[Csp-commits] APPLICATIONS/CSPSim/Include FlightDynamics.h,NONE,1.1 FlightModel.h,NONE,1.1

[<mk...@us...>]

Update of /cvsroot/csp/APPLICATIONS/CSPSim/Include
In directory sc8-pr-cvs1:/tmp/cvs-serv18871/Include

Added Files:
	FlightDynamics.h FlightModel.h 
Log Message:


--- NEW FILE: FlightDynamics.h ---
// Combat Simulator Project - FlightSim Demo
// Copyright (C) 2002 The Combat Simulator Project
// http://csp.sourceforge.net
// 
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU 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 General Public License for more details.
// 
// You should have received a copy of the GNU 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.


/**
 * @file FlightDynamics.h
 *
 **/


#ifndef __FLIGHTDYNAMICS_H__
#define __FLIGHTDYNAMICS_H__

#include <SimData/InterfaceRegistry.h>

#include "BaseDynamics.h"
#include "DataRecorder.h"

class FlightModel;


/**
 * class FlightDynamics - aircraft primary flight model implementation.
 *
 */
class FlightDynamics: public BaseDynamics, public simdata::Referenced {
	friend class FlightModel;
	virtual ~FlightDynamics();
public:
	FlightDynamics();

	void computeForceAndMoment(double x);
	void initializeSimulationStep(double dt);
	void postSimulationStep(double dt);

	double getAngleOfAttack() const { return m_Alpha; }
	double getSideSlip() const { return m_Beta; }
	double getGForce() const { return m_GForce; }
	double getSpeed() const { return m_Airspeed; }

	void setControlSurfaces(double aileron, 
	                        double elevator, 
	                        double rudder, 
	                        double airbrake);

	void setMassInverse(double massInverse);

	virtual void initDataRecorder(DataRecorder *);

protected:

	void setFlightModel(FlightModel *flight_model);
	simdata::Ref<FlightModel> m_FlightModel;

	void updateAirflow(double dt);

	double controlIVbasis(double p_t) const;
	double controlInputValue(double p_gForce) const;
	
	double m_depsilon;       // G-force control feedback stall
	double m_ElevatorScale;  // elevator correction
	double m_ElevatorInput;  // desired elevator deflection

	// control surfaces
	double m_Aileron;
	double m_Elevator;
	double m_Rudder;
	double m_Airbrake;

	// derived quantities
	double m_Alpha;		// current angle of attack
	double m_Alpha0;	// discrete AOA
	double m_AlphaDot;	// AOA rate
	double m_Beta;		// side slip angle
	double m_GForce;	// current g acceleration
	
	double m_MassInverse;

	double m_Airspeed;
	simdata::Vector3 m_AirflowBody;         // air flow velocity in body coordinate

private:
	RecorderInterface m_Recorder;
	enum { 
		CH_ALPHA, 
		CH_BETA,
		CH_GFORCE,
		CH_AIRSPEED
	};

};


#endif  // __FLIGHTDYNAMICS_H__


--- NEW FILE: FlightModel.h ---
// Combat Simulator Project - FlightSim Demo
// Copyright (C) 2002 The Combat Simulator Project
// http://csp.sourceforge.net
// 
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU 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 General Public License for more details.
// 
// You should have received a copy of the GNU 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.


/**
 * @file FlightModel.h
 *
 **/


#ifndef __FLIGHTMODEL_H__
#define __FLIGHTMODEL_H__


#include <SimData/InterfaceRegistry.h>

class FlightDynamics;


/**
 * class FlightModel 
 *
 * An aircraft flight model based on stability derivatives.
 * FlightModel instances are shared by all aircraft of a
 * given type.  Each aircraft has its own FlightDynamics
 * instance that stores state information and drives the
 * FlightModel.  To pass parameters more efficiently, the
 * FlightDynamics instance sets a number of temporary state
 * variables within the FlightModel, then performs a number
 * of computations using these variables.  Hence, the
 * FlightModel methods are not suitable for multithreaded
 * environments in which more than one aircraft is simulated
 * at a time.
 *
 */
class FlightModel: public simdata::Object {
public:
	SIMDATA_OBJECT(FlightModel, 0, 0)

	BEGIN_SIMDATA_XML_INTERFACE(FlightModel)
		SIMDATA_XML("wing_span", FlightModel::m_WingSpan, true)
		SIMDATA_XML("wing_chord", FlightModel::m_WingChord, true)
		SIMDATA_XML("wing_area", FlightModel::m_WingArea, true)
		SIMDATA_XML("stall_aoa", FlightModel::m_stallAOA, true)
		SIMDATA_XML("cd0", FlightModel::m_CD0, true)
		SIMDATA_XML("cd_a", FlightModel::m_CD_a, true)
		SIMDATA_XML("cd_de", FlightModel::m_CD_de, true)
		SIMDATA_XML("cd_db", FlightModel::m_CD_db, true)
		SIMDATA_XML("cl0", FlightModel::m_CL0, true)
		SIMDATA_XML("cl_a", FlightModel::m_CL_a, true)
		SIMDATA_XML("cl_adot", FlightModel::m_CL_adot, true)
		SIMDATA_XML("cl_q", FlightModel::m_CL_q, true)
		SIMDATA_XML("cl_de", FlightModel::m_CL_de, true)
		SIMDATA_XML("cm0", FlightModel::m_CM0, true)
		SIMDATA_XML("cm_a", FlightModel::m_CM_a, true)
		SIMDATA_XML("cm_adot", FlightModel::m_CM_adot, true)
		SIMDATA_XML("cm_q", FlightModel::m_CM_q, true)
		SIMDATA_XML("cm_de", FlightModel::m_CM_de, true)
		SIMDATA_XML("cy_beta", FlightModel::m_CY_beta, true)
		SIMDATA_XML("cy_p", FlightModel::m_CY_p, true)
		SIMDATA_XML("cy_r", FlightModel::m_CY_r, true)
		SIMDATA_XML("cy_da", FlightModel::m_CY_da, true)
		SIMDATA_XML("cy_dr", FlightModel::m_CY_dr, true)
		SIMDATA_XML("ci_beta", FlightModel::m_CI_beta, true)
		SIMDATA_XML("ci_p", FlightModel::m_CI_p, true)
		SIMDATA_XML("ci_r", FlightModel::m_CI_r, true)
		SIMDATA_XML("ci_da", FlightModel::m_CI_da, true)
		SIMDATA_XML("ci_dr", FlightModel::m_CI_dr, true)
		SIMDATA_XML("cn_beta", FlightModel::m_Cn_beta, true)
		SIMDATA_XML("cn_p", FlightModel::m_Cn_p, true)
		SIMDATA_XML("cn_r", FlightModel::m_Cn_r, true)
		SIMDATA_XML("cn_da", FlightModel::m_Cn_da, true)
		SIMDATA_XML("cn_dr", FlightModel::m_Cn_dr, true)
	END_SIMDATA_XML_INTERFACE
		
