diff --git a/scicoslab/data/f16_lin.sce b/scicoslab/data/f16_lin.sce
deleted file mode 100644
index 99b2f626a7c1c5518c2e296b57fc0fa34b9453fb..0000000000000000000000000000000000000000
--- a/scicoslab/data/f16_lin.sce
+++ /dev/null
@@ -1,79 +0,0 @@
-f16.x0=..
-[ 5.0000021002e+02;
- 3.9891191178e-02;
- 3.9891191178e-02;
- -2.3892269734e-05;
- 3.9891191178e-02;
- -2.3892269734e-05;
- 7.7572299113e-03;
- -6.9444185226e-18;
- 1.8519409896e-07;
- 7.3915343564e-09;
- 1.0000000000e+03;
- 1.5707963268e+00;
- 0.0000000000e+00;
- 0.0000000000e+00];
-f16.u0=..
-[ 2.6880598485e-01;
- 6.7138558416e-03;
- -2.6132360356e-02;
- 1.4045552382e-01];
-f16.sys = syslin('c',..
-[ 1.3626752051e-01, 8.1722328147e+00, -3.2025072242e+01, -1.3351433275e+00, -3.2078892989e+01, -1.3351433275e+00, -1.0851775507e-01, -1.6335598151e-03, 1.7308220147e+00, 2.8257437912e-02, 4.5182250337e-05, -7.0213667056e-07, -1.0344734328e-11, 8.6483533293e-04;
- -2.5722253396e-04, -9.6394940891e-01, 2.5278289277e-05, 9.9456442589e-01, -1.9383425850e-04, 9.9456442589e-01, -2.0174506277e-04, 6.8444220651e-08, 5.7073466616e-03, -1.9432890141e-04, 1.8968274778e-06, 1.1284964713e-06, 1.4456028966e-15, 1.2781709736e-08;
- -4.7784519397e-08, -1.1293772630e-17, 0.0000000000e+00, 1.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00, 1.8534162488e-07, -1.4783071900e-08, 0.0000000000e+00, 0.0000000000e+00, 1.1417439440e-12, -1.1293772630e-17, 0.0000000000e+00, -1.0164395367e-16;
- 6.2858088546e-05, -5.0565077129e+00, -4.5892127593e-03, 9.8681186356e-01, 3.5190006814e-02, 9.8681186356e-01, 2.3441127031e-02, -2.2686927199e-05, -2.6078069100e-01, -2.0592422564e-02, -1.1224312324e-05, 5.1895538648e-07, 0.0000000000e+00, -2.4957763756e-07;
- -4.7784519397e-08, -1.1293772630e-17, 0.0000000000e+00, 1.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00, 1.8534162488e-07, -1.4783071900e-08, 0.0000000000e+00, 0.0000000000e+00, 1.1417439440e-12, -1.1293772630e-17, 0.0000000000e+00, -1.0164395367e-16;
- 6.2858088546e-05, -5.0565077129e+00, -4.5892127593e-03, 9.8681186356e-01, 3.5190006814e-02, 9.8681186356e-01, 2.3441127031e-02, -2.2686927199e-05, -2.6078069100e-01, -2.0592422564e-02, -1.1224312324e-05, 5.1895538648e-07, 0.0000000000e+00, -2.4957763756e-07;
- -3.2008894853e-06, -4.9396363888e-04, 4.9677102661e-04, -3.6327678409e-06, 4.9686121731e-04, -3.6327678409e-06, -3.2331999566e-01, 6.3846065510e-02, 4.0035218975e-02, -9.8827456506e-01, 1.5963872117e-06, 1.2629148306e-12, 0.0000000000e+00, 3.9202143757e-04;
- 3.7097806918e-10, -4.4848987247e-13, 1.4806621203e-08, -2.6469779602e-19, 1.4806621203e-08, -2.6469779602e-19, 2.3911302360e-05, -1.9070788130e-06, 1.0000000000e+00, 3.9912364368e-02, -8.8636262811e-15, 9.7055858540e-19, 3.9704669403e-19, -6.6174449004e-19;
- -6.1044155841e-05, -9.1442410075e-01, 1.3858413722e-06, -8.4986864823e-04, 6.4132592177e-07, -8.4986864823e-04, -2.8554997439e+01, 3.4354952575e-05, 3.3569450958e-01, 1.5481213535e+00, 2.1872259082e-04, -3.0195753305e-11, 0.0000000000e+00, -3.6667476997e-05;
- 7.3173777182e-05, 2.1052609813e-02, 2.1757312387e-08, 2.8102302706e-04, -6.0211175397e-06, 2.8102302706e-04, 8.1164236010e+00, -1.7965656853e-05, -8.5077457351e-03, -8.0282553544e-01, -1.1372838184e-04, -5.9685994573e-09, 0.0000000000e+00, 1.9169024736e-05;
- 1.5660216179e-11, -5.0000052090e+02, 4.9998537645e+02, 0.0000000000e+00, 4.9998537645e+02, 0.0000000000e+00, -5.3863163929e-12, 2.5957503891e-02, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, -1.9337829948e-11, 8.1926652962e-11, -1.5744928509e-10;
- 1.4794832502e-11, -5.6318467818e-12, 1.8593212202e-07, -6.9469385111e-18, 1.8593212202e-07, -6.9469385111e-18, 9.5359737577e-07, -2.3947871511e-05, 0.0000000000e+00, 1.0007961815e+00, -3.5348598433e-16, 1.7090930090e-17, 3.7802153994e-18, -2.3892279770e-05;
- 4.7784519371e-08, 2.5410988418e-17, 2.2587545260e-17, 0.0000000000e+00, 2.2587545260e-17, 0.0000000000e+00, -1.8534162480e-07, 7.3915375705e-09, 0.0000000000e+00, 0.0000000000e+00, -1.1417382971e-12, -1.8534162488e-07, 0.0000000000e+00, 1.1293772630e-17;
- -3.7068293829e-10, 1.5440704768e-18, -6.2203982064e-18, 0.0000000000e+00, -6.2203982064e-18, 0.0000000000e+00, -2.3892279770e-05, 9.5283874322e-07, 0.0000000000e+00, 0.0000000000e+00, 8.8568103129e-15, -2.3892279770e-05, -1.5661286264e-18, 2.5146290622e-18],..
