From ad4550d80986d48c10f0662f800357fa292877cc Mon Sep 17 00:00:00 2001 From: pbecchi Date: Mon, 20 Dec 2021 00:06:36 +0100 Subject: [PATCH 01/25] first release FRBLdc.cpp and test scripts FRBLDC_first_release --- aircraft/F450/Aero.xml | 149 + aircraft/F450/Effectors.xml | 46 + aircraft/F450/EffectorsClosedLoop.xml | 224 + aircraft/F450/F450-set.xml | 94 + aircraft/F450/F450.ac | 65868 +++++++++++++++++++ aircraft/F450/F450.xml | 26 + aircraft/F450/FlightControl.xml | 299 + aircraft/F450/Gear.xml | 42 + aircraft/F450/Mass.xml | 16 + aircraft/F450/Metrics.xml | 25 + aircraft/F450/Propulsion.xml | 70 + aircraft/F450/PropulsionDirect.xml | 86 + aircraft/F450/UMN_UAVLab.png | Bin 0 -> 451514 bytes aircraft/F450/initGrnd.xml | 9 + aircraft/bench_bldc/bench_bldc.xml | 296 + aircraft/bench_bldc/reset00.xml | 16 + aircraft/bench_electric/bench_electric.xml | 170 + aircraft/bench_electric/reset00.xml | 16 + engine/APC 12x6e.xml | 78 + engine/APC 16x8e.xml | 78 + engine/APC 18x8.xml | 78 + engine/APC 6x4e.xml | 78 + engine/APC 9x4_5e.xml | 78 + engine/APC_10x7E_10K.xml | 76 + engine/APC_11x55E_8K.xml | 76 + engine/APC_13x8E_6K.xml | 77 + engine/APC_13x8E_8K.xml | 76 + engine/APC_6x4E_14K.xml | 76 + engine/APC_7x5E_11K.xml | 76 + engine/APC_Electric.xml | 11 + engine/Castle-3412-1100.xml | 11 + engine/Cobra2217.xml | 4 + engine/DJI-3510-380.xml | 41 + engine/DJI_9450.xml | 78 + engine/DJI_E305.xml | 10 + engine/E-max-BL2205.xml | 25 + engine/E-max-BL2210.xml | 21 + engine/EP-2814-900.xml | 22 + engine/Jetfan90v2.xml | 46 + engine/Power110.xml | 4 + engine/Power25.xml | 4 + engine/T-Motor-MN2206-2000.xml | 11 + engine/Typhoon_HET_700-68_1200Kv.xml | 4 + engine/XMotor-3536CA-8T.xml | 23 + engine/electric_eqv.xml | 18 + scripts/OutputFgfs.xml | 2 + scripts/OutputLog.xml | 95 + scripts/Test_F450_Launch.xml | 168 + scripts/bench_bldc.xml | 50 + scripts/bench_bldc_ramp.xml | 35 + scripts/bench_bldc_validation.xml | 36 + scripts/bench_electric.xml | 50 + scripts/bench_electric_ramp.xml | 35 + src/models/propulsion/FGBldc.cpp | 240 + src/models/propulsion/FGBldc.h | 99 + 55 files changed, 69442 insertions(+) create mode 100644 aircraft/F450/Aero.xml create mode 100644 aircraft/F450/Effectors.xml create mode 100644 aircraft/F450/EffectorsClosedLoop.xml create mode 100644 aircraft/F450/F450-set.xml create mode 100644 aircraft/F450/F450.ac create mode 100644 aircraft/F450/F450.xml create mode 100644 aircraft/F450/FlightControl.xml create mode 100644 aircraft/F450/Gear.xml create mode 100644 aircraft/F450/Mass.xml create mode 100644 aircraft/F450/Metrics.xml create mode 100644 aircraft/F450/Propulsion.xml create mode 100644 aircraft/F450/PropulsionDirect.xml create mode 100644 aircraft/F450/UMN_UAVLab.png create mode 100644 aircraft/F450/initGrnd.xml create mode 100644 aircraft/bench_bldc/bench_bldc.xml create mode 100644 aircraft/bench_bldc/reset00.xml create mode 100644 aircraft/bench_electric/bench_electric.xml create mode 100644 aircraft/bench_electric/reset00.xml create mode 100644 engine/APC 12x6e.xml create mode 100644 engine/APC 16x8e.xml create mode 100644 engine/APC 18x8.xml create mode 100644 engine/APC 6x4e.xml create mode 100644 engine/APC 9x4_5e.xml create mode 100644 engine/APC_10x7E_10K.xml create mode 100644 engine/APC_11x55E_8K.xml create mode 100644 engine/APC_13x8E_6K.xml create mode 100644 engine/APC_13x8E_8K.xml create mode 100644 engine/APC_6x4E_14K.xml create mode 100644 engine/APC_7x5E_11K.xml create mode 100644 engine/APC_Electric.xml create mode 100644 engine/Castle-3412-1100.xml create mode 100644 engine/Cobra2217.xml create mode 100644 engine/DJI-3510-380.xml create mode 100644 engine/DJI_9450.xml create mode 100644 engine/DJI_E305.xml create mode 100644 engine/E-max-BL2205.xml create mode 100644 engine/E-max-BL2210.xml create mode 100644 engine/EP-2814-900.xml create mode 100644 engine/Jetfan90v2.xml create mode 100644 engine/Power110.xml create mode 100644 engine/Power25.xml create mode 100644 engine/T-Motor-MN2206-2000.xml create mode 100644 engine/Typhoon_HET_700-68_1200Kv.xml create mode 100644 engine/XMotor-3536CA-8T.xml create mode 100644 engine/electric_eqv.xml create mode 100644 scripts/OutputFgfs.xml create mode 100644 scripts/OutputLog.xml create mode 100644 scripts/Test_F450_Launch.xml create mode 100644 scripts/bench_bldc.xml create mode 100644 scripts/bench_bldc_ramp.xml create mode 100644 scripts/bench_bldc_validation.xml create mode 100644 scripts/bench_electric.xml create mode 100644 scripts/bench_electric_ramp.xml create mode 100644 src/models/propulsion/FGBldc.cpp create mode 100644 src/models/propulsion/FGBldc.h diff --git a/aircraft/F450/Aero.xml b/aircraft/F450/Aero.xml new file mode 100644 index 0000000000..816b2d7224 --- /dev/null +++ b/aircraft/F450/Aero.xml @@ -0,0 +1,149 @@ + + + + CL__zero + 0 + + + dCL__alpha_rad + 0 + + + CL__alpha_rad = dCL__alpha_rad * alpha_rad + + aero/coefficient/dCL__alpha_rad + aero/alpha-rad + + + + CL summation + + aero/coefficient/CL__zero + aero/coefficient/CL__alpha_rad + + + + CD__zero + 1.0 + + + dCD__alpha_rad + 0 + + + CD__alpha_rad = dCD__alpha_rad * alpha_rad + + aero/coefficient/dCD__alpha_rad + aero/alpha-rad + + + + CD summation + + aero/coefficient/CD__zero + aero/coefficient/CD__alpha_rad + + + + CY__zero + 0 + + + CY summation + + aero/coefficient/CY__zero + 0 + + + + CMl__zero + 0 + + + CMl summation + + aero/coefficient/CMl__zero + 0 + + + + CMm__zero + 0 + + + CM summation + + aero/coefficient/CMm__zero + 0 + + + + CMn__zero + 0 + + + CMn summation + + aero/coefficient/CMn__zero + 0 + + + + + + LIFT from CL + + aero/qbar-area + aero/coefficient/CL + + + + + + DRAG from CD + + aero/qbar-area + aero/coefficient/CD + + + + + + SIDE from CY + + aero/qbar-area + aero/coefficient/CY + + + + + + ROLL from CMl + + aero/qbar-area + metrics/bw-ft + aero/coefficient/CMl + + + + + + PITCH from CMm + + aero/qbar-area + metrics/cbarw-ft + aero/coefficient/CMm + + + + + + YAW from CMn + + aero/qbar-area + metrics/bw-ft + aero/coefficient/CMn + + + + diff --git a/aircraft/F450/Effectors.xml b/aircraft/F450/Effectors.xml new file mode 100644 index 0000000000..2b17fac9ae --- /dev/null +++ b/aircraft/F450/Effectors.xml @@ -0,0 +1,46 @@ + + + + + + fcs/cmdEscFR_nd + + + + 0.0 + 1.0 + + fcs/throttle-cmd-norm[0] + + + + fcs/cmdEscAL_nd + + + 0.0 + 1.0 + + fcs/throttle-cmd-norm[1] + + + + fcs/cmdEscFL_nd + + + 0.0 + 1.0 + + fcs/throttle-cmd-norm[2] + + + + fcs/cmdEscAR_nd + + + 0.0 + 1.0 + + fcs/throttle-cmd-norm[3] + + + diff --git a/aircraft/F450/EffectorsClosedLoop.xml b/aircraft/F450/EffectorsClosedLoop.xml new file mode 100644 index 0000000000..eebd913920 --- /dev/null +++ b/aircraft/F450/EffectorsClosedLoop.xml @@ -0,0 +1,224 @@ + + + + fcs/maxRPM + fcs/maxPwr_Watt + fcs/lagMotor + fcs/delayMotor_s + + + + + + + + + + + + fcs/cmdEscFR_nd + + + fcs/delayMotor_s + + 0.01 + 1.0 + + fcs/throttle-cmd-norm[0] + + + fcs/cmdEscAL_nd + fcs/delayMotor_s + + 0.01 + 1.0 + + fcs/throttle-cmd-norm[1] + + + fcs/cmdEscFL_nd + fcs/delayMotor_s + + 0.01 + 1.0 + + fcs/throttle-cmd-norm[2] + + + + fcs/cmdEscAR_nd + fcs/delayMotor_s + + 0.01 + 1.0 + + fcs/throttle-cmd-norm[3] + + --> + + + diff --git a/aircraft/F450/F450-set.xml b/aircraft/F450/F450-set.xml new file mode 100644 index 0000000000..caaca94bee --- /dev/null +++ b/aircraft/F450/F450-set.xml @@ -0,0 +1,94 @@ + + + + + F450 (UMN - UAV Lab) + University of Minnesota - UAV Lab + 1.0 + F450 + + + UMN_UAVLab.png + + + jsb + F450 + 1.0 + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + F450.ac + + + + + + true + true + Huds/NTPS.xml + true + true + + true + true + 0.85 + 0.85 + + + + 0.38 + 1.0 + 0.22 + + + 1.0 + 0.0 + 0.0 + + + + + + true + + 0.0 + 0.0 + -0.2 + 0 + + + + + Trail View + true + lookfrom + false + + true + 0 + 0.0f + 55.0 + + + + + + + 0.00 + 0.00 + 0.00 + + + + + + diff --git a/aircraft/F450/F450.ac b/aircraft/F450/F450.ac new file mode 100644 index 0000000000..063bad9e5b --- 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fcs/cmdPitch_rps + 1.0 + fcs/cmdPitch_rps_2_FR + + + fcs/cmdYaw_rps + 1.0 + fcs/cmdYaw_rps_2_FR + + + fcs/cmdHeave_nd_2_FR + fcs/cmdRoll_rps_2_FR + fcs/cmdPitch_rps_2_FR + fcs/cmdYaw_rps_2_FR + fcs/cmdFR_nd + + + + fcs/cmdHeave_nd + 1.0 + fcs/cmdHeave_nd_2_AL + + + fcs/cmdRoll_rps + 1.0 + fcs/cmdRoll_rps_2_AL + + + fcs/cmdPitch_rps + -1.0 + fcs/cmdPitch_rps_2_AL + + + fcs/cmdYaw_rps + 1.0 + fcs/cmdYaw_rps_2_AL + + + fcs/cmdHeave_nd_2_AL + fcs/cmdRoll_rps_2_AL + fcs/cmdPitch_rps_2_AL + fcs/cmdYaw_rps_2_AL + fcs/cmdAL_nd + + + + fcs/cmdHeave_nd + 1.0 + fcs/cmdHeave_nd_2_FL + + + fcs/cmdRoll_rps + 1.0 + fcs/cmdRoll_rps_2_FL + + + fcs/cmdPitch_rps + 1.0 + fcs/cmdPitch_rps_2_FL + + + fcs/cmdYaw_rps + -1.0 + fcs/cmdYaw_rps_2_FL + + + fcs/cmdHeave_nd_2_FL + fcs/cmdRoll_rps_2_FL + fcs/cmdPitch_rps_2_FL + fcs/cmdYaw_rps_2_FL + fcs/cmdFL_nd + + + + fcs/cmdHeave_nd + 1.0 + fcs/cmdHeave_nd_2_AR + + + fcs/cmdRoll_rps + -1.0 + fcs/cmdRoll_rps_2_AR + + + fcs/cmdPitch_rps + -1.0 + fcs/cmdPitch_rps_2_AR + + + fcs/cmdYaw_rps + -1.0 + fcs/cmdYaw_rps_2_AR + + + fcs/cmdHeave_nd_2_AR + fcs/cmdRoll_rps_2_AR + fcs/cmdPitch_rps_2_AR + fcs/cmdYaw_rps_2_AR + fcs/cmdAR_nd + + + + fcs/cmdFR_ext_nd + fcs/cmdAL_ext_nd + fcs/cmdFL_ext_nd + fcs/cmdAR_ext_nd + + + + fcs/cmdFR_nd + fcs/cmdFR_ext_nd + fcs/cmdEscFR_nd + + + fcs/cmdAL_nd + fcs/cmdAL_ext_nd + fcs/cmdEscAL_nd + + + fcs/cmdFL_nd + fcs/cmdFL_ext_nd + fcs/cmdEscFL_nd + + + fcs/cmdAR_nd + fcs/cmdAR_ext_nd + fcs/cmdEscAR_nd + + + diff --git a/aircraft/F450/Gear.xml b/aircraft/F450/Gear.xml new file mode 100644 index 0000000000..1354147e65 --- /dev/null +++ b/aircraft/F450/Gear.xml @@ -0,0 +1,42 @@ + + + + + + -0.1016 + 0.0 + -0.1524 + + 0.8 + 0.5 + 0.02 + 3000 + 100 + + + + + 0.1016 + -0.1016 + -0.1524 + + 0.8 + 0.5 + 0.02 + 3000 + 100 + + + + + 0.1016 + 0.1016 + -0.1524 + + 0.8 + 0.5 + 0.02 + 3000 + 100 + + diff --git a/aircraft/F450/Mass.xml b/aircraft/F450/Mass.xml new file mode 100644 index 0000000000..ac30151f78 --- /dev/null +++ b/aircraft/F450/Mass.xml @@ -0,0 +1,16 @@ + + + 1.4 + + 0.0 + 0.0 + 0.0 + + 0.0190 + 0.0190 + 0.0252 + 0.0 + 0.0 + 0.0 + + diff --git a/aircraft/F450/Metrics.xml b/aircraft/F450/Metrics.xml new file mode 100644 index 0000000000..b1f0b633a2 --- /dev/null +++ b/aircraft/F450/Metrics.xml @@ -0,0 +1,25 @@ + + + + 0.016129 + 0.127 + 0.127 + + 0.0 + 0.0 + 0.0 + + + + 0.0 + 0.0 + 0.0 + + + + 0.0 + 0.0 + 0.0 + + + diff --git a/aircraft/F450/Propulsion.xml b/aircraft/F450/Propulsion.xml new file mode 100644 index 0000000000..83ced0fcb5 --- /dev/null +++ b/aircraft/F450/Propulsion.xml @@ -0,0 +1,70 @@ + + + + + + -0.1651 + 0.1651 + 0.025 + + + 0 + 90 + 0 + + 1.0 + 0.0 + + + + + + + 0.1651 + -0.1651 + 0.025 + + + 0 + 90 + 0 + + 1.0 + 0.0 + + + + + + + -0.1651 + -0.1651 + 0.025 + + + 0 + 90 + 0 + + -1.0 + 0.0 + + + + + + + 0.1651 + 0.1651 + 0.025 + + + 0 + 90 + 0 + + -1.0 + 0.0 + + + diff --git a/aircraft/F450/PropulsionDirect.xml b/aircraft/F450/PropulsionDirect.xml new file mode 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0.0 + 0.0 + + + 0.0 + + 0.0 + 0.0 + 0.0 + + + + + + + -0.283 + 0.00 + -0.033 + + 5 + 5 + 420 + 140 + + + + 0.283 + 0.00 + -0.033 + + 5 + 5 + 420 + 140 + + + + 0.00 + 0.283 + -0.033 + + 5 + 5 + 420 + 140 + + + + 0.00 + -0.283 + -0.033 + + 5 + 5 + 420 + 140 + + + + + + + + + + + + 0.0 + 0.0 + 0.0 + + + 0.00 + 0.00 + 0.00 + + 0 + + + 0.0 + 0.0 + 0.0 + + + 0.00 + 0.00 + 0.00 + + + + + + + + + 0.00 + 0.00 + -0.07 + + + 0.00000000001 + 0.0 + + + + + + + + Overall Drag + + aero/qbar-psf + metrics/Sw-sqft + 1 + + + + + + + + + + + + + + + propulsion/engine/propeller-rpm + propulsion/engine[0]/thrust-lbs + propulsion/engine[0]/prop_torque_ftlbs + propulsion/engine/power-hp + + + diff --git a/aircraft/bench_bldc/reset00.xml b/aircraft/bench_bldc/reset00.xml new file mode 100644 index 0000000000..6cdf06aaa4 --- /dev/null +++ b/aircraft/bench_bldc/reset00.xml @@ -0,0 +1,16 @@ + + + + 0.0 + 0.0 + 0.0 + 47.0 + 122.0 + 0.0 + 0.0 + 45 + 0.0 + diff --git a/aircraft/bench_electric/bench_electric.xml b/aircraft/bench_electric/bench_electric.xml new file mode 100644 index 0000000000..9a32ae3098 --- /dev/null +++ b/aircraft/bench_electric/bench_electric.xml @@ -0,0 +1,170 @@ + + + + + Matt Vacanti + 2020-01-04 + 0.0 + Hexarotor X + + + 0.017 + 0.13 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + 0.00 + 0.00 + 0.00 + + + 0.0 + 0.0 + 0.0 + + + 0 + 0 + 0 + + + + + 0.985 + 0.985 + 0.985 + 11.632 + + 0.0 + 0.0 + 0.0 + + + 0.0 + + 0.0 + 0.0 + 0.0 + + + + + + + -0.283 + 0.00 + -0.033 + + 5 + 5 + 420 + 140 + + + + 0.283 + 0.00 + -0.033 + + 5 + 5 + 420 + 140 + + + + 0.00 + 0.283 + -0.033 + + 5 + 5 + 420 + 140 + + + + 0.00 + -0.283 + -0.033 + + 5 + 5 + 420 + 140 + + + + + + + 0.0 + 0.0 + 0.0 + + + 0.00 + 0.00 + 0.00 + + 0 + + + 0.0 + 0.0 + 0.0 + + + 0.00 + 0.00 + 0.00 + + + + + + + + 0.00 + 0.00 + -0.07 + + + 0.00000000001 + 0.0 + + + + + + + + Overall Drag + + aero/qbar-psf + metrics/Sw-sqft + 1 + + + + + + + + + + + + + + + propulsion/engine/propeller-rpm + propulsion/engine[0]/thrust-lbs + propulsion/engine[0]/prop_torque_ftlbs + propulsion/engine/power-hp + + + diff --git a/aircraft/bench_electric/reset00.xml b/aircraft/bench_electric/reset00.xml new file mode 100644 index 0000000000..6cdf06aaa4 --- /dev/null +++ b/aircraft/bench_electric/reset00.xml @@ -0,0 +1,16 @@ + + + + 0.0 + 0.0 + 0.0 + 47.0 + 122.0 + 0.0 + 0.0 + 45 + 0.0 + diff --git a/engine/APC 12x6e.xml b/engine/APC 12x6e.xml new file mode 100644 index 0000000000..1247757d56 --- /dev/null +++ b/engine/APC 12x6e.xml @@ -0,0 +1,78 @@ + + + 0.00012991 + 12.0 + 2 + 0 + + + + 0. 0.1088 + 0.0213 0.1078 + 0.0531 0.1065 + 0.0744 0.1051 + 0.1063 0.1033 + 0.1275 0.1014 + 0.1488 0.0992 + 0.1806 0.0967 + 0.2019 0.094 + 0.2338 0.0911 + 0.255 0.088 + 0.2806 0.0846 + 0.3081 0.0811 + 0.3294 0.0773 + 0.3612 0.0734 + 0.3825 0.0692 + 0.4125 0.0649 + 0.4356 0.0605 + 0.4569 0.056 + 0.4888 0.0514 + 0.51 0.0467 + 0.5406 0.0419 + 0.5631 0.037 + 0.5863 0.032 + 0.6162 0.0268 + 0.6375 0.0216 + 0.6681 0.0164 + 0.6906 0.011 + 0.7162 0.0055 + 0.7437 -0. + +
+ + + + 0. 0.0569 + 0.0213 0.0552 + 0.0531 0.0534 + 0.0744 0.0516 + 0.1063 0.0499 + 0.1275 0.0484 + 0.1488 0.047 + 0.1806 0.0458 + 0.2019 0.0448 + 0.2338 0.0438 + 0.255 0.0429 + 0.2806 0.042 + 0.3081 0.041 + 0.3294 0.04 + 0.3612 0.0389 + 0.3825 0.0377 + 0.4125 0.0364 + 0.4356 0.035 + 0.4569 0.0334 + 0.4888 0.0317 + 0.51 0.0298 + 0.5406 0.0277 + 0.5631 0.0254 + 0.5863 0.0228 + 0.6162 0.0201 + 0.6375 0.0173 + 0.6681 0.0142 + 0.6906 0.011 + 0.7162 0.0077 + 0.7437 0.0045 + +
+ + diff --git a/engine/APC 16x8e.xml b/engine/APC 16x8e.xml new file mode 100644 index 0000000000..9c0df63ee7 --- /dev/null +++ b/engine/APC 16x8e.xml @@ -0,0 +1,78 @@ + + + 0.0007157 + 16.0 + 2 + 0 + + + + 0. 0.1016 + 0.0215 0.1009 + 0.0538 0.1 + 0.0754 0.0989 + 0.1077 0.0976 + 0.1292 0.0961 + 0.1508 0.0943 + 0.1831 0.0923 + 0.2046 0.0901 + 0.2369 0.0875 + 0.2585 0.0848 + 0.28 0.0818 + 0.3123 0.0786 + 0.3338 0.0751 + 0.3654 0.0713 + 0.3877 0.0674 + 0.4092 0.0632 + 0.4415 0.059 + 0.4631 0.0546 + 0.4938 0.0502 + 0.5169 0.0456 + 0.5385 0.041 + 0.5708 0.0362 + 0.5923 0.0313 + 0.6231 0.0263 + 0.6462 0.0212 + 0.6677 0.016 + 0.7 0.0108 + 0.7215 0.0054 + 0.7515 -0. + +
+ + + + 0. 0.0491 + 0.0215 0.048 + 0.0538 0.047 + 0.0754 0.046 + 0.1077 0.0451 + 0.1292 0.0443 + 0.1508 0.0432 + 0.1831 0.0426 + 0.2046 0.0424 + 0.2369 0.0418 + 0.2585 0.0412 + 0.28 0.0405 + 0.3123 0.0397 + 0.3338 0.0387 + 0.3654 0.0377 + 0.3877 0.0365 + 0.4092 0.0352 + 0.4415 0.0338 + 0.4631 0.0323 + 0.4938 0.0306 + 0.5169 0.0288 + 0.5385 0.0268 + 0.5708 0.0246 + 0.5923 0.0221 + 0.6231 0.0195 + 0.6462 0.0168 + 0.6677 0.0139 + 0.7 0.0108 + 0.7215 0.0076 + 0.7515 0.005 + +
+ + diff --git a/engine/APC 18x8.xml b/engine/APC 18x8.xml new file mode 100644 index 0000000000..170159101a --- /dev/null +++ b/engine/APC 18x8.xml @@ -0,0 +1,78 @@ + + + 0.0023 + 18.0 + 2 + 0 + + + + 0. 0.0879 + 0.0218 0.0875 + 0.0545 0.0871 + 0.0764 0.0866 + 0.0982 0.0859 + 0.1309 0.085 + 0.1527 0.084 + 0.1855 0.0827 + 0.2073 0.0812 + 0.2291 0.0794 + 0.2618 0.0769 + 0.2836 0.0739 + 0.3055 0.0708 + 0.3382 0.0675 + 0.36 0.0641 + 0.3918 0.0606 + 0.4145 0.057 + 0.4364 0.0533 + 0.4691 0.0494 + 0.4909 0.0454 + 0.5127 0.0413 + 0.5455 0.0371 + 0.5673 0.0329 + 0.5991 0.0285 + 0.6218 0.024 + 0.6436 0.0195 + 0.6764 0.0147 + 0.6982 0.0099 + 0.72 0.005 + 0.7527 0. + +
+ + + + 0. 0.0491 + 0.0218 0.0479 + 0.0545 0.0466 + 0.0764 0.0453 + 0.0982 0.0441 + 0.1309 0.0427 + 0.1527 0.0415 + 0.1855 0.0407 + 0.2073 0.0392 + 0.2291 0.0383 + 0.2618 0.0373 + 0.2836 0.0362 + 0.3055 0.0353 + 0.3382 0.0344 + 0.36 0.0335 + 0.3918 0.0325 + 0.4145 0.0315 + 0.4364 0.0304 + 0.4691 0.029 + 0.4909 0.0275 + 0.5127 0.0259 + 0.5455 0.0242 + 0.5673 0.0223 + 0.5991 0.0203 + 0.6218 0.018 + 0.6436 0.0157 + 0.6764 0.0133 + 0.6982 0.0108 + 0.72 0.0083 + 0.7527 0.0059 + +
