
    if (cached) return cachedValue;
  
!   if (Type != eRandom) temp = Parameters[0]->GetValue();
    
    switch (Type) {

Update of /cvsroot/jsbsim/JSBSim/src/input_output
In directory vz-cvs-3.sog:/tmp/cvs-serv7667/src/input_output

Modified Files:
	FGXMLElement.cpp 
Log Message:
Fixed some minor bugs

Index: FGXMLElement.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/input_output/FGXMLElement.cpp,v
retrieving revision 1.35
retrieving revision 1.36
diff -C2 -r1.35 -r1.36
*** FGXMLElement.cpp	8 Aug 2012 12:43:20 -0000	1.35
--- FGXMLElement.cpp	11 Aug 2012 15:02:19 -0000	1.36
***************
*** 231,234 ****
--- 231,235 ----
      convert["LBS/GAL"]["LBS/GAL"] = 1.0;
    }
+   attribute_key.resize(0);
  }
  
***************
*** 257,261 ****
    bool status=true;
    int select=-1;
!   for (unsigned int i=0; i<attribute_key.size(); i++) {
      if (attribute_key[i] == attr) select = i;
    }
--- 258,265 ----
    bool status=true;
    int select=-1;
! 
!   unsigned int attr_cnt = attribute_key.size();
! 
!   for (unsigned int i=0; i<attr_cnt; i++) {
      if (attribute_key[i] == attr) select = i;
    }

Update of /cvsroot/jsbsim/JSBSim/src/models
In directory vz-cvs-3.sog:/tmp/cvs-serv7563/src/models

Modified Files:
	FGPropulsion.cpp 
Log Message:
Added moment of inertia reporting for tanks in the mass properties report

Index: FGPropulsion.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/FGPropulsion.cpp,v
retrieving revision 1.64
retrieving revision 1.65
diff -C2 -r1.64 -r1.65
*** FGPropulsion.cpp	8 Aug 2012 12:45:00 -0000	1.64
--- FGPropulsion.cpp	11 Aug 2012 15:01:32 -0000	1.65
***************
*** 594,599 ****
        << right << setw(10) << tank->GetContents() << setw(8) << tank->GetXYZ(eX)
           << setw(8) << tank->GetXYZ(eY) << setw(8) << tank->GetXYZ(eZ)
!          << setw(12) << "*" << setw(12) << "*"
!          << setw(12) << "*" << endl;
    }
    return outstream.str();
--- 594,599 ----
        << right << setw(10) << tank->GetContents() << setw(8) << tank->GetXYZ(eX)
           << setw(8) << tank->GetXYZ(eY) << setw(8) << tank->GetXYZ(eZ)
!          << setw(12) << tank->GetIxx() << setw(12) << tank->GetIyy()
!          << setw(12) << tank->GetIzz() << endl;
    }
    return outstream.str();

Update of /cvsroot/jsbsim/JSBSim/src/utilities
In directory vz-cvs-3.sog:/tmp/cvs-serv7445/src/utilities

Modified Files:
	prep_plot.cpp 
Log Message:
Fixed a suspected bug in prep_plot utility code

Index: prep_plot.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/utilities/prep_plot.cpp,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -r1.27 -r1.28
*** prep_plot.cpp	26 Jul 2012 04:33:46 -0000	1.27
--- prep_plot.cpp	11 Aug 2012 15:00:30 -0000	1.28
***************
*** 151,163 ****
        new_filename.replace(new_filename.find("#"),1,num);
        infile2.open(new_filename.c_str());
!       if (!infile2.is_open()) break;
!       infile2.close();
!       files.push_back(new_filename);
!       file_ctr++;
      }
    } else {
      files.push_back(filename);
    }
-   
    ifstream infile(files[0].c_str());
    if (!infile.is_open()) {
--- 151,165 ----
        new_filename.replace(new_filename.find("#"),1,num);
        infile2.open(new_filename.c_str());
!       if (!infile2.is_open()) {
!         break;
!       } else {
!         infile2.close();
!         files.push_back(new_filename);
!         file_ctr++;
!       }
      }
    } else {
      files.push_back(filename);
    }
    ifstream infile(files[0].c_str());
    if (!infile.is_open()) {

Update of /cvsroot/jsbsim/JSBSim/src
In directory vz-cvs-3.sog:/tmp/cvs-serv7332/src

Modified Files:
	FGFDMExec.cpp FGFDMExec.h 
Log Message:
Added support for altering the logging rate at runtime via property setting, and fixed a 'latency' problem with the mass properties report printing