-[ 5.3830665042e+01, 7.6441978752e+01, 9.7117839711e+00, -5.4480264734e-04;
- -4.2987608708e-03, 6.6914508611e-01, 3.9538168228e-02, -2.2179754683e-06;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- -1.7991826226e-01, 3.5451967364e-01, -7.1780342884e+00, 4.3702241171e-04;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- -1.7991826226e-01, 3.5451967364e-01, -7.1780342884e+00, 4.3702241171e-04;
- -8.3517615734e-04, -9.1555664670e-03, -4.6330343352e-08, 1.2839806852e-03;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- -2.1134659127e-07, 1.6215240806e+01, 2.4327832709e-03, 1.8185195068e-01;
- 6.6797898231e-08, 8.2722979134e-01, -1.0159303515e-04, -9.4311723130e-02;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00],..
-[ 9.9999999956e-01, 7.5791225148e-10, 3.7895612574e-10, 0.0000000000e+00, 3.7895612574e-10, 0.0000000000e+00, 1.8474111130e-09, 1.7053025658e-09, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 5.6843418861e-10, 0.0000000000e+00, 2.3684757859e-10;
- -4.0476881106e-14, 1.0000000000e+00, -1.7925475918e-13, 0.0000000000e+00, -1.7925475918e-13, 0.0000000000e+00, 4.6259292693e-14, -3.9320398789e-13, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 9.8300996972e-14, 1.2721305490e-13, 4.0476881106e-14;
- 0.0000000000e+00, -3.0289792254e-05, 1.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 7.8031306637e-03, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 2.8912057933e-14, 3.0068540250e-13, -1.9081958236e-13;
- -4.7784519397e-08, -1.1293772630e-17, 0.0000000000e+00, 1.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00, 1.8534162488e-07, -7.9056408410e-17, 0.0000000000e+00, 0.0000000000e+00, 1.1417439440e-12, -1.1293772630e-17, 0.0000000000e+00, -1.0164395367e-16;
- 0.0000000000e+00, -3.0289792254e-05, 1.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 7.8031306637e-03, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 2.8912057933e-14, 3.0068540250e-13, -1.9081958236e-13;
- -4.7784519397e-08, -1.1293772630e-17, 0.0000000000e+00, 1.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00, 1.8534162488e-07, -7.9056408410e-17, 0.0000000000e+00, 0.0000000000e+00, 1.1417439440e-12, -1.1293772630e-17, 0.0000000000e+00, -1.0164395367e-16;
- 1.4456028966e-15, 6.2883726004e-14, -9.0350181040e-14, 0.0000000000e+00, -9.0350181040e-14, 0.0000000000e+00, 1.0000000000e+00, -2.8044696195e-13, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, -3.4549909230e-13, 6.2160924556e-14, -2.0888961857e-13;
- 0.0000000000e+00, 2.3148061657e-14, 5.0057736914e-13, 0.0000000000e+00, 5.0057736914e-13, 0.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, -4.0798458820e-13, -1.0705978556e-13, 4.8900280430e-13;
- 3.7038804218e-10, 2.2388810155e-13, -7.3915374614e-09, 0.0000000000e+00, -7.3915374614e-09, 0.0000000000e+00, 2.3873272313e-05, -9.5213839134e-07, 1.0000000000e+00, 0.0000000000e+00, -8.8496414142e-15, 1.7646519734e-19, 3.5293039469e-19, 9.5283874322e-07;
- 1.4783062499e-11, -5.6094934734e-12, 1.8519417676e-07, 0.0000000000e+00, 1.8519417676e-07, 0.0000000000e+00, 9.5283874322e-07, 2.3855725072e-05, 0.0000000000e+00, 1.0000000000e+00, -3.5320474293e-16, -2.4167460230e-18, -1.3345180549e-18, -2.3873272313e-05;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 1.0000231365e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, -1.4802973662e-12, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 1.2952601954e-12, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00, 1.8503717077e-13, 1.4802973662e-12;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 1.0000000000e+00],..