+ + diff --git a/engine/APC 6x4e.xml b/engine/APC 6x4e.xml new file mode 100644 index 0000000000..d5254fd8ff --- /dev/null +++ b/engine/APC 6x4e.xml @@ -0,0 +1,78 @@ + + + 9.84e-06 + 6.0 + 2 + 0 + + + + 0. 0.124 + 0.0309 0.1237 + 0.0618 0.1233 + 0.0926 0.1228 + 0.1235 0.122 + 0.1544 0.1211 + 0.1853 0.1199 + 0.2162 0.1183 + 0.2468 0.1163 + 0.2776 0.1139 + 0.3085 0.1109 + 0.3394 0.1074 + 0.3703 0.1034 + 0.4012 0.0991 + 0.4321 0.0944 + 0.4626 0.0892 + 0.4935 0.0837 + 0.5244 0.0782 + 0.5553 0.0724 + 0.5862 0.0666 + 0.6171 0.0606 + 0.6479 0.0545 + 0.6788 0.0482 + 0.7097 0.0418 + 0.7403 0.0352 + 0.7712 0.0284 + 0.8021 0.0215 + 0.8329 0.0145 + 0.8641 0.0073 + 0.895 -0. + +
+ + + + 0. 0.0774 + 0.0309 0.0772 + 0.0618 0.0769 + 0.0926 0.0765 + 0.1235 0.0761 + 0.1544 0.0755 + 0.1853 0.0748 + 0.2162 0.074 + 0.2468 0.073 + 0.2776 0.0717 + 0.3085 0.0702 + 0.3394 0.0686 + 0.3703 0.0668 + 0.4012 0.065 + 0.4321 0.063 + 0.4626 0.0609 + 0.4935 0.0588 + 0.5244 0.0566 + 0.5553 0.0541 + 0.5862 0.0514 + 0.6171 0.0484 + 0.6479 0.0451 + 0.6788 0.0414 + 0.7097 0.0374 + 0.7403 0.0329 + 0.7712 0.0281 + 0.8021 0.023 + 0.8329 0.0175 + 0.8641 0.0121 + 0.895 0.0078 + +
+ + diff --git a/engine/APC 9x4_5e.xml b/engine/APC 9x4_5e.xml new file mode 100644 index 0000000000..c2a7d06fc3 --- /dev/null +++ b/engine/APC 9x4_5e.xml @@ -0,0 +1,78 @@ + + + 7.7778e-05 + 9.0 + 2 + 0 + + + + 0.0000 0.1288 + 0.0209 0.1271 + 0.0522 0.1252 + 0.0730 0.1230 + 0.1039 0.1207 + 0.1252 0.1181 + 0.1470 0.1153 + 0.1774 0.1122 + 0.1983 0.1089 + 0.2287 0.1053 + 0.2504 0.1015 + 0.2774 0.0975 + 0.3022 0.0932 + 0.3235 0.0888 + 0.3539 0.0842 + 0.3757 0.0794 + 0.4039 0.0745 + 0.4274 0.0695 + 0.4496 0.0644 + 0.4787 0.0592 + 0.5004 0.0538 + 0.5296 0.0483 + 0.5526 0.0426 + 0.5783 0.0369 + 0.6039 0.0310 + 0.6257 0.0250 + 0.6548 0.0189 + 0.6774 0.0128 + 0.7039 0.0064 + 0.7291 -0.0001 + +
+ + + + 0.0000 0.0666 + 0.0209 0.0647 + 0.0522 0.0628 + 0.0730 0.0611 + 0.1039 0.0595 + 0.1252 0.0581 + 0.1470 0.0567 + 0.1774 0.0554 + 0.1983 0.0542 + 0.2287 0.0531 + 0.2504 0.0520 + 0.2774 0.0509 + 0.3022 0.0498 + 0.3235 0.0485 + 0.3539 0.0471 + 0.3757 0.0456 + 0.4039 0.0440 + 0.4274 0.0422 + 0.4496 0.0402 + 0.4787 0.0381 + 0.5004 0.0358 + 0.5296 0.0332 + 0.5526 0.0305 + 0.5783 0.0275 + 0.6039 0.0243 + 0.6257 0.0210 + 0.6548 0.0175 + 0.6774 0.0137 + 0.7039 0.0099 + 0.7291 0.0061 + +
+ + diff --git a/engine/APC_10x7E_10K.xml b/engine/APC_10x7E_10K.xml new file mode 100644 index 0000000000..40319dbb25 --- /dev/null +++ b/engine/APC_10x7E_10K.xml @@ -0,0 +1,76 @@ + + + 0.000079 + 10.0 + 2 + 7.0 + 7.0 + + + 0.0 0.1177 + 0.03 0.1175 + 0.06 0.1173 + 0.09 0.117 + 0.13 0.1167 + 0.16 0.1162 + 0.19 0.1155 + 0.22 0.1144 + 0.25 0.1126 + 0.28 0.1103 + 0.32 0.1075 + 0.35 0.1043 + 0.38 0.1007 + 0.41 0.0967 + 0.44 0.0923 + 0.47 0.0874 + 0.51 0.0822 + 0.54 0.0766 + 0.57 0.071 + 0.6 0.0651 + 0.63 0.0592 + 0.66 0.0531 + 0.69 0.0469 + 0.73 0.0406 + 0.76 0.0341 + 0.79 0.0275 + 0.82 0.0208 + 0.85 0.014 + 0.88 0.007 + 0.92 0.0 + +
+ + + 0.0 0.0646 + 0.03 0.0648 + 0.06 0.0649 + 0.09 0.0651 + 0.13 0.0652 + 0.16 0.0654 + 0.19 0.0655 + 0.22 0.0654 + 0.25 0.065 + 0.28 0.0644 + 0.32 0.0639 + 0.35 0.0632 + 0.38 0.0624 + 0.41 0.0614 + 0.44 0.0601 + 0.47 0.0585 + 0.51 0.0566 + 0.54 0.0543 + 0.57 0.0519 + 0.6 0.0492 + 0.63 0.0461 + 0.66 0.0428 + 0.69 0.0392 + 0.73 0.0352 + 0.76 0.0308 + 0.79 0.0262 + 0.82 0.0211 + 0.85 0.0157 + 0.88 0.0099 + 0.92 0.0039 + +
+ diff --git a/engine/APC_11x55E_8K.xml b/engine/APC_11x55E_8K.xml new file mode 100644 index 0000000000..2f4dbf4087 --- /dev/null +++ b/engine/APC_11x55E_8K.xml @@ -0,0 +1,76 @@ + + + 0.000110 + 11 + 2 + 5.5 + 5.5 + + + 0 0.1028 + 0.02 0.1015 + 0.05 0.1 + 0.07 0.0983 + 0.1 0.0965 + 0.12 0.0945 + 0.14 0.0923 + 0.17 0.09 + 0.19 0.0875 + 0.22 0.0848 + 0.24 0.0819 + 0.27 0.0788 + 0.29 0.0755 + 0.31 0.072 + 0.34 0.0683 + 0.36 0.0644 + 0.39 0.0604 + 0.41 0.0563 + 0.43 0.0521 + 0.46 0.0478 + 0.48 0.0435 + 0.51 0.039 + 0.53 0.0344 + 0.55 0.0297 + 0.58 0.025 + 0.6 0.0201 + 0.63 0.0152 + 0.65 0.0102 + 0.68 0.0051 + 0.7 0 + +
+ + + 0 0.0378 + 0.02 0.0382 + 0.05 0.0385 + 0.07 0.0388 + 0.1 0.039 + 0.12 0.0392 + 0.14 0.0392 + 0.17 0.0392 + 0.19 0.0391 + 0.22 0.0389 + 0.24 0.0386 + 0.27 0.0382 + 0.29 0.0376 + 0.31 0.0369 + 0.34 0.036 + 0.36 0.035 + 0.39 0.0338 + 0.41 0.0326 + 0.43 0.0311 + 0.46 0.0295 + 0.48 0.0278 + 0.51 0.0259 + 0.53 0.0239 + 0.55 0.0216 + 0.58 0.0191 + 0.6 0.0165 + 0.63 0.0136 + 0.65 0.0106 + 0.68 0.0075 + 0.7 0.0045 + +
+ diff --git a/engine/APC_13x8E_6K.xml b/engine/APC_13x8E_6K.xml new file mode 100644 index 0000000000..5ad4ba4158 --- /dev/null +++ b/engine/APC_13x8E_6K.xml @@ -0,0 +1,77 @@ + + + 0.000397 + 13 + 2 + 8.0 + 8.0 + + + 0 0.1002 + 0.03 0.1 + 0.06 0.0997 + 0.09 0.0993 + 0.11 0.0988 + 0.14 0.0979 + 0.17 0.0966 + 0.2 0.0951 + 0.23 0.0932 + 0.26 0.091 + 0.29 0.0886 + 0.31 0.0858 + 0.34 0.0828 + 0.37 0.0795 + 0.4 0.0758 + 0.43 0.0719 + 0.46 0.0676 + 0.49 0.063 + 0.51 0.0583 + 0.54 0.0535 + 0.57 0.0486 + 0.6 0.0436 + 0.63 0.0385 + 0.66 0.0333 + 0.69 0.0279 + 0.71 0.0225 + 0.74 0.017 + 0.77 0.0114 + 0.8 0.0058 + 0.83 0 + + +
+ + + 0 0.0388 + 0.03 0.0398 + 0.06 0.0409 + 0.09 0.042 + 0.11 0.043 + 0.14 0.0439 + 0.17 0.0446 + 0.2 0.0452 + 0.23 0.0457 + 0.26 0.046 + 0.29 0.0461 + 0.31 0.0461 + 0.34 0.0458 + 0.37 0.0453 + 0.4 0.0446 + 0.43 0.0436 + 0.46 0.0423 + 0.49 0.0408 + 0.51 0.039 + 0.54 0.037 + 0.57 0.0348 + 0.6 0.0324 + 0.63 0.0297 + 0.66 0.0268 + 0.69 0.0236 + 0.71 0.0201 + 0.74 0.0164 + 0.77 0.0124 + 0.8 0.0081 + 0.83 0.0041 + +
+ diff --git a/engine/APC_13x8E_8K.xml b/engine/APC_13x8E_8K.xml new file mode 100644 index 0000000000..27cb09efce --- /dev/null +++ b/engine/APC_13x8E_8K.xml @@ -0,0 +1,76 @@ + + + 0.000397 + 13.0 + 2 + 8.0 + 8.0 + + + 0.0 0.1032 + 0.03 0.103 + 0.06 0.1028 + 0.09 0.1025 + 0.11 0.102 + 0.14 0.1012 + 0.17 0.1 + 0.2 0.0983 + 0.23 0.0963 + 0.26 0.094 + 0.29 0.0913 + 0.31 0.0884 + 0.34 0.0851 + 0.37 0.0815 + 0.4 0.0776 + 0.43 0.0735 + 0.46 0.069 + 0.48 0.0643 + 0.51 0.0595 + 0.54 0.0546 + 0.57 0.0496 + 0.6 0.0445 + 0.63 0.0393 + 0.66 0.034 + 0.68 0.0286 + 0.71 0.0231 + 0.74 0.0174 + 0.77 0.0117 + 0.8 0.0059 + 0.83 0.0 + +
