public override void PreUpdate(double dt)
{
// Update sub-model atmospheric properties
mainRotor.Density = Atmosphere.Density;
tailRotor.Density = Atmosphere.Density;
if (Fuselage != null)
{
Fuselage.mrdistance = MainRotor.Translation - Fuselage.Translation;
}
if (horizontalStabilizer != null)
{
horizontalStabilizer.Density = Atmosphere.Density;
}
if (verticalStabilizer != null)
{
verticalStabilizer.Density = Atmosphere.Density;
}
mainRotor.HeightAboveGround = Height - mainRotor.Translation[2];
// Update sub-model controls
mainRotor.Collective = FCS.Collective;
mainRotor.LongCyclic = FCS.LongCyclic;
mainRotor.LatCyclic = FCS.LatCyclic;
tailRotor.Collective = -FCS.Pedal; // TODO make pedal-collective inversion a parameter, or figure it out
// Update engine and drivetrain
if (UseEngineModel)
{
if (Engine.phase == Engine.Phase.START && GearBox.autoBrakeRPM > 1e-5)
{
GearBox.BrakeEnabled = false;
}
GearBox.MainRotorLoad = MainRotor.Enabled ? MainRotor.ShaftTorque : 0;
GearBox.TailRotorLoad = TailRotor.Enabled ? TailRotor.ShaftTorque : 0;
GearBox.MainRotorInertia = MainRotor.Enabled ? MainRotor.Inertia : 0;
GearBox.TailRotorInertia = TailRotor.Enabled ? TailRotor.Inertia : 0;
GearBox.Update(dt);
Engine.load = GearBox.Load;
Engine.inertia = GearBox.Inertia;
Engine.Update(dt);
GearBox.RotspeedDrive = Engine.RotSpeed;
MainRotor.RotSpeed = MainRotor.Enabled ? GearBox.MainRotorSpeed : 0;
TailRotor.RotSpeed = TailRotor.Enabled ? GearBox.TailRotorSpeed : 0;
}
}
public override Helicopter LoadDefault()
{
Mass = 2450;
Inertia = Matrix <double> .Build.DenseOfArray(new double[, ] {
{ 1762, 0, 1085 },
{ 0, 9167, 0 },
{ 1085, 0, 8687 }
});
MainRotor = new Rotor().LoadDefault();
MainRotor.Translation = Vector <double> .Build.DenseOfArray(new double[] { 0.0071, 0, -1.5164 });
MainRotor.Rotation = Matrix <double> .Build.RotationY(-6.3 *Math.PI / 180.0);
TailRotor = new Rotor().LoadDefaultTailRotor();
TailRotor.Translation = Vector <double> .Build.DenseOfArray(new double[] { -7.5, 0, -0.8001 });
TailRotor.Rotation = Matrix <double> .Build.DenseOfArray(new double[, ] {
{ 1, 0, 0 },
{ 0, 0, -1 },
{ 0, 1, 0 }
});
HorizontalStabilizer = new Stabilizer().LoadDefaultHorizontal();
HorizontalStabilizer.Translation = Vector <double> .Build.DenseOfArray(new double[] { -5.8, 0, -0.5 });
HorizontalStabilizer.Rotation = Matrix <double> .Build.RotationY(5 *Math.PI / 180.0);
VerticalStabilizer = new Stabilizer().LoadDefaultVertical();
VerticalStabilizer.Translation = Vector <double> .Build.DenseOfArray(new double[] { -7.3, 0, -1.5 });
VerticalStabilizer.Rotation = Matrix <double> .Build.RotationX(90 *Math.PI / 180.0) * Matrix <double> .Build.RotationY(5 *Math.PI / 180.0);
Fuselage = new Fuselage().LoadDefault();
Fuselage.Translation = Vector <double> .Build.DenseOfArray(new double[] { 0.0178, 0, 0.0127 });
FCS = new FlightControlSystem().LoadDefault();
Engine = new Engine().LoadDefault();
GearBox = new GearBox().LoadDefault();
return(this);
}
public override void PreUpdate(double dt)
{
// Update sub-model atmospheric properties
foreach (var rotor in Rotors)
{
rotor.Density = Atmosphere.Density;
rotor.HeightAboveGround = Height - rotor.Translation[2];
}
// Update sub-model controls
foreach (var rotor in Rotors)
{
rotor.Collective = FCS.Collective;
if (rotor.Translation.x() > 0)
{
rotor.Collective -= FCS.LongCyclic;
}
if (rotor.Translation.x() < 0)
{
rotor.Collective += FCS.LongCyclic;
}
if (rotor.Translation.y() > 0)
{
rotor.Collective -= FCS.LatCyclic;
}
if (rotor.Translation.y() < 0)
{
rotor.Collective += FCS.LatCyclic;
}
if (rotor.direction == Rotor.Direction.CounterClockwise)
{
rotor.Collective += FCS.Pedal;
}
if (rotor.direction == Rotor.Direction.Clockwise)
{
rotor.Collective -= FCS.Pedal;
}
if (rotor.Collective > 1.0)
{
rotor.Collective = 1.0;
}
if (rotor.Collective < -1.0)
{
rotor.Collective = -1.0;
}
}
// Update engine and drivetrain
if (UseEngineModel)
{
if (Engine.phase == Engine.Phase.START && GearBox.autoBrakeRPM > 1e-5)
{
GearBox.BrakeEnabled = false;
}
GearBox.MainRotorLoad = 0;
GearBox.MainRotorInertia = 0;
foreach (var rotor in Rotors)
{
if (!rotor.Enabled)
{
continue;
}
GearBox.MainRotorLoad += Math.Abs(rotor.ShaftTorque);
GearBox.MainRotorInertia += rotor.Inertia;
}
GearBox.TailRotorLoad = 0;
GearBox.TailRotorInertia = 0;
GearBox.Update(dt);
Engine.load = GearBox.Load;
Engine.inertia = GearBox.Inertia;
Engine.Update(dt);
GearBox.RotspeedDrive = Engine.RotSpeed;
foreach (var rotor in Rotors)
{
rotor.RotSpeed = rotor.Enabled ? GearBox.MainRotorSpeed : 0;
}
}
}