-[ 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00;
- 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00, 0.0000000000e+00]);
-f16.tfm = ss2tf(f16.sys);
-
diff --git a/src/FGFDMExec.cpp b/src/FGFDMExec.cpp
index 59df63579481398ce27e270ab074fc4b2789f7aa..aa2870b28afbee4a6ea3317e11fb7c1d8e0054eb 100644
--- a/src/FGFDMExec.cpp
+++ b/src/FGFDMExec.cpp
@@ -62,6 +62,7 @@ INCLUDES
//#include "initialization/FGTrimAnalysis.h" // Remove until later
#include "input_output/FGPropertyManager.h"
#include "input_output/FGScript.h"
+#include "initialization/FGSimplexTrim.h"
#include <iostream>
#include <iterator>
@@ -966,19 +967,34 @@ void FGFDMExec::DoTrim(int mode)
void FGFDMExec::DoSimplexTrim(int mode)
{
- double saved_time;
-
- if (Constructing) return;
-
- if (mode < 0 || mode > JSBSim::tNone) {
- cerr << endl << "Illegal trimming mode!" << endl << endl;
- return;
- }
- saved_time = sim_time;
- FGTrim trim(this, (JSBSim::TrimMode)mode);
- if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
- trim.Report();
- sim_time = saved_time;
+ //double saved_time;
+
+ //if (Constructing) return;
+
+ //if (mode < 0 || mode > JSBSim::tNone) {
+ //cerr << endl << "Illegal trimming mode!" << endl << endl;
+ //return;
+ //}
+ //saved_time = sim_time;
+ //FGTrim trim(this, (JSBSim::TrimMode)mode);
+ //if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
+ //trim.Report();
+ //sim_time = saved_time;
+ double saved_time;
+
+ if (Constructing) return;
+
+ if (mode < 0 || mode > JSBSim::tNone) {
+ cerr << endl << "Illegal trimming mode!" << endl << endl;
+ return;
+ }
+ saved_time = sim_time;
+
+ FGSimplexTrim trim(this, (JSBSim::TrimMode)mode);
+ //FGTrim trim(this, (JSBSim::TrimMode)mode);
+ //if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
+ //trim.Report();
+ sim_time = saved_time;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
diff --git a/src/Makefile.am b/src/Makefile.am
index e7a0c0ff47cef4334c538993f97ce6c4c67e459b..bfeba6861fbbb4c34dfc878ca1a84c10842147b8 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -9,7 +9,7 @@ LIBRARY_SOURCES = FGFDMExec.cpp FGJSBBase.cpp
LIBRARY_INCLUDES = FGFDMExec.h FGJSBBase.h
-noinst_PROGRAMS = JSBSim JSBSimTrim JSBSimFGComm
+noinst_PROGRAMS = JSBSim JSBSimFGComm
if BUILD_LIBRARIES
@@ -34,9 +34,6 @@ libJSBSim_la_CXXFLAGS = $(AM_CXXFLAGS)
JSBSim_SOURCES = JSBSim.cpp
JSBSim_LDADD = libJSBSim.la -lm
-JSBSimTrim_SOURCES = Trim.cpp
-JSBSimTrim_LDADD = libJSBSim.la -lm
-
JSBSimFGComm_SOURCES = FGComm.cpp
JSBSimFGComm_LDADD = libJSBSim.la -lm
@@ -58,21 +55,6 @@ JSBSim_LDADD = \
simgear/magvar/libcoremag.a \
-lm
-JSBSimTrim_SOURCES = Trim.cpp $(LIBRARY_SOURCES)
-JSBSimTrim_LDADD = \
- initialization/libInit.a \
- models/atmosphere/libAtmosphere.a \
- models/libModels.a \
- models/flight_control/libFlightControl.a \
- models/propulsion/libPropulsion.a \
- input_output/libInputOutput.a \
- math/libMath.a \
- simgear/props/libProperties.a \
- simgear/xml/libExpat.a \
- simgear/magvar/libcoremag.a \
- -lm
-Trim_CXXFLAGS=-Weffc++
-
JSBSimFGComm_SOURCES = FGComm.cpp $(LIBRARY_SOURCES)
JSBSimFGComm_LDADD = \
initialization/libInit.a \
diff --git a/src/Trim.cpp b/src/Trim.cpp
deleted file mode 100644
index 6aa3fa17470702610856a695592d445c91829401..0000000000000000000000000000000000000000
--- a/src/Trim.cpp
+++ /dev/null
@@ -1,318 +0,0 @@
-/*
- * Trim.cpp
- * Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
- *
- * Trim.cpp 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.
- *
- * Trim.cpp 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, see <http://www.gnu.org/licenses/>.