+ + + 0.0 0.0627 + 0.03 0.0615 + 0.06 0.0603 + 0.09 0.0591 + 0.11 0.0578 + 0.14 0.0564 + 0.17 0.0549 + 0.2 0.0534 + 0.23 0.0521 + 0.26 0.051 + 0.29 0.0499 + 0.31 0.0489 + 0.34 0.0479 + 0.37 0.0467 + 0.4 0.0455 + 0.43 0.0442 + 0.46 0.0427 + 0.48 0.041 + 0.51 0.0392 + 0.54 0.0371 + 0.57 0.0348 + 0.6 0.0323 + 0.63 0.0296 + 0.66 0.0267 + 0.68 0.0234 + 0.71 0.0199 + 0.74 0.0161 + 0.77 0.0121 + 0.8 0.0077 + 0.83 0.0037 + +
+ diff --git a/engine/APC_6x4E_14K.xml b/engine/APC_6x4E_14K.xml new file mode 100644 index 0000000000..cf745cb54b --- /dev/null +++ b/engine/APC_6x4E_14K.xml @@ -0,0 +1,76 @@ + + + 0.000007 + 6.0 + 2 + 4.0 + 4.0 + + + 0.0 0.1185 + 0.03 0.1182 + 0.06 0.1176 + 0.09 0.1169 + 0.12 0.1159 + 0.15 0.1147 + 0.18 0.1131 + 0.21 0.1112 + 0.24 0.1089 + 0.27 0.1062 + 0.3 0.1031 + 0.33 0.0995 + 0.36 0.0957 + 0.39 0.0916 + 0.42 0.0871 + 0.45 0.0822 + 0.48 0.0772 + 0.51 0.072 + 0.54 0.0668 + 0.57 0.0613 + 0.6 0.0558 + 0.63 0.0501 + 0.66 0.0443 + 0.69 0.0384 + 0.72 0.0322 + 0.75 0.026 + 0.78 0.0196 + 0.81 0.0131 + 0.84 0.0066 + 0.87 0.0 + +
+ + + 0.0 0.056 + 0.03 0.0569 + 0.06 0.0577 + 0.09 0.0585 + 0.12 0.0592 + 0.15 0.0598 + 0.18 0.0602 + 0.21 0.0605 + 0.24 0.0606 + 0.27 0.0606 + 0.3 0.0603 + 0.33 0.0598 + 0.36 0.0592 + 0.39 0.0583 + 0.42 0.0572 + 0.45 0.0558 + 0.48 0.0542 + 0.51 0.0525 + 0.54 0.0505 + 0.57 0.0482 + 0.6 0.0455 + 0.63 0.0425 + 0.66 0.039 + 0.69 0.0352 + 0.72 0.031 + 0.75 0.0263 + 0.78 0.0214 + 0.81 0.0162 + 0.84 0.0109 + 0.87 0.0069 + +
+ diff --git a/engine/APC_7x5E_11K.xml b/engine/APC_7x5E_11K.xml new file mode 100644 index 0000000000..5536fd0228 --- /dev/null +++ b/engine/APC_7x5E_11K.xml @@ -0,0 +1,76 @@ + + + 0.000015 + 7.0 + 2 + 5.0 + 5.0 + + + 0.0 0.1322 + 0.03 0.1318 + 0.07 0.1313 + 0.1 0.1308 + 0.13 0.1301 + 0.16 0.1292 + 0.2 0.128 + 0.23 0.1265 + 0.26 0.1246 + 0.29 0.1222 + 0.33 0.1193 + 0.36 0.1159 + 0.39 0.112 + 0.43 0.1076 + 0.46 0.1026 + 0.49 0.0971 + 0.52 0.0912 + 0.56 0.0851 + 0.59 0.0788 + 0.62 0.0724 + 0.66 0.0659 + 0.69 0.0592 + 0.72 0.0523 + 0.75 0.0452 + 0.79 0.0381 + 0.82 0.0307 + 0.85 0.0232 + 0.88 0.0156 + 0.92 0.0078 + 0.95 0.0 + +
+ + + 0.0 0.0643 + 0.03 0.0656 + 0.07 0.0669 + 0.1 0.0682 + 0.13 0.0695 + 0.16 0.0708 + 0.2 0.0719 + 0.23 0.0729 + 0.26 0.0737 + 0.29 0.0742 + 0.33 0.0744 + 0.36 0.0743 + 0.39 0.0738 + 0.43 0.0729 + 0.46 0.0716 + 0.49 0.0698 + 0.52 0.0676 + 0.56 0.0652 + 0.59 0.0624 + 0.62 0.0593 + 0.66 0.0558 + 0.69 0.0519 + 0.72 0.0476 + 0.75 0.0428 + 0.79 0.0376 + 0.82 0.0319 + 0.85 0.0257 + 0.88 0.0192 + 0.92 0.0123 + 0.95 0.0057 + +
+ diff --git a/engine/APC_Electric.xml b/engine/APC_Electric.xml new file mode 100644 index 0000000000..0862f110b1 --- /dev/null +++ b/engine/APC_Electric.xml @@ -0,0 +1,11 @@ + + + + + 237.8783 + diff --git a/engine/Castle-3412-1100.xml b/engine/Castle-3412-1100.xml new file mode 100644 index 0000000000..3d350f4388 --- /dev/null +++ b/engine/Castle-3412-1100.xml @@ -0,0 +1,11 @@ + + + + 1000 + 6.1217 + 36.2 + 10.7 + diff --git a/engine/Cobra2217.xml b/engine/Cobra2217.xml new file mode 100644 index 0000000000..49604af9d0 --- /dev/null +++ b/engine/Cobra2217.xml @@ -0,0 +1,4 @@ + + + 350 + diff --git a/engine/DJI-3510-380.xml b/engine/DJI-3510-380.xml new file mode 100644 index 0000000000..c94652590c --- /dev/null +++ b/engine/DJI-3510-380.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + 380 + 6.1217 + 0.208 + 0.28 + 8.24 + 14.63 + diff --git a/engine/DJI_9450.xml b/engine/DJI_9450.xml new file mode 100644 index 0000000000..2547af9a26 --- /dev/null +++ b/engine/DJI_9450.xml @@ -0,0 +1,78 @@ + + + 6.05e-05 + 9.45 + 2 + 0 + + + + 0.0000 0.1288 + 0.0209 0.1271 + 0.0522 0.1252 + 0.0730 0.1230 + 0.1039 0.1207 + 0.1252 0.1181 + 0.1470 0.1153 + 0.1774 0.1122 + 0.1983 0.1089 + 0.2287 0.1053 + 0.2504 0.1015 + 0.2774 0.0975 + 0.3022 0.0932 + 0.3235 0.0888 + 0.3539 0.0842 + 0.3757 0.0794 + 0.4039 0.0745 + 0.4274 0.0695 + 0.4496 0.0644 + 0.4787 0.0592 + 0.5004 0.0538 + 0.5296 0.0483 + 0.5526 0.0426 + 0.5783 0.0369 + 0.6039 0.0310 + 0.6257 0.0250 + 0.6548 0.0189 + 0.6774 0.0128 + 0.7039 0.0064 + 0.7291 -0.0001 + +
+ + + + 0.0000 0.0666 + 0.0209 0.0647 + 0.0522 0.0628 + 0.0730 0.0611 + 0.1039 0.0595 + 0.1252 0.0581 + 0.1470 0.0567 + 0.1774 0.0554 + 0.1983 0.0542 + 0.2287 0.0531 + 0.2504 0.0520 + 0.2774 0.0509 + 0.3022 0.0498 + 0.3235 0.0485 + 0.3539 0.0471 + 0.3757 0.0456 + 0.4039 0.0440 + 0.4274 0.0422 + 0.4496 0.0402 + 0.4787 0.0381 + 0.5004 0.0358 + 0.5296 0.0332 + 0.5526 0.0305 + 0.5783 0.0275 + 0.6039 0.0243 + 0.6257 0.0210 + 0.6548 0.0175 + 0.6774 0.0137 + 0.7039 0.0099 + 0.7291 0.0061 + +
+ + diff --git a/engine/DJI_E305.xml b/engine/DJI_E305.xml new file mode 100644 index 0000000000..0f18abf0bc --- /dev/null +++ b/engine/DJI_E305.xml @@ -0,0 +1,10 @@ + + + + 320 + 960 + 6.1217 + 0.117 + 0.45 + 14.63 + diff --git a/engine/E-max-BL2205.xml b/engine/E-max-BL2205.xml new file mode 100644 index 0000000000..000a02c472 --- /dev/null +++ b/engine/E-max-BL2205.xml @@ -0,0 +1,25 @@ + + + + + + + 1880 + 6.1217 + 0.08 + 1.8 + 8.4 + 9.9 + diff --git a/engine/E-max-BL2210.xml b/engine/E-max-BL2210.xml new file mode 100644 index 0000000000..b0fd5ce59c --- /dev/null +++ b/engine/E-max-BL2210.xml @@ -0,0 +1,21 @@ + + + + + + 1970 + 6.1217 + 15 + 6.9 + + diff --git a/engine/EP-2814-900.xml b/engine/EP-2814-900.xml new file mode 100644 index 0000000000..728d8a9ef0 --- /dev/null +++ b/engine/EP-2814-900.xml @@ -0,0 +1,22 @@ + + + + + + + + 888 + 6.1217 + 19 + 7.8 + diff --git a/engine/Jetfan90v2.xml b/engine/Jetfan90v2.xml new file mode 100644 index 0000000000..1a5212537d --- /dev/null +++ b/engine/Jetfan90v2.xml @@ -0,0 +1,46 @@ + + + 0.00002 + 3.54331 + 9 + 0 + + + + 0.0000 1.0649 + 0.2000 0.9765 + 0.4000 0.8886 + 0.6000 0.8011 + 0.8000 0.7142 + 1.0000 0.6278 + 1.2000 0.5420 + 1.4000 0.4566 + 1.6000 0.3717 + 1.8000 0.2874 + 2.0000 0.2035 + 2.2000 0.1202 + 2.4000 0.0374 + 2.6000 0.0000 + +