Index: FGFDMExec.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/FGFDMExec.cpp,v
retrieving revision 1.135
retrieving revision 1.136
diff -C2 -r1.135 -r1.136
*** FGFDMExec.cpp	29 Jul 2012 12:04:08 -0000	1.135
--- FGFDMExec.cpp	11 Aug 2012 14:59:10 -0000	1.136
***************
*** 149,152 ****
--- 149,153 ----
    Constructing = true;
    typedef int (FGFDMExec::*iPMF)(void) const;
+   typedef double (FGFDMExec::*dPMF)(void) const;
  //  typedef unsigned int (FGFDMExec::*uiPMF)(void) const;
  //  instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis, false);
***************
*** 158,161 ****
--- 159,163 ----
    instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
    instance->Tie("simulation/frame", (int *)&Frame, false);
+   instance->Tie("simulation/log_rate_hz", this, (dPMF)0, &FGFDMExec::SetLoggingRate, false);
  
    Constructing = false;
***************
*** 608,611 ****
--- 610,622 ----
  //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  
+ void FGFDMExec::SetLoggingRate(double rate)
+ {
+   for (unsigned int i=0; i<Outputs.size(); i++) {
+     Outputs[i]->SetRate(rate);
+   }
+ }
+ 
+ //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ 
  string FGFDMExec::GetOutputFileName(void)
  {
***************
*** 870,873 ****
--- 881,888 ----
        LoadInputs(eMassBalance); // Update all input mass properties for the report.
        Models[eMassBalance]->Run(false);  // Update all mass properties for the report.
+       LoadInputs(ePropulsion); // Update propulsion properties for the report.
+       Models[ePropulsion]->Run(false);  // Update propulsion properties for the report.
+       LoadInputs(eMassBalance); // Update all (one more time) input mass properties for the report.
+       Models[eMassBalance]->Run(false);  // Update all (one more time) mass properties for the report.
        ((FGMassBalance*)Models[eMassBalance])->GetMassPropertiesReport();
  

Index: FGFDMExec.h
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/FGFDMExec.h,v
retrieving revision 1.76
retrieving revision 1.77
diff -C2 -r1.76 -r1.77
*** FGFDMExec.h	21 Jan 2012 16:46:08 -0000	1.76
--- FGFDMExec.h	11 Aug 2012 14:59:10 -0000	1.77
***************
*** 438,441 ****
--- 438,444 ----
    void ForceOutput(int idx=0);
  
+   /** Sets the logging rate for all output objects (if any). */
+   void SetLoggingRate(double rate);
+ 
    /** Sets (or overrides) the output filename
        @param fname the name of the file to output data to

Update of /cvsroot/jsbsim/JSBSim/src/models/propulsion
In directory vz-cvs-3.sog:/tmp/cvs-serv7245/src/models/propulsion

Modified Files:
	FGTank.cpp FGTank.h 
Log Message:
Added support for computing moments of inertia contributions for liquid propellants/fuel in tanks

Index: FGTank.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/propulsion/FGTank.cpp,v
retrieving revision 1.34
retrieving revision 1.35
diff -C2 -r1.34 -r1.35
*** FGTank.cpp	26 Jul 2012 04:33:46 -0000	1.34
--- FGTank.cpp	11 Aug 2012 14:57:38 -0000	1.35
***************
*** 65,68 ****
--- 65,69 ----
    InitialTemperature = Temperature = -9999.0;
    Ixx = Iyy = Izz = 0.0;
+   InertiaFactor = 1.0;
    Radius = Contents = Standpipe = Length = InnerRadius = 0.0;
    PreviousUsed = 0.0;
***************
*** 93,96 ****
--- 94,99 ----
    if (el->FindElement("radius"))
      Radius = el->FindElementValueAsNumberConvertTo("radius", "IN");
+   if (el->FindElement("inertia_factor"))
+     InertiaFactor = el->FindElementValueAsNumber("inertia_factor");
    if (el->FindElement("capacity"))
      Capacity = el->FindElementValueAsNumberConvertTo("capacity", "LBS");
***************
*** 153,159 ****
      }
      Density = (Contents*lbtoslug)/Volume; // slugs/in^3
-     CalculateInertias();
    }
  
    string property_name, base_property_name;
    base_property_name = CreateIndexedPropertyName("propulsion/tank", TankNumber);
--- 156,163 ----
      }
      Density = (Contents*lbtoslug)/Volume; // slugs/in^3
    }
  
+     CalculateInertias();
+ 
    string property_name, base_property_name;
    base_property_name = CreateIndexedPropertyName("propulsion/tank", TankNumber);
***************
*** 294,298 ****
  //  This function calculates the moments of inertia for a solid propellant
  //  grain - either an end burning cylindrical grain or a bored cylindrical
! //  grain.
  