- */
-
-#include "initialization/FGTrimmer.h"
-#include "math/FGStateSpace.h"
-#include <iomanip>
-#include <fstream>
-#include "models/FGAircraft.h"
-#include "models/propulsion/FGEngine.h"
-#include "models/propulsion/FGTurbine.h"
-#include "models/propulsion/FGTurboProp.h"
-#include "math/FGNelderMead.h"
-#include <stdexcept>
-#include <fstream>
-
-template <class varType>
-void prompt(const std::string & str, varType & var)
-{
- std::cout << str + " [" << std::setw(10) << var << "]\t: ";
- if (std::cin.peek() != '\n')
- {
- std::cin >> var;
- std::cin.ignore(1000, '\n');
- }
- else std::cin.get();
-}
-
-class Callback : public JSBSim::FGNelderMead::Callback
-{
-private:
- std::ofstream _outputFile;
- JSBSim::FGTrimmer * _trimmer;
-public:
- Callback(std::string fileName, JSBSim::FGTrimmer * trimmer) :
- _outputFile((fileName + std::string(".log")).c_str()),
- _trimmer(trimmer) {
- }
- virtual ~Callback() {
- _outputFile.close();
- }
- void eval(const std::vector<double> &v)
- {
- _outputFile << _trimmer->eval(v) << std::endl;;
- //std::cout << "v: ";
- //for (int i=0;i<v.size();i++) std::cout << v[i] << " ";
- //std::cout << std::endl;
- }
-};
-
-int main (int argc, char const* argv[])
-{
- using namespace JSBSim;
-
- // variables
- FGFDMExec fdm;
- fdm.Setdt(1./120);
- FGTrimmer::Constraints constraints;
-
- std::cout << "\n==============================================\n";
- std::cout << "\tJSBSim Trimming Utility\n";
- std::cout << "==============================================\n" << std::endl;
-
- // defaults
- constraints.velocity = 500;
- std::string aircraft="f16";
- double rtol = std::numeric_limits<float>::epsilon();
- double abstol = 1e-2;//std::numeric_limits<double>::epsilon();
- double speed = 1.1; // > 1
- double random = 0; // random scale factor added to all simplex calcs
- int iterMax = 2000;
- bool showConvergeStatus = false;
- bool pause = false;
- bool showSimplex = false;
- bool variablePropPitch = false;
- int debugLevel = 0;
- std::string fileName = aircraft;
-
- // input
- std::cout << "input ( press enter to accept [default] )\n" << std::endl;
-
- // load model
- std::string aircraftName = "";
- prompt("\tdebug level\t\t",debugLevel);
- fdm.SetDebugLevel(debugLevel);
- std::cout << "model selection" << std::endl;
- while (1)
- {
- prompt("\taircraft\t\t",aircraft);
- prompt("\toutput file name\t",fileName);
- fdm.LoadModel("../aircraft","../engine","../systems",aircraft);
- aircraftName = fdm.GetAircraft()->GetAircraftName();
- if (aircraftName == "")
- {
- std::cout << "\tfailed to load aircraft" << std::endl;
- }
- else
- {
- std::cout << "\tsuccessfully loaded: " << aircraftName << std::endl;
- break;
- }
- }
-
- // Turn on propulsion system
- fdm.GetPropulsion()->InitRunning(-1);
-
- // get propulsion pointer to determine type/ etc.
- FGEngine * engine0 = fdm.GetPropulsion()->GetEngine(0);
- FGThruster * thruster0 = engine0->GetThruster();
-
- // flight conditions
- std::cout << "\nflight conditions: " << std::endl;
- prompt("\taltitude, ft\t\t",constraints.altitude);
- prompt("\tvelocity, ft/s\t\t",constraints.velocity);
- prompt("\tgamma, deg\t\t",constraints.gamma);
- if (thruster0->GetType()==FGThruster::ttPropeller)
- prompt("\tvariable prop pitch?\t\t",variablePropPitch);
- constraints.gamma *= M_PI/180;
-
- // mode menu
- while (1)
- {
- int mode = 0;
- prompt("\tmode < non-turning(0), rolling(1), pitching(2), yawing(3) >",mode);
- constraints.rollRate = 0;
- constraints.pitchRate = 0;
- constraints.yawRate = 0;
- if (mode == 0) break;
- else if (mode == 1)
- {
- prompt("\troll rate, rad/s",constraints.rollRate);
- prompt("\tstability axis roll",constraints.stabAxisRoll);
- break;
- }
- else if (mode == 2)
- {
- prompt("\tpitch rate, rad/s",constraints.pitchRate);
- break;
- }
- else if (mode == 3)
- {
- prompt("\tyaw rate, rad/s",constraints.yawRate);
- break;
- }
- else std::cout << "\tunknown mode: " << mode << std::endl;
- }
-
- // solver properties
- std::cout << "\nsolver properties: " << std::endl;
- std::cout << std::scientific;
- prompt("\tshow converge status?\t",showConvergeStatus);
- prompt("\tshow simplex?\t\t",showSimplex);
- prompt("\tpause?\t\t\t",pause);
- prompt("\trelative tolerance\t",rtol);
- prompt("\tabsolute tolerance\t",abstol);
- prompt("\tmax iterations\t\t",iterMax);
- prompt("\tconvergence speed\t",speed);
- prompt("\trandomization ratio\t",random);
- std::cout << std::fixed;
-
- // initial solver state
- int n = 6;
- std::vector<double> initialGuess(n), lowerBound(n), upperBound(n), initialStepSize(n);
