public override int Run(string[] remainingArguments)
{
SingleMainRotorHelicopter model = (SingleMainRotorHelicopter) new SingleMainRotorHelicopter().LoadDefault();
model.MainRotor.useDynamicInflow = false;
model.TailRotor.useDynamicInflow = false;
model.FCS.trimControl = false;
bool ok = true;
Console.WriteLine("%Trim sweep u=" + ustart + " => " + uend + " v=" + v + " w=" + w + " h=" + h);
Console.WriteLine("%u\tHelicopter.powerreq"
+ "\tHelicopter.theta_0\tHelicopter.theta_p\tHelicopter.theta_cos\tHelicopter.theta_sin"
+ "\tMainRotor.beta_0\tMainRotor.beta_cos\tMainRotor.beta_sin"
+ "\tHelicopter.theta\tHelicopter.phi");
model.Height = h;
for (var u = ustart; u <= uend + ustep / 2; u += ustep)
{
model.AbsoluteVelocity = Vector <double> .Build.DenseOfArray(new double[] { u, v, w });
model.AngularVelocity = Vector <double> .Build.Zero3();
try {
model.TrimInit();
model.Trim();
Console.Error.WriteLine(u + " m/s col " + Math.Round(model.Collective * 100)
+ " lon " + Math.Round(model.LongCyclic * 100)
+ " lat " + Math.Round(model.LatCyclic * 100)
+ " ped " + Math.Round(model.Pedal * 100)
+ " roll " + (model.RollAngle * 180 / Math.PI).ToStr()
+ " pitch " + (model.PitchAngle * 180 / Math.PI).ToStr());
double theta_0, theta_sin, theta_cos;
model.MainRotor.GetControlAngles(out theta_0, out theta_sin, out theta_cos);
double theta_p, temp;
model.TailRotor.GetControlAngles(out theta_p, out temp, out temp);
Console.WriteLine(u + "\t" + model.PowerRequired
+ "\t" + theta_0 + "\t" + theta_p + "\t" + theta_cos + "\t" + theta_sin
+ "\t" + model.MainRotor.beta_0 + "\t" + model.MainRotor.beta_cos + "\t" + model.MainRotor.beta_sin
+ "\t" + model.Attitude.y() + "\t" + model.Attitude.x());
} catch (TrimmerException e) {
Console.Error.WriteLine(" Failed: " + e.Message);
ok = false;
}
}
return(ok ? 0 : 1);
}
public override int Run(string[] remainingArguments)
{
SingleMainRotorHelicopter model = (SingleMainRotorHelicopter) new SingleMainRotorHelicopter().LoadDefault();
model.MainRotor.useDynamicInflow = false; // TODO optional
model.TailRotor.useDynamicInflow = false;
model.FCS.trimControl = false;
model.FCS.enabled = false; // TODO optional
model.AbsoluteVelocity = Vector <double> .Build.DenseOfArray(new double[] { u, v, w });
model.TrimInit();
model.Trim();
RigidBody body = new RigidBody();
body.ForceModel = model;
body.Mass = model.Mass;
body.Inertia = model.Inertia;
body.Rotation = model.Rotation;
Console.WriteLine("%Simulation at u=" + u + " v=" + v + " w=" + w + " control=" + control + " deflection=" + deflection * 180.0 / Math.PI + " deftime=" + deflectionTime);
Console.WriteLine("%t"
+ "\tHelicopter.u\tHelicopter.v\tHelicopter.w"
+ "\tHelicopter.p\tHelicopter.q\tHelicopter.r"
+ "\tHelicopter.phi\tHelicopter.theta\tHelicopter.psi"
+ "\tHelicopter.theta_0\tHelicopter.theta_sin\tHelicopter.theta_cos\tHelicopter.theta_p"
+ "\tMainRotor.beta_0\tMainRotor.beta_sin\tMainRotor.beta_cos\tTailRotor.beta_0"
+ "\tEngine.Omega\tEngine.Qeng\tEngine.Qload"
);
// Store neutral control angles
double t0n, tsn, tcn, tpn;
model.GetControlAngles(out t0n, out tsn, out tcn, out tpn);
for (double t = 0.0; t <= time; t += timeStep)
{
if (Math.Abs(deflection) > 1e-5 && deflectionTime > 1e-5 && deflectionDuration > 1e-5 && !String.IsNullOrWhiteSpace(control))
{
if (t >= deflectionTime && t <= deflectionTime + deflectionDuration)
{
if (control.StartsWith("col"))
{
model.SetControlAngles(t0n + deflection, tsn, tcn, tpn);
}
else if (control.StartsWith("lon"))
{
model.SetControlAngles(t0n, tsn + deflection, tcn, tpn);
}
else if (control.StartsWith("lat"))
{
model.SetControlAngles(t0n, tsn, tcn + deflection, tpn);
}
else if (control.StartsWith("ped"))
{
model.SetControlAngles(t0n, tsn, tcn, tpn + deflection);
}
}
else if (t > deflectionTime + deflectionDuration)
{
model.SetControlAngles(t0n, tsn, tcn, tpn);
}
}
body.Update(timeStep);
double t0, ts, tc, tp;
model.GetControlAngles(out t0, out ts, out tc, out tp);
Console.WriteLine(t
+ "\t" + model.Velocity.x() + "\t" + model.Velocity.y() + "\t" + model.Velocity.z()
+ "\t" + model.AngularVelocity.x() + "\t" + model.AngularVelocity.y() + "\t" + model.AngularVelocity.z()
+ "\t" + model.Attitude.x() + "\t" + model.Attitude.y() + "\t" + model.Attitude.z()
+ "\t" + t0 + "\t" + ts + "\t" + tc + "\t" + tp
+ "\t" + model.MainRotor.beta_0 + "\t" + model.MainRotor.beta_sin + "\t" + model.MainRotor.beta_cos + "\t" + model.TailRotor.beta_0
+ "\t" + model.Engine.Omega + "\t" + model.Engine.Qeng + "\t" + model.Engine.load
);
}
return(0);
}