	FlightModel();
	virtual ~FlightModel();

	inline void setAirstream(double alpha, 
	                         double alphaDot, 
	                         double beta, 
	                         double airspeed,
	                         double qBar) {
		// prevent driving the model outside its range of validity
		m_Alpha = std::max(-0.8, std::min(0.8, alpha));
		m_AlphaDot = alphaDot;
		m_Beta = beta;
		m_qBarS = m_HalfWingArea * qBar * airspeed * airspeed;
		m_Inv2V = 0.5 / std::max(0.5, airspeed);
	}

	inline void setControlSurfaces(double aileron, 
	                               double elevator, 
	                               double rudder, 
	                               double airbrake) {
		m_Aileron = aileron;
		m_Elevator = elevator;
		m_Rudder = rudder;
		m_Airbrake = airbrake;
	}

	inline void setKinetics(simdata::Vector3 const &angular_velocity_body, double height) {
		m_AngularVelocityBody = angular_velocity_body;
		updateGroundEffect(height);
	}

	simdata::Vector3 calculateForce();
	simdata::Vector3 calculateMoment();

	FlightDynamics *newFlightDynamics();

protected:

	virtual void pack(simdata::Packer& p) const;
	virtual void unpack(simdata::UnPacker& p);
	virtual void convertXML();
	virtual void postCreate();

	double m_WingSpan;
	double m_WingChord;		// chord length        
	double m_WingArea;		// surface area of wings
	double m_stallAOA;		// stall AOA 
	
	/**
	 * internally: X = right, Y = nose, Z = up
	 * externally: X = nose, Y = right, Z = down (for XML input)
	 */

	double m_CD0;     // CDo is the reference drag at zero angle of attack
	double m_CD_a;    // CDa is the drag curve slope
	double m_CD_de;   // CDde is the drag due to elevator
	double m_CD_db;   // CDdb is the drag due to the airbrake(s)
	
	double m_CL0;     // CLo is the reference lift at zero angle of attack
	double m_CL_a;    // CLa is the lift curve slope
	double m_CL_adot;
	double m_CL_q;
	double m_CL_de;   // CLde is the lift due to elevator
	
	double m_CM0;     // CMo is the pitch moment coefficient
	double m_CM_a;    // CMa is the pitch moment coefficient due to angle of attack
	double m_CM_adot;     
	double m_CM_q;    // CMq is the pitch moment coefficient due to pitch rate
	double m_CM_de;   // CMde is the pitch coefficient due to elevator 
	
	double m_CY_beta; // CLb - the dihedral effect
	double m_CY_p;    // Clp - roll damping
	double m_CY_r;    // CLr - roll due to yaw rate
	double m_CY_da;   // Clda - roll due to aileron
	double m_CY_dr;   // CLdr - roll due to rudder   
	
	double m_CI_beta;       
	double m_CI_p;          
	double m_CI_r;          
	double m_CI_da;         
	double m_CI_dr;

	double m_Cn_beta;   // CNb is the weather cocking stability
	double m_Cn_p;      // CNp is the rudder adverse yaw
	double m_Cn_r;      // CNr is the yaw damping
	double m_Cn_da;     // CNda is the yaw due to aileron
	double m_Cn_dr;     // CNdr is the yaw due to rudder

	void updateAngles(double dt);

	simdata::Vector3 calculateLiftVector(); 
	simdata::Vector3 calculateDragVector();
	simdata::Vector3 calculateSideVector();

	double calculateRollMoment() const;
	double calculatePitchMoment() const;
	double calculateYawMoment() const;

	// compute the ground effect coefficient for use in setAirstream()
	void updateGroundEffect(double height);
	
	// derived quantities
	double m_HalfWingArea;
	double m_AspectRatio;
	double m_CD_i;    // CD_i is induced drag coefficient = 1 / (e * pi * lambda) 
	                  // where lamdba = Span^2 / Area and e is Osswald coefficient
	
	// shared intermediate values
	double m_CL;
	double m_CD;
	double m_CY;

	// airstream parameters 
	double m_Alpha;
	double m_AlphaDot;
	double m_Beta;
	double m_qBarS;
	double m_Inv2V;
	double m_GE;

	// control surfaces
	double m_Aileron;
	double m_Elevator;
	double m_Rudder;
	double m_Airbrake;

	// kinetics
	simdata::Vector3 m_AngularVelocityBody;

};


#endif  // __FLIGHTMODEL_H__