-
- lowerBound[0] = 0; //throttle
- lowerBound[1] = -1; // elevator
- lowerBound[2] = -90*M_PI/180; // alpha
- lowerBound[3] = -1; // aileron
- lowerBound[4] = -1; // rudder
- lowerBound[5] = -90*M_PI/180; // beta
-
- upperBound[0] = 1; //throttle
- upperBound[1] = 1; // elevator
- upperBound[2] = 90*M_PI/180; // alpha
- upperBound[3] = 1; // aileron
- upperBound[4] = 1; // rudder
- upperBound[5] = 90*M_PI/180; // beta
-
- initialStepSize[0] = 0.2; //throttle
- initialStepSize[1] = 0.1; // elevator
- initialStepSize[2] = 0.1; // alpha
- initialStepSize[3] = 0.1; // aileron
- initialStepSize[4] = 0.1; // rudder
- initialStepSize[5] = 0.1; // beta
-
- initialGuess[0] = 0.5; // throttle
- initialGuess[1] = 0; // elevator
- initialGuess[2] = 0; // alpha
- initialGuess[3] = 0; // aileron
- initialGuess[4] = 0; // rudder
- initialGuess[5] = 0; // beta
-
- // solve
- FGTrimmer trimmer(fdm, constraints);
- Callback callback(fileName,&trimmer);
- FGNelderMead * solver;
- try
- {
- solver = new FGNelderMead(trimmer,initialGuess,
- lowerBound, upperBound, initialStepSize,iterMax,rtol,
- abstol,speed,random,showConvergeStatus,showSimplex,pause,&callback);
- while(solver->status()==1) solver->update();
- }
- catch (const std::runtime_error & e)
- {
- std::cout << e.what() << std::endl;
- return 1;
- }
-
- // output
- try
- {
- trimmer.printSolution(solver->getSolution()); // this also loads the solution into the fdm
- }
- catch(std::runtime_error & e)
- {
- std::cout << "caught std::runtime error" << std::endl;
- std::cout << "exception: " << e.what() << std::endl;
- return 1;
- }
-
- //std::cout << "\nsimulating flight to determine trim stability" << std::endl;
-
- //std::cout << "\nt = 5 seconds" << std::endl;
- //for (int i=0;i<5*120;i++) fdm.Run();
- //trimmer.printState();
-
- //std::cout << "\nt = 10 seconds" << std::endl;
- //for (int i=0;i<5*120;i++) fdm.Run();
- //trimmer.printState();
-
- std::cout << "\nlinearization: " << std::endl;
- FGStateSpace ss(fdm);
-
- ss.x.add(new FGStateSpace::Vt);
- ss.x.add(new FGStateSpace::Alpha);
- ss.x.add(new FGStateSpace::Theta);
- ss.x.add(new FGStateSpace::Q);
- ss.x.add(new FGStateSpace::Theta);
- ss.x.add(new FGStateSpace::Q);
-
- if (thruster0->GetType()==FGThruster::ttPropeller)
- {
- ss.x.add(new FGStateSpace::Rpm0);
- if (variablePropPitch) ss.x.add(new FGStateSpace::PropPitch);
- int numEngines = fdm.GetPropulsion()->GetNumEngines();
- if (numEngines>1) ss.x.add(new FGStateSpace::Rpm1);
- if (numEngines>2) ss.x.add(new FGStateSpace::Rpm2);
- if (numEngines>3) ss.x.add(new FGStateSpace::Rpm3);
- }
- ss.x.add(new FGStateSpace::Beta);
- ss.x.add(new FGStateSpace::Phi);
- ss.x.add(new FGStateSpace::P);
- ss.x.add(new FGStateSpace::R);
- ss.x.add(new FGStateSpace::Alt);
- ss.x.add(new FGStateSpace::Psi);
- ss.x.add(new FGStateSpace::Longitude);
- ss.x.add(new FGStateSpace::Latitude);
-
- ss.u.add(new FGStateSpace::ThrottleCmd);
- ss.u.add(new FGStateSpace::DaCmd);
- ss.u.add(new FGStateSpace::DeCmd);
- ss.u.add(new FGStateSpace::DrCmd);
-
- // state feedback
- ss.y = ss.x;
-
- std::vector< std::vector<double> > A,B,C,D;
- std::vector<double> x0 = ss.x.get(), u0 = ss.u.get();
- std::vector<double> y0 = x0; // state feedback
- std::cout << ss << std::endl;
-
- ss.linearize(x0,u0,y0,A,B,C,D);
-
- int width=10;
- std::cout.precision(3);
- std::cout
- << std::fixed
- << std::right
- << "\nA=\n" << std::setw(width) << A
- << "\nB=\n" << std::setw(width) << B
- << "\nC=\n" << std::setw(width) << C
- << "\nD=\n" << std::setw(width) << D
- << std::endl;
-
- // write scicoslab file
- std::ofstream scicos(std::string(aircraft+"_lin.sce").c_str());
- scicos.precision(10);
- width=20;
- scicos
- << std::scientific
- << aircraft << ".x0=..\n" << std::setw(width) << x0 << ";\n"
- << aircraft << ".u0=..\n" << std::setw(width) << u0 << ";\n"
- << aircraft << ".sys = syslin('c',..\n"
- << std::setw(width) << A << ",..\n"
- << std::setw(width) << B << ",..\n"
- << std::setw(width) << C << ",..\n"
- << std::setw(width) << D << ");\n"
- << aircraft << ".tfm = ss2tf(" << aircraft << ".sys);\n"
- << std::endl;
-}
-
-
-// vim:ts=4:sw=4
diff --git a/src/initialization/FGSimplexTrim.cpp b/src/initialization/FGSimplexTrim.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d2fe7c150132ede0a96b151fe390167e5ce8b3b1
--- /dev/null
+++ b/src/initialization/FGSimplexTrim.cpp
@@ -0,0 +1,293 @@
+/*
+ * FGSimplexTrim.cpp
+ * Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
+ *
+ * FGSimplexTrim.cpp 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.