+ + + + 0.0000 1.3390 + 0.2000 1.4526 + 0.4000 1.5326 + 0.6000 1.5790 + 0.8000 1.5919 + 1.0000 1.5713 + 1.2000 1.5171 + 1.4000 1.4293 + 1.6000 1.3080 + 1.8000 1.1532 + 2.0000 0.9648 + 2.2000 0.7428 + 2.4000 0.4873 + 2.6000 0.0000 + +
+ + diff --git a/engine/Power110.xml b/engine/Power110.xml new file mode 100644 index 0000000000..5b23809bbe --- /dev/null +++ b/engine/Power110.xml @@ -0,0 +1,4 @@ + + + 2000 + diff --git a/engine/Power25.xml b/engine/Power25.xml new file mode 100644 index 0000000000..1c9e092d43 --- /dev/null +++ b/engine/Power25.xml @@ -0,0 +1,4 @@ + + + 600 + diff --git a/engine/T-Motor-MN2206-2000.xml b/engine/T-Motor-MN2206-2000.xml new file mode 100644 index 0000000000..d6f6a27aa3 --- /dev/null +++ b/engine/T-Motor-MN2206-2000.xml @@ -0,0 +1,11 @@ + + + + 2000 + 6.1217 + 15.18 + 10.95 + diff --git a/engine/Typhoon_HET_700-68_1200Kv.xml b/engine/Typhoon_HET_700-68_1200Kv.xml new file mode 100644 index 0000000000..9673c0b6d8 --- /dev/null +++ b/engine/Typhoon_HET_700-68_1200Kv.xml @@ -0,0 +1,4 @@ + + + 4500 + diff --git a/engine/XMotor-3536CA-8T.xml b/engine/XMotor-3536CA-8T.xml new file mode 100644 index 0000000000..0d48759212 --- /dev/null +++ b/engine/XMotor-3536CA-8T.xml @@ -0,0 +1,23 @@ + + + + + + + + 990 + 6.1217 + 18.4 + 9.8 + + diff --git a/engine/electric_eqv.xml b/engine/electric_eqv.xml new file mode 100644 index 0000000000..344d6215e8 --- /dev/null +++ b/engine/electric_eqv.xml @@ -0,0 +1,18 @@ + + + + + + 525 + + + + diff --git a/scripts/OutputFgfs.xml b/scripts/OutputFgfs.xml new file mode 100644 index 0000000000..91e00d2b2e --- /dev/null +++ b/scripts/OutputFgfs.xml @@ -0,0 +1,2 @@ + + diff --git a/scripts/OutputLog.xml b/scripts/OutputLog.xml new file mode 100644 index 0000000000..302bc675a8 --- /dev/null +++ b/scripts/OutputLog.xml @@ -0,0 +1,95 @@ + + + ON + ON + ON + ON + ON + OFF + OFF + ON + OFF + ON + OFF + ON + OFF + OFF + + sensor/imu/time_us + sensor/imu/accelX_true_mps2 + sensor/imu/accelY_true_mps2 + sensor/imu/accelZ_true_mps2 + sensor/imu/accelX_mps2 + sensor/imu/accelY_mps2 + sensor/imu/accelZ_mps2 + + sensor/imu/gyroX_true_rps + sensor/imu/gyroY_true_rps + sensor/imu/gyroZ_true_rps + sensor/imu/gyroX_rps + sensor/imu/gyroY_rps + sensor/imu/gyroZ_rps + + sensor/imu/magX_nT + sensor/imu/magY_nT + sensor/imu/magZ_nT + + sensor/imu/temp_C + sensor/imu/temp_true_C + + + sensor/gps/time_us + sensor/gps/lat_true_rad + sensor/gps/long_true_rad + sensor/gps/alt_true_m + + sensor/gps/lat_rad + sensor/gps/long_rad + sensor/gps/alt_m + + sensor/gps/vNorth_true_mps + sensor/gps/vEast_true_mps + sensor/gps/vDown_true_mps + + sensor/gps/vNorth_mps + sensor/gps/vEast_mps + sensor/gps/vDown_mps + + + sensor/baro/time_us + sensor/baro/presStatic_true_Pa + sensor/baro/temp_true_C + sensor/baro/presStatic_Pa + sensor/baro/temp_C + + sensor/pitot/time_us + sensor/pitot/presStatic_true_Pa + sensor/pitot/presTip_true_Pa + sensor/pitot/temp_true_C + sensor/pitot/presStatic_Pa + sensor/pitot/presTip_Pa + sensor/pitot/temp_C + + sensor/fiveHole/time_us + sensor/fiveHole/presStatic_true_Pa + sensor/fiveHole/presTip_true_Pa + sensor/fiveHole/presAlpha_true_Pa + sensor/fiveHole/presAlphaBot_true_Pa + sensor/fiveHole/presAlphaTop_true_Pa + sensor/fiveHole/presBeta_true_Pa + sensor/fiveHole/presBetaRight_true_Pa + sensor/fiveHole/presBetaLeft_true_Pa + sensor/fiveHole/temp_true_C + sensor/fiveHole/presStatic_Pa + sensor/fiveHole/presTip_Pa + sensor/fiveHole/presAlpha_Pa + sensor/fiveHole/presAlphaBot_Pa + sensor/fiveHole/presAlphaTop_Pa + sensor/fiveHole/presBeta_Pa + sensor/fiveHole/presBetaRight_Pa + sensor/fiveHole/presBetaLeft_Pa + sensor/fiveHole/temp_C + + sensor/cmd/time_us + + diff --git a/scripts/Test_F450_Launch.xml b/scripts/Test_F450_Launch.xml new file mode 100644 index 0000000000..f0f7c6c658 --- /dev/null +++ b/scripts/Test_F450_Launch.xml @@ -0,0 +1,168 @@ + + + + + + + + fcs/ScasEngage + simulation/notify-time-trigger + + + simulation/frame le 1 + + + + + + + + simulation/frame gt 1 + + + + position/h-agl-ft + + + + + simulation/sim-time-sec ge 1 + + + + + simulation/sim-time-sec ge 2 + + + + + + + + + + simulation/sim-time-sec ge 10 + + + + simulation/sim-time-sec ge 11 + + + + simulation/sim-time-sec ge 12 + + + + + + + simulation/sim-time-sec ge 20 + + + + simulation/sim-time-sec ge 22 + + + + simulation/sim-time-sec ge 24 + + + + + Output message at 1 second intervals + + fcs/ScasEngage + + fcs/throttle-cmd-norm + fcs/throttle-cmd-norm[1] + fcs/throttle-cmd-norm[2] + fcs/throttle-cmd-norm[3] + + propulsion/engine[0]/propeller-rpm + propulsion/engine[1]/propeller-rpm + propulsion/engine[2]/propeller-rpm + propulsion/engine[3]/propeller-rpm + + propulsion/engine[0]/thrust-lbs + propulsion/engine[1]/thrust-lbs + propulsion/engine[2]/thrust-lbs + propulsion/engine[3]/thrust-lbs + position/h-agl-ft + velocities/vc-kts + attitude/phi-rad + attitude/theta-rad + attitude/psi-rad + + simulation/sim-time-sec >= simulation/notify-time-trigger + + + + + + + position/h-agl-ft + velocities/vc-kts + attitude/phi-rad + attitude/theta-rad + attitude/psi-rad + + + propulsion/engine[0]/propeller-rpm + propulsion/engine[0]/thrust-lbs + propulsion/engine[0]/power-hp + propulsion/engine[1]/propeller-rpm + propulsion/engine[1]/thrust-lbs + propulsion/engine[1]/power-hp + + + + + diff --git a/scripts/bench_bldc.xml b/scripts/bench_bldc.xml new file mode 100644 index 0000000000..58352e9a30 --- /dev/null +++ b/scripts/bench_bldc.xml @@ -0,0 +1,50 @@ + + + + Simplest of all tests + + + + simulation/notify-time-trigger + + Output message at 10 second intervals, starting after + trimming is completed. + + + + propulsion/engine/propeller-rpm + propulsion/engine[0]/thrust-lbs + propulsion/engine[0]/prop_torque_ftlbs + propulsion/engine/power-hp + + + simulation/sim-time-sec >= simulation/notify-time-trigger + + + + + Move throttle to full for take-off. + simulation/sim-time-sec ge 10.0 + + + + + + Move throttle to full for take-off. + simulation/sim-time-sec ge 30.0 + + + + + + Move throttle to full for take-off. + simulation/sim-time-sec ge 45.0 + + + + + + + diff --git a/scripts/bench_bldc_ramp.xml b/scripts/bench_bldc_ramp.xml new file mode 100644 index 0000000000..a8f964db6d --- /dev/null +++ b/scripts/bench_bldc_ramp.xml @@ -0,0 +1,35 @@ + + + + Simplest of all tests + + + + simulation/notify-time-trigger + + Output message at 10 second intervals, starting after + trimming is completed. + + + + propulsion/engine/propeller-rpm + propulsion/engine[0]/thrust-lbs + propulsion/engine[0]/prop_torque_ftlbs + propulsion/engine/power-hp + + + simulation/sim-time-sec >= simulation/notify-time-trigger + + + + + Move throttle to full for take-off. + simulation/sim-time-sec ge 10.0 + + + + + + diff --git a/scripts/bench_bldc_validation.xml b/scripts/bench_bldc_validation.xml new file mode 100644 index 0000000000..6facc2c0e7 --- /dev/null +++ b/scripts/bench_bldc_validation.xml @@ -0,0 +1,36 @@ + + + + Simplest of all tests + + + + simulation/notify-time-trigger + + Output message at 10 second intervals, starting after + trimming is completed. + + + + propulsion/engine/propeller-rpm + propulsion/engine[0]/thrust-lbs + propulsion/engine[0]/prop_torque_ftlbs + propulsion/engine/power-hp + + + simulation/sim-time-sec >= simulation/notify-time-trigger + + + + + Move throttle to full for take-off. + simulation/sim-time-sec ge 10.0 + + + + + + + diff --git a/scripts/bench_electric.xml b/scripts/bench_electric.xml new file mode 100644 index 0000000000..ed10e0bceb --- /dev/null +++ b/scripts/bench_electric.xml @@ -0,0 +1,50 @@ + + + + Simplest of all tests + + + + simulation/notify-time-trigger + + Output message at 10 second intervals, starting after + trimming is completed. + + + + propulsion/engine[0]/thrust-lbs + propulsion/engine[0]/prop_torque_ftlbs + propulsion/engine/propeller-rpm + propulsion/engine/power-hp + + + simulation/sim-time-sec >= simulation/notify-time-trigger + + + + + Move throttle to full for take-off. + simulation/sim-time-sec ge 10.0 + + + + + + Move throttle to full for take-off. + simulation/sim-time-sec ge 30.0 + + + + + + Move throttle to full for take-off. + simulation/sim-time-sec ge 45.0 + + + + + + + diff --git a/scripts/bench_electric_ramp.xml b/scripts/bench_electric_ramp.xml new file mode 100644 index 0000000000..77e6ba9238 --- /dev/null +++ b/scripts/bench_electric_ramp.xml @@ -0,0 +1,35 @@ + + + + Simplest of all tests + + + + simulation/notify-time-trigger + + Output message at 10 second intervals, starting after + trimming is completed. + + + + propulsion/engine/propeller-rpm + propulsion/engine[0]/thrust-lbs + propulsion/engine[0]/prop_torque_ftlbs + propulsion/engine/power-hp + + + simulation/sim-time-sec >= simulation/notify-time-trigger + + + + + Move throttle to full for take-off. + simulation/sim-time-sec ge 10.0 + + + + + + diff --git a/src/models/propulsion/FGBldc.cpp b/src/models/propulsion/FGBldc.cpp new file mode 100644 index 0000000000..5ea4cd1a28 --- /dev/null +++ b/src/models/propulsion/FGBldc.cpp @@ -0,0 +1,240 @@ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Module: FGBldc.cpp + Author: Matt Vacanti + Date started: 11/08/2020 + Purpose: This module models an electric motor + + --------- Copyright (C) 2020 Matt Vacanti ------------- + +UPDATE LICENSE + +FUNCTIONAL DESCRIPTION +-------------------------------------------------------------------------------- + +UPDATE FUNCTIONAL DESCRIPTION + +HISTORY +-------------------------------------------------------------------------------- +11/08/2020 MDV Created + + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +INCLUDES +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include +#include +#include + +#include "FGFDMExec.h" +#include "FGBldc.h" +#include "FGPropeller.h" +#include "input_output/FGXMLElement.h" + +using namespace std; + +namespace JSBSim { + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS IMPLEMENTATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +FGBldc::FGBldc(FGFDMExec* exec, Element *el, int engine_number, struct FGEngine::Inputs& input) + : FGEngine(engine_number, input) +{ + Load(exec,el); + + Type = etElectric; + PowerWatts = 745.7; + hptowatts = 745.7; + +// this property is not necessary is computed using other properties +// if (el->FindElement("maxcurrent")) +// MaxCurrent= el->FindElementValueAsNumber("maxcurrent"); +// end of modification + + if (el->FindElement("maxvolts")) + MaxVolts= el->FindElementValueAsNumber("maxvolts"); + + if (el->FindElement("velocityconstant")) + VelocityConstant= el->FindElementValueAsNumber("velocityconstant"); + + if (el->FindElement("torqueconstant")) + TorqueConstant= el->FindElementValueAsNumber("torqueconstant"); + + // + // added coilresistance and noloadcurrent properties + // + if (el->FindElement("coilresistance")) + coilResistance = el->FindElementValueAsNumber("coilresistance"); + if (el->FindElement("noloadcurrent")) + noLoadCurrent = el->FindElementValueAsNumber("noloadcurrent"); + //MaxCurrent is calculated no input is necessary + MaxCurrent = MaxVolts / coilResistance + noLoadCurrent; + // end of