Modifications and cleanups; moved FGInertial execution to just after …

…FGPropagate (resulted in slightly improved stability); solidified the execution order of models and ability to control that; continued making models more independent;

src/FGFDMExec.h

@@ -44,8 +44,6 @@ INCLUDES
 #include <vector>
 #include <string>
 
-#include "models/FGOutput.h"
-#include "models/FGInput.h"
 #include "initialization/FGTrim.h"
 #include "FGJSBBase.h"
 #include "input_output/FGPropertyManager.h"
@@ -58,7 +56,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.69 2011/07/18 04:37:34 jberndt Exp $"
+#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.70 2011/08/04 12:46:32 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -183,7 +181,7 @@ CLASS DOCUMENTATION
  property actually maps toa function call of DoTrim().
 
  @author Jon S. Berndt
- @version $Revision: 1.69 $
+ @version $Revision: 1.70 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -226,9 +224,24 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
  /// Default destructor
  ~FGFDMExec();
 
- enum eModels { ePropagate, eInput, eAtmosphere, eWinds, eAuxiliary, eSystems,
- ePropulsion, eAerodynamics, eGroundReactions, eExternalReactions,
- eBuoyantForces, eMassBalance, eAircraft, eInertial, eAccelerations };
+ // This list of enums is very important! The order in which models are listed here
+ // determines the order of execution of the models.
+ enum eModels { ePropagate=0,
+ eInput,
+ eInertial,
+ eAtmosphere,
+ eWinds,
+ eAuxiliary,
+ eSystems,
+ ePropulsion,
+ eAerodynamics,
+ eGroundReactions,
+ eExternalReactions,
+ eBuoyantForces,
+ eMassBalance,
+ eAircraft,
+ eAccelerations,
+ eNumStandardModels };
 
  /** Unbind all tied JSBSim properties. */
  void Unbind(void) {instance->Unbind();}
@@ -242,8 +255,9 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
  one is at this time not recommended.
  @param model A pointer to the model being scheduled.
  @param rate The rate at which to execute the model as described above.
+ Default is every frame (rate=1).
  @return Currently returns 0 always. */
- void Schedule(FGModel* model, int rate);
+ void Schedule(FGModel* model, int rate=1);
 
  /** This function executes each scheduled model in succession.
  @return true if successful, false if sim should be ended */
@@ -315,35 +329,35 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
  /// @name Top-level executive State and Model retrieval mechanism
  //@{
  /// Returns the FGAtmosphere pointer.
- FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
+ FGAtmosphere* GetAtmosphere(void) {return (FGAtmosphere*)Models[eAtmosphere];}
  /// Returns the FGAccelerations pointer.
- FGAccelerations* GetAccelerations(void) {return Accelerations;}
+ FGAccelerations* GetAccelerations(void) {return (FGAccelerations*)Models[eAccelerations];}
  /// Returns the FGWinds pointer.
- FGWinds* GetWinds(void) {return Winds;}
+ FGWinds* GetWinds(void) {return (FGWinds*)Models[eWinds];}
  /// Returns the FGFCS pointer.
- FGFCS* GetFCS(void) {return FCS;}
+ FGFCS* GetFCS(void) {return (FGFCS*)Models[eSystems];}
  /// Returns the FGPropulsion pointer.
- FGPropulsion* GetPropulsion(void) {return Propulsion;}
+ FGPropulsion* GetPropulsion(void) {return (FGPropulsion*)Models[ePropulsion];}
  /// Returns the FGAircraft pointer.
- FGMassBalance* GetMassBalance(void) {return MassBalance;}
+ FGMassBalance* GetMassBalance(void) {return (FGMassBalance*)Models[eMassBalance];}
  /// Returns the FGAerodynamics pointer
- FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
+ FGAerodynamics* GetAerodynamics(void){return (FGAerodynamics*)Models[eAerodynamics];}
  /// Returns the FGInertial pointer.
- FGInertial* GetInertial(void) {return Inertial;}
+ FGInertial* GetInertial(void) {return (FGInertial*)Models[eInertial];}
  /// Returns the FGGroundReactions pointer.
- FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
+ FGGroundReactions* GetGroundReactions(void) {return (FGGroundReactions*)Models[eGroundReactions];}
  /// Returns the FGExternalReactions pointer.
- FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
+ FGExternalReactions* GetExternalReactions(void) {return (FGExternalReactions*)Models[eExternalReactions];}
  /// Returns the FGBuoyantForces pointer.
- FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
+ FGBuoyantForces* GetBuoyantForces(void) {return (FGBuoyantForces*)Models[eBuoyantForces];}
  /// Returns the FGAircraft pointer.
- FGAircraft* GetAircraft(void) {return Aircraft;}
+ FGAircraft* GetAircraft(void) {return (FGAircraft*)Models[eAircraft];}
  /// Returns the FGPropagate pointer.
- FGPropagate* GetPropagate(void) {return Propagate;}
+ FGPropagate* GetPropagate(void) {return (FGPropagate*)Models[ePropagate];}
  /// Returns the FGAuxiliary pointer.
- FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
+ FGAuxiliary* GetAuxiliary(void) {return (FGAuxiliary*)Models[eAuxiliary];}
  /// Returns the FGInput pointer.
- FGInput* GetInput(void) {return Input;}
+ FGInput* GetInput(void) {return (FGInput*)Models[eInput];}
  /// Returns the FGGroundCallback pointer.
  FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
  /// Retrieves the script object
@@ -418,19 +432,12 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
  /** Sets (or overrides) the output filename
  @param fname the name of the file to output data to
  @return true if successful, false if there is no output specified for the flight model */
- bool SetOutputFileName(const string& fname) {
- if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
- else return false;
- return true;
- }
+ bool SetOutputFileName(const string& fname);
 