+ *
+ * FGSimplexTrim.cpp 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, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "FGSimplexTrim.h"
+
+namespace JSBSim {
+
+FGSimplexTrim::FGSimplexTrim(FGFDMExec * fdmPtr, TrimMode mode)
+{
+ using namespace JSBSim;
+
+ // variables
+ FGFDMExec & fdm = *fdmPtr;
+ fdm.Setdt(1./120);
+ FGTrimmer::Constraints constraints;
+
+ std::cout << "\n==============================================\n";
+ std::cout << "\tJSBSim Trimming Utility\n";
+ std::cout << "==============================================\n" << std::endl;
+
+ // defaults
+ constraints.velocity = fdm.GetAuxiliary()->GetVcalibratedFPS();
+ constraints.altitude = fdm.GetPropagate()->GetAltitudeASL();
+ std::string aircraft = fdm.GetAircraft()->GetAircraftName();
+ double rtol = std::numeric_limits<float>::epsilon();
+ double abstol = 1e-2;//std::numeric_limits<double>::epsilon();
+ double speed = 1.1; // > 1
+ double random = 0; // random scale factor added to all simplex calcs
+ int iterMax = 2000;
+ bool showConvergeStatus = false;
+ bool pause = false;
+ bool showSimplex = false;
+ bool variablePropPitch = false;
+ int debugLevel = 0;
+ std::string fileName = aircraft;
+
+ // input
+ std::cout << "input ( press enter to accept [default] )\n" << std::endl;
+
+ // load model
+ std::string aircraftName = fdm.GetAircraft()->GetAircraftName();
+ //prompt("\tdebug level\t\t",debugLevel);
+ //fdm.SetDebugLevel(debugLevel);
+ //std::cout << "model selection" << std::endl;
+ //while (1)
+ //{
+ //prompt("\taircraft\t\t",aircraft);
+ //prompt("\toutput file name\t",fileName);
+ //fdm.LoadModel("../aircraft","../engine","../systems",aircraft);
+ //aircraftName = fdm.GetAircraft()->GetAircraftName();
+ //if (aircraftName == "")
+ //{
+ //std::cout << "\tfailed to load aircraft" << std::endl;
+ //}
+ //else
+ //{
+ //std::cout << "\tsuccessfully loaded: " << aircraftName << std::endl;
+ //break;
+ //}
+ //}
+
+ // Turn on propulsion system
+ fdm.GetPropulsion()->InitRunning(-1);
+
+ // get propulsion pointer to determine type/ etc.
+ FGEngine * engine0 = fdm.GetPropulsion()->GetEngine(0);
+ FGThruster * thruster0 = engine0->GetThruster();
+
+ // flight conditions
+ //std::cout << "\nflight conditions: " << std::endl;
+ //prompt("\taltitude, ft\t\t",constraints.altitude);
+ //prompt("\tvelocity, ft/s\t\t",constraints.velocity);
+ //prompt("\tgamma, deg\t\t",constraints.gamma);
+
+ // TODO check that this works properly
+ constraints.gamma = fdm.GetPropagate()->GetEuler(2);
+
+ //if (thruster0->GetType()==FGThruster::ttPropeller)
+ //prompt("\tvariable prop pitch?\t\t",variablePropPitch);
+ // FIXME, enable
+ constraints.gamma *= M_PI/180;
+
+ // mode menu
+ while (1)
+ {
+ //prompt("\tmode",mode);
+ constraints.rollRate = 0;
+ constraints.pitchRate = 0;
+ constraints.yawRate = 0;
+ if (mode == tLongitudinal) break;
+ else if (mode == tRoll)
+ {
+ //prompt("\troll rate, rad/s",constraints.rollRate);
+ //prompt("\tstability axis roll",constraints.stabAxisRoll);
+ // TODO check that this works properly
+ constraints.pitchRate = fdm.GetPropagate()->GetPQR(1);
+ constraints.stabAxisRoll = true; // FIXME, make this an option
+ break;
+ }
+ else if (mode == tPullup)
+ {
+ //prompt("\tpitch rate, rad/s",constraints.pitchRate);
+ // TODO check that this works properly
+ constraints.pitchRate = fdm.GetPropagate()->GetPQR(2);
+ break;
+ }
+ else if (mode == tTurn)
+ {
+ //prompt("\tyaw rate, rad/s",constraints.yawRate);
+ // TODO check that this works properly
+ constraints.yawRate = fdm.GetPropagate()->GetPQR(3);
+ break;
+ }
+ else {
+ std::cerr << "\tunknown mode: " << mode << std::endl;
+ exit(1);
+ }
+ }
+
+ // solver properties
+ // TODO make these options
+ //std::cout << "\nsolver properties: " << std::endl;
+ //std::cout << std::scientific;
+ //prompt("\tshow converge status?\t",showConvergeStatus);
+ //prompt("\tshow simplex?\t\t",showSimplex);
+ //prompt("\tpause?\t\t\t",pause);
+ //prompt("\trelative tolerance\t",rtol);
+ //prompt("\tabsolute tolerance\t",abstol);
+ //prompt("\tmax iterations\t\t",iterMax);
+ //prompt("\tconvergence speed\t",speed);
+ //prompt("\trandomization ratio\t",random);
+ //std::cout << std::fixed;
+
+ // initial solver state
+ int n = 6;
+ std::vector<double> initialGuess(n), lowerBound(n), upperBound(n), initialStepSize(n);
+
+ lowerBound[0] = 0; //throttle
+ lowerBound[1] = -1; // elevator
+ lowerBound[2] = -90*M_PI/180; // alpha