additions + + PowerWatts = MaxCurrent * MaxVolts; + + string base_property_name = CreateIndexedPropertyName("propulsion/engine", + EngineNumber); + exec->GetPropertyManager()->Tie(base_property_name + "/power-hp", &HP); + + exec->GetPropertyManager()->Tie(base_property_name + "/current-a", &CurrentRequired); + + Debug(0); // Call Debug() routine from constructor if needed +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +FGBldc::~FGBldc() +{ + Debug(1); // Call Debug() routine from constructor if needed +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGBldc::Calculate(void) +{ + RunPreFunctions(); + + if (Thruster->GetType() == FGThruster::ttPropeller) { + ((FGPropeller*)Thruster)->SetAdvance(in.PropAdvance[EngineNumber]); + ((FGPropeller*)Thruster)->SetFeather(in.PropFeather[EngineNumber]); + } + + RPM = Thruster->GetRPM(); + //TODO Add gear ratio / transmission support. + + TorqueRequired = abs(((FGPropeller*)Thruster)->GetTorque()); + + CurrentRequired = (TorqueRequired * VelocityConstant) / TorqueConstant; + + // total current required must include no load current i0 + CurrentRequired = CurrentRequired + noLoadCurrent; + // end of addition + + V = MaxVolts * in.ThrottlePos[EngineNumber]; + + // CommandedRPM = V* VelocityConstant; this line has been modified since + // Commanded RPM is given by the commanded voltage less delta voltage due to internal losses multiplied by velocity costant + CommandedRPM = (V - CurrentRequired * coilResistance) * VelocityConstant; + // end of modification + + DeltaRPM = round((CommandedRPM - RPM)); + + + //MaxTorque = (TorqueConstant * MaxCurrent) / VelocityConstant; this line has been modified since + // MaxTorque = maxcurrent* torqueconstant/velocityconstant is only at 0 RPM and linearly go to 0 at max RPM + // therefore MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM) + MaxTorque = MaxCurrent / VelocityConstant * TorqueConstant * (1 - RPM / (MaxVolts* VelocityConstant)); + //end of modification + + TorqueAvailable = MaxTorque - TorqueRequired; + DeltaTorque = (((DeltaRPM/60)*(2.0 * M_PI))/(max(0.00001, in.TotalDeltaT))) * ((FGPropeller*)Thruster)->GetIxx(); + //DeltaTorque = (((DeltaRPM / 60) * (2.0 * M_PI)) / in.TotalDeltaT) * ((FGPropeller*)Thruster)->GetIxx(); + /* + if (DeltaRPM >= 0){ + TargetTorque = min(abs(DeltaTorque), TorqueAvailable) + TorqueRequired; + } else { + TargetTorque = TorqueRequired -abs(DeltaTorque); + } + */ + if (DeltaRPM >= 0) { + TargetTorque = min(DeltaTorque, TorqueAvailable) + TorqueRequired; + } + else { + // TargetTorque = min(abs(DeltaTorque), TorqueRequired) * -1; + TargetTorque = TorqueRequired - abs(DeltaTorque)*abs(DeltaRPM)/max(RPM,0.001); + TargetTorque = TorqueRequired*(CommandedRPM / max(RPM,0.01))* (CommandedRPM / max(RPM, 0.01)); + } + + EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * TargetTorque) / 60; + // EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * MaxTorque) / 60; + HP = EnginePower / 550; + LoadThrusterInputs(); + Thruster->Calculate(EnginePower); + + RunPostFunctions(); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGBldc::CalcFuelNeed(void) +{ + return 0; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +string FGBldc::GetEngineLabels(const string& delimiter) +{ + std::ostringstream buf; + + buf << Name << " HP (engine " << EngineNumber << ")" << delimiter + << Thruster->GetThrusterLabels(EngineNumber, delimiter); + + return buf.str(); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +string FGBldc::GetEngineValues(const string& delimiter) +{ + std::ostringstream buf; + + buf << HP << delimiter + << Thruster->GetThrusterValues(EngineNumber, delimiter); + + return buf.str(); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +// +// The bitmasked value choices are as follows: +// unset: In this case (the default) JSBSim would only print +// out the normally expected messages, essentially echoing +// the config files as they are read. If the environment +// variable is not set, debug_lvl is set to 1 internally +// 0: This requests JSBSim not to output any messages +// whatsoever. +// 1: This value explicity requests the normal JSBSim +// startup messages +// 2: This value asks for a message to be printed out when +// a class is instantiated +// 4: When this value is set, a message is displayed when a +// FGModel object executes its Run() method +// 8: When this value is set, various runtime state variables +// are printed out periodically +// 16: When set various parameters are sanity checked and +// a message is printed out when they go out of bounds + +void FGBldc::Debug(int from) +{ + if (debug_lvl <= 0) return; + + if (debug_lvl & 1) { // Standard console startup message output + if (from == 0) { // Constructor + + cout << "\n Engine Name: " << Name << endl; + cout << " Power Watts: " << PowerWatts << endl; + + } + } + if (debug_lvl & 2 ) { // Instantiation/Destruction notification + if (from == 0) cout << "Instantiated: FGBldc" << endl; + if (from == 1) cout << "Destroyed: FGBldc" << endl; + } + if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects + } + if (debug_lvl & 8 ) { // Runtime state variables + } + if (debug_lvl & 16) { // Sanity checking + } + if (debug_lvl & 64) { + if (from == 0) { // Constructor + } + } +} + +} // namespace JSBSim diff --git a/src/models/propulsion/FGBldc.h b/src/models/propulsion/FGBldc.h new file mode 100644 index 0000000000..a4a3b70cdd --- /dev/null +++ b/src/models/propulsion/FGBldc.h @@ -0,0 +1,99 @@ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Header: FGBldc.h + Author: Matt Vacanti + Date started: 11/08/2020 + + ----- Copyright (C) 2020 Matt Vacanti (mdvacanti@gmail.com) -------------- + +UPDATE LICENSE + +