  void FGTank::CalculateInertias(void)
--- 298,314 ----
  //  This function calculates the moments of inertia for a solid propellant
  //  grain - either an end burning cylindrical grain or a bored cylindrical
! //  grain, as well as liquid propellants IF a tank radius and inertia factor
! //  are given.
! //
! //  From NASA CR-383, the MoI of a tank with liquid propellant is specified
! //  for baffled and non-baffled tanks as a ratio compared to that in which the
! //  propellant is solid. The more baffles, the more "rigid" the propellant and
! //  the higher the ratio (up to 1.0). For a cube tank with five baffles, the
! //  ratio ranges from 0.5 to 0.7. For a cube tank with no baffles, the ratio is
! //  roughly 0.18. One might estimate that for a spherical tank with no baffles
! //  the ratio might be somewhere around 0.10 to 0.15. Cylindrical tanks with or
! //  without baffles might have biased moment of inertia effects based on the
! //  baffle layout and tank geometry. A vector inertia_factor may be supported
! //  at some point.
  
  void FGTank::CalculateInertias(void)
***************
*** 302,305 ****
--- 318,323 ----
    double Rad2 = Radius*Radius;
  
+   if (grainType != gtUNKNOWN) { // assume solid propellant
+ 
    if (Density > 0.0) {
      Volume = (Contents*lbtoslug)/Density; // in^3
***************
*** 330,333 ****
--- 348,356 ----
    Izz  = Iyy;
  
+   } else { // assume liquid propellant
+ 
+     if (Radius > 0.0) Ixx = Iyy = Izz = Mass * InertiaFactor * 0.4 * Radius * Radius / 144.0;
+ 
+   }
  }
  

Index: FGTank.h
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/models/propulsion/FGTank.h,v
retrieving revision 1.26
retrieving revision 1.27
diff -C2 -r1.26 -r1.27
*** FGTank.h	31 Oct 2011 14:54:41 -0000	1.26
--- FGTank.h	11 Aug 2012 14:57:38 -0000	1.27
***************
*** 318,321 ****
--- 318,322 ----
    double Iyy;
    double Izz;
+   double InertiaFactor;
    double PctFull;
    double Contents, InitialContents;

Update of /cvsroot/jsbsim/JSBSim/src/models
In directory vz-cvs-3.sog:/tmp/cvs-serv28432/src/models

Modified Files:
	FGPropulsion.cpp 
Log Message:
Removed an extraneous commented out piece of incorrect code

Update of /cvsroot/jsbsim/JSBSim/src/input_output
In directory vz-cvs-3.sog:/tmp/cvs-serv28364/src/input_output

Modified Files:
	FGXMLElement.cpp 
Log Message:
Fixed a bug

Index: FGXMLElement.cpp
===================================================================
RCS file: /cvsroot/jsbsim/JSBSim/src/input_output/FGXMLElement.cpp,v
retrieving revision 1.34
retrieving revision 1.35
diff -C2 -r1.34 -r1.35
*** FGXMLElement.cpp	26 Jul 2012 04:33:46 -0000	1.34
--- FGXMLElement.cpp	8 Aug 2012 12:43:20 -0000	1.35
***************
*** 502,510 ****
      value = item->GetDataAsNumber();
      if (!supplied_units.empty()) value *= convert[supplied_units][target_units];
    } else {
!     value = 0.0;
    }
    
-   triplet(1) = DisperseValue(item, value, supplied_units, target_units);
  
    item = FindElement("y");
--- 502,510 ----
      value = item->GetDataAsNumber();
      if (!supplied_units.empty()) value *= convert[supplied_units][target_units];
+     triplet(1) = DisperseValue(item, value, supplied_units, target_units);
    } else {
!     triplet(1) = 0.0;
    }
    
  
    item = FindElement("y");
***************
*** 513,520 ****
      value = item->GetDataAsNumber();
      if (!supplied_units.empty()) value *= convert[supplied_units][target_units];
    } else {
!     value = 0.0;
    }
-   triplet(2) = DisperseValue(item, value, supplied_units, target_units);
  
    item = FindElement("z");
--- 513,520 ----
      value = item->GetDataAsNumber();
      if (!supplied_units.empty()) value *= convert[supplied_units][target_units];
+     triplet(2) = DisperseValue(item, value, supplied_units, target_units);
    } else {
!     triplet(2) = 0.0;
    }
  
    item = FindElement("z");
***************
*** 523,530 ****
      value = item->GetDataAsNumber();
      if (!supplied_units.empty()) value *= convert[supplied_units][target_units];
    } else {
!     value = 0.0;
    }
-   triplet(3) = DisperseValue(item, value, supplied_units, target_units);
  
    return triplet;
--- 523,530 ----
      value = item->GetDataAsNumber();
      if (!supplied_units.empty()) value *= convert[supplied_units][target_units];
+     triplet(3) = DisperseValue(item, value, supplied_units, target_units);
    } else {
!     triplet(3) = 0.0;
    }
  
    return triplet;