  /** Retrieves the current output filename.
  @return the name of the output file for the first output specified by the flight model.
  If none is specified, the empty string is returned. */
- string GetOutputFileName(void) {
- if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName();
- else return string("");
- }
+ string GetOutputFileName(void);
 
  /** Executes trimming in the selected mode.
  * @param mode Specifies how to trim:
@@ -560,25 +567,26 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
  string Release;
  string RootDir;
 
+ // Standard Model pointers - shortcuts for internal executive use only.
+ FGPropagate* Propagate;
+ FGInertial* Inertial;
+ FGAtmosphere* Atmosphere;
+ FGWinds* Winds;
+ FGAuxiliary* Auxiliary;
+ FGFCS* FCS;
+ FGPropulsion* Propulsion;
+ FGAerodynamics* Aerodynamics;
+ FGGroundReactions* GroundReactions;
+ FGExternalReactions* ExternalReactions;
+ FGBuoyantForces* BuoyantForces;
+ FGMassBalance* MassBalance;
+ FGAircraft* Aircraft;
+ FGAccelerations* Accelerations;
+
  bool trim_status;
  int ta_mode;
 
  FGGroundCallback* GroundCallback;
- FGAtmosphere* Atmosphere;
- FGAccelerations* Accelerations;
- FGWinds* Winds;
- FGFCS* FCS;
- FGPropulsion* Propulsion;
- FGMassBalance* MassBalance;
- FGAerodynamics* Aerodynamics;
- FGInertial* Inertial;
- FGGroundReactions* GroundReactions;
- FGExternalReactions* ExternalReactions;
- FGBuoyantForces* BuoyantForces;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGInput* Input;
  FGScript* Script;
  FGInitialCondition* IC;
  FGTrim* Trim;

src/initialization/FGInitialCondition.cpp

@@ -63,7 +63,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.68 2011/07/28 12:57:27 jberndt Exp $";
+static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.69 2011/08/04 12:46:32 jberndt Exp $";
 static const char *IdHdr = ID_INITIALCONDITION;
 
 //******************************************************************************
@@ -136,7 +136,7 @@ void FGInitialCondition::InitializeIC(void)
  terrain_elevation = 0;
  sea_level_radius = fdmex->GetInertial()->GetRefRadius();
  position.SetPosition(0., 0., sea_level_radius);
- position.SetEarthPositionAngle(fdmex->GetInertial()->GetEarthPositionAngle());
+ position.SetEarthPositionAngle(fdmex->GetPropagate()->GetEarthPositionAngle());
  vUVW_NED.InitMatrix();
  p=q=r=0;
  vt=0;

src/input_output/FGScript.cpp

@@ -41,20 +41,21 @@ COMMENTS, REFERENCES, and NOTES
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <iostream>
+#include <cstdlib>
+#include <iomanip>
+
 #include "FGScript.h"
 #include "input_output/FGXMLElement.h"
 #include "input_output/FGXMLParse.h"
 #include "initialization/FGTrim.h"
-
-#include <iostream>
-#include <cstdlib>
-#include <iomanip>
+#include "models/FGInput.h"
 
 using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGScript.cpp,v 1.46 2011/02/18 12:44:16 jberndt Exp $";
+static const char *IdSrc = "$Id: FGScript.cpp,v 1.47 2011/08/04 12:46:32 jberndt Exp $";
 static const char *IdHdr = ID_FGSCRIPT;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/input_output/FGScript.h

@@ -37,18 +37,19 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include "FGJSBBase.h"
+#include <vector>
+
 #include "FGFDMExec.h"
+#include "FGJSBBase.h"
 #include "math/FGFunction.h"
 #include "math/FGCondition.h"
-#include <vector>
 #include "input_output/FGXMLFileRead.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FGSCRIPT "$Id: FGScript.h,v 1.20 2011/02/11 12:43:28 jberndt Exp $"
+#define ID_FGSCRIPT "$Id: FGScript.h,v 1.21 2011/08/04 12:46:32 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -157,7 +158,7 @@ CLASS DOCUMENTATION
  comes the &quot;run&quot; section, where the conditions are
  described in &quot;event&quot; clauses.</p>
  @author Jon S. Berndt
- @version "$Id: FGScript.h,v 1.20 2011/02/11 12:43:28 jberndt Exp $"
+ @version "$Id: FGScript.h,v 1.21 2011/08/04 12:46:32 jberndt Exp $"
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/math/FGLocation.h