+ lowerBound[3] = -1; // aileron
+ lowerBound[4] = -1; // rudder
+ lowerBound[5] = -90*M_PI/180; // beta
+
+ upperBound[0] = 1; //throttle
+ upperBound[1] = 1; // elevator
+ upperBound[2] = 90*M_PI/180; // alpha
+ upperBound[3] = 1; // aileron
+ upperBound[4] = 1; // rudder
+ upperBound[5] = 90*M_PI/180; // beta
+
+ initialStepSize[0] = 0.2; //throttle
+ initialStepSize[1] = 0.1; // elevator
+ initialStepSize[2] = 0.1; // alpha
+ initialStepSize[3] = 0.1; // aileron
+ initialStepSize[4] = 0.1; // rudder
+ initialStepSize[5] = 0.1; // beta
+
+ initialGuess[0] = 0.5; // throttle
+ initialGuess[1] = 0; // elevator
+ initialGuess[2] = 0; // alpha
+ initialGuess[3] = 0; // aileron
+ initialGuess[4] = 0; // rudder
+ initialGuess[5] = 0; // beta
+
+ // solve
+ FGTrimmer trimmer(fdm, constraints);
+ Callback callback(fileName,&trimmer);
+ FGNelderMead * solver;
+ try
+ {
+ solver = new FGNelderMead(trimmer,initialGuess,
+ lowerBound, upperBound, initialStepSize,iterMax,rtol,
+ abstol,speed,random,showConvergeStatus,showSimplex,pause,&callback);
+ while(solver->status()==1) solver->update();
+ }
+ catch (const std::runtime_error & e)
+ {
+ std::cout << e.what() << std::endl;
+ exit(1);
+ }
+
+ // output
+ try
+ {
+ trimmer.printSolution(solver->getSolution()); // this also loads the solution into the fdm
+ }
+ catch(std::runtime_error & e)
+ {
+ std::cout << "caught std::runtime error" << std::endl;
+ std::cout << "exception: " << e.what() << std::endl;
+ exit(1);
+ }
+
+ //std::cout << "\nsimulating flight to determine trim stability" << std::endl;
+
+ //std::cout << "\nt = 5 seconds" << std::endl;
+ //for (int i=0;i<5*120;i++) fdm.Run();
+ //trimmer.printState();
+
+ //std::cout << "\nt = 10 seconds" << std::endl;
+ //for (int i=0;i<5*120;i++) fdm.Run();
+ //trimmer.printState();
+
+ std::cout << "\nlinearization: " << std::endl;
+ FGStateSpace ss(fdm);
+
+ ss.x.add(new FGStateSpace::Vt);
+ ss.x.add(new FGStateSpace::Alpha);
+ ss.x.add(new FGStateSpace::Theta);
+ ss.x.add(new FGStateSpace::Q);
+ ss.x.add(new FGStateSpace::Theta);
+ ss.x.add(new FGStateSpace::Q);
+
+ if (thruster0->GetType()==FGThruster::ttPropeller)
+ {
+ ss.x.add(new FGStateSpace::Rpm0);
+ if (variablePropPitch) ss.x.add(new FGStateSpace::PropPitch);
+ int numEngines = fdm.GetPropulsion()->GetNumEngines();
+ if (numEngines>1) ss.x.add(new FGStateSpace::Rpm1);
+ if (numEngines>2) ss.x.add(new FGStateSpace::Rpm2);
+ if (numEngines>3) ss.x.add(new FGStateSpace::Rpm3);
+ }
+ ss.x.add(new FGStateSpace::Beta);
+ ss.x.add(new FGStateSpace::Phi);
+ ss.x.add(new FGStateSpace::P);
+ ss.x.add(new FGStateSpace::R);
+ ss.x.add(new FGStateSpace::Alt);
+ ss.x.add(new FGStateSpace::Psi);
+ ss.x.add(new FGStateSpace::Longitude);
+ ss.x.add(new FGStateSpace::Latitude);
+
+ ss.u.add(new FGStateSpace::ThrottleCmd);
+ ss.u.add(new FGStateSpace::DaCmd);
+ ss.u.add(new FGStateSpace::DeCmd);
+ ss.u.add(new FGStateSpace::DrCmd);
+
+ // state feedback
+ ss.y = ss.x;
+
+ std::vector< std::vector<double> > A,B,C,D;
+ std::vector<double> x0 = ss.x.get(), u0 = ss.u.get();
+ std::vector<double> y0 = x0; // state feedback
+ std::cout << ss << std::endl;
+
+ ss.linearize(x0,u0,y0,A,B,C,D);
+
+ int width=10;
+ std::cout.precision(3);
+ std::cout
+ << std::fixed
+ << std::right
+ << "\nA=\n" << std::setw(width) << A
+ << "\nB=\n" << std::setw(width) << B
+ << "\nC=\n" << std::setw(width) << C
+ << "\nD=\n" << std::setw(width) << D
+ << std::endl;
+
+ // write scicoslab file
+ std::ofstream scicos(std::string(aircraft+"_lin.sce").c_str());
+ scicos.precision(10);
+ width=20;
+ scicos
+ << std::scientific
+ << aircraft << ".x0=..\n" << std::setw(width) << x0 << ";\n"
+ << aircraft << ".u0=..\n" << std::setw(width) << u0 << ";\n"
+ << aircraft << ".sys = syslin('c',..\n"
+ << std::setw(width) << A << ",..\n"
+ << std::setw(width) << B << ",..\n"
+ << std::setw(width) << C << ",..\n"
+ << std::setw(width) << D << ");\n"
+ << aircraft << ".tfm = ss2tf(" << aircraft << ".sys);\n"
+ << std::endl;
+}
+
+} // JSBSim
+
+// vim:ts=4:sw=4
diff --git a/src/initialization/FGSimplexTrim.h b/src/initialization/FGSimplexTrim.h
new file mode 100644
index 0000000000000000000000000000000000000000..31c14daf0a5ea3e67ea65beffeb8314d497d654c
--- /dev/null
+++ b/src/initialization/FGSimplexTrim.h
@@ -0,0 +1,81 @@
+/*
+ * FGSimplexTrim.h
+ * Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
+ *
+ * FGSimplexTrim.h 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.
+ *
+ * FGSimplexTrim.h 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, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef FGSimplexTrim_H_
+#define FGSimplexTrim_H_
+
+#include "initialization/FGTrimmer.h"
+#include "math/FGStateSpace.h"
+#include <iomanip>
+#include <fstream>
+#include "models/FGAircraft.h"
+#include "models/propulsion/FGEngine.h"
+#include "models/propulsion/FGTurbine.h"
+#include "models/propulsion/FGTurboProp.h"
+#include "math/FGNelderMead.h"
+#include <stdexcept>
+#include <fstream>
+#include <cstdlib>
+
+namespace JSBSim {
+
+class FGSimplexTrim
+{
+public:
+ FGSimplexTrim(FGFDMExec * fdmPtr, TrimMode mode);
+private:
+ template <class varType>
+ void prompt(const std::string & str, varType & var)
+ {
+ std::cout << str + " [" << std::setw(10) << var << "]\t: ";
+ if (std::cin.peek() != '\n')
+ {
+ std::cin >> var;
+ std::cin.ignore(1000, '\n');
+ }
+ else std::cin.get();
+ }
+
+ class Callback : public JSBSim::FGNelderMead::Callback
+ {
+ private:
+ std::ofstream _outputFile;
+ JSBSim::FGTrimmer * _trimmer;
+ public:
+ Callback(std::string fileName, JSBSim::FGTrimmer * trimmer) :
+ _outputFile((fileName + std::string(".log")).c_str()),
+ _trimmer(trimmer) {
+ }
+ virtual ~Callback() {
+ _outputFile.close();
+ }
+ void eval(const std::vector<double> &v)
+ {
+ _outputFile << _trimmer->eval(v) << std::endl;;
+ //std::cout << "v: ";
+ //for (int i=0;i<v.size();i++) std::cout << v[i] << " ";
+ //std::cout << std::endl;
+ }
+ };
+};
+
+} // JSBSim
+
+#endif //FGSimplexTrim_H_
+
+// vim:ts=4:sw=4
diff --git a/src/initialization/FGTrim.h b/src/initialization/FGTrim.h
index 0d6e3092cdd260745df07ada44d3edfa6082bf19..bfab7ccf2787116f796521a104d979bde5b71eda 100644
--- a/src/initialization/FGTrim.h
+++ b/src/initialization/FGTrim.h
@@ -69,7 +69,7 @@ FORWARD DECLARATIONS
namespace JSBSim {
typedef enum { tLongitudinal=0, tFull, tGround, tPullup,
- tCustom, tTurn, tNone } TrimMode;
+ tCustom, tTurn, tRoll, tNone } TrimMode;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
@@ -94,6 +94,7 @@ CLASS DOCUMENTATION
- tPullup: tLongitudinal but adjust alpha to achieve load factor input
with SetTargetNlf()
- tGround: wdot with altitude, qdot with theta, and pdot with phi
+ - tRoll: trim to a constant roll rate
The remaining modes include <b>tCustom</b>, which is completely user defined and
<b>tNone</b>.
diff --git a/src/initialization/Makefile.am b/src/initialization/Makefile.am
index 1e908e60c2b986aa1c866d84b336be9b52226d95..6fdf6fa0aba60b7393dffb335890f494b78bbde2 100644
--- a/src/initialization/Makefile.am
+++ b/src/initialization/Makefile.am
@@ -2,10 +2,10 @@ includedir = @includedir@/JSBSim/initialization
###AM_CPPFLAGS = -DOLD_LIBC -DAGO_DIRECTSEARCH -Wno-non-template-friend
-LIBRARY_SOURCES = FGInitialCondition.cpp FGTrim.cpp FGTrimAxis.cpp FGTrimmer.cpp
+LIBRARY_SOURCES = FGInitialCondition.cpp FGTrim.cpp FGTrimAxis.cpp FGTrimmer.cpp FGSimplexTrim.cpp
### FGTrimAnalysis.cpp FGTrimAnalysisControl.cpp
-LIBRARY_INCLUDES = FGInitialCondition.h FGTrim.h FGTrimAxis.h FGTrimmer.h
+LIBRARY_INCLUDES = FGInitialCondition.h FGTrim.h FGTrimAxis.h FGTrimmer.h FGSimplexTrim.h
### FGTrimAnalysis.h FGTrimAnalysisControl.h
if BUILD_LIBRARIES