@@ -48,7 +48,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_LOCATION "$Id: FGLocation.h,v 1.27 2010/11/29 12:33:58 jberndt Exp $"
+#define ID_LOCATION "$Id: FGLocation.h,v 1.28 2011/08/04 12:46:32 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -142,7 +142,7 @@ CLASS DOCUMENTATION
  @see W. C. Durham "Aircraft Dynamics & Control", section 2.2
 
  @author Mathias Froehlich
- @version $Id: FGLocation.h,v 1.27 2010/11/29 12:33:58 jberndt Exp $
+ @version $Id: FGLocation.h,v 1.28 2011/08/04 12:46:32 jberndt Exp $
  */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -229,6 +229,13 @@ class FGLocation : public FGJSBBase
  respect to the Inertial (ECI) frame in radians. */
  void SetEarthPositionAngle(double EPA) {epa = EPA; mCacheValid = false;}
 
+ /** Increments the Earth position angle.
+ This is the relative orientation of the ECEF frame with respect to the
+ Inertial frame.
+ @param delta delta to the Earth fixed frame (ECEF) rotation offset about the axis with
+ respect to the Inertial (ECI) frame in radians. */
+ void IncrementEarthPositionAngle(double delta) {epa += delta; mCacheValid = false;}
+
  /** Get the longitude.
  @return the longitude in rad of the location represented with this
  class instance. The returned values are in the range between
@@ -290,6 +297,8 @@ class FGLocation : public FGJSBBase
  return -mTec2l(3,3)/cLat;
  }
 
+ double GetEPA() const {return epa;}
+
  /** Get the distance from the center of the earth.
  @return the distance of the location represented with this class
  instance to the center of the earth in ft. The radius value is

src/models/FGAerodynamics.cpp

@@ -48,7 +48,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.40 2011/07/20 12:26:41 jberndt Exp $";
+static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.41 2011/08/04 12:46:32 jberndt Exp $";
 static const char *IdHdr = ID_AERODYNAMICS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -179,16 +179,16 @@ bool FGAerodynamics::Run(bool Holding)
 
  switch (axisType) {
  case atBodyXYZ: // Forces already in body axes; no manipulation needed
- vFw = GetTb2w()*vFnative;
+ vFw = in.Tb2w*vFnative;
  vForces = vFnative;
  break;
  case atLiftDrag: // Copy forces into wind axes
  vFw = vFnative;
  vFw(eDrag)*=-1; vFw(eLift)*=-1;
- vForces = GetTw2b()*vFw;
+ vForces = in.Tw2b*vFw;
  break;
  case atAxialNormal: // Convert native forces into Axial|Normal|Side system
- vFw = GetTb2w()*vFnative;
+ vFw = in.Tb2w*vFnative;
  vFnative(eX)*=-1; vFnative(eZ)*=-1;
  vForces = vFnative;
  break;
@@ -229,68 +229,6 @@ bool FGAerodynamics::Run(bool Holding)
  return false;
 }
 
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-//
-// From Stevens and Lewis, "Aircraft Control and Simulation", 3rd Ed., the
-// transformation from body to wind axes is defined (where "a" is alpha and "B"
-// is beta):
-//
-// cos(a)*cos(B) sin(B) sin(a)*cos(B)
-// -cos(a)*sin(B) cos(B) -sin(a)*sin(B)
-// -sin(a) 0 cos(a)
-//
-// The transform from wind to body axes is then,
-//
-// cos(a)*cos(B) -cos(a)*sin(B) -sin(a)
-// sin(B) cos(B) 0
-// sin(a)*cos(B) -sin(a)*sin(B) cos(a)
-
-FGMatrix33& FGAerodynamics::GetTw2b(void)
-{
- double ca, cb, sa, sb;
-
- ca = cos(in.Alpha);
- sa = sin(in.Alpha);
- cb = cos(in.Beta);
- sb = sin(in.Beta);
-
- mTw2b(1,1) = ca*cb;
- mTw2b(1,2) = -ca*sb;
- mTw2b(1,3) = -sa;
- mTw2b(2,1) = sb;
- mTw2b(2,2) = cb;
- mTw2b(2,3) = 0.0;
- mTw2b(3,1) = sa*cb;
- mTw2b(3,2) = -sa*sb;
- mTw2b(3,3) = ca;
-
- return mTw2b;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-FGMatrix33& FGAerodynamics::GetTb2w(void)
-{
- double ca, cb, sa, sb;
-
- ca = cos(in.Alpha);
- sa = sin(in.Alpha);
- cb = cos(in.Beta);
- sb = sin(in.Beta);
-
- mTb2w(1,1) = ca*cb;
- mTb2w(1,2) = sb;
- mTb2w(1,3) = sa*cb;
- mTb2w(2,1) = -ca*sb;
- mTb2w(2,2) = cb;
- mTb2w(2,3) = -sa*sb;
- mTb2w(3,1) = -sa;
- mTb2w(3,2) = 0.0;
- mTb2w(3,3) = ca;
-
- return mTb2w;
-}
-
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 bool FGAerodynamics::Load(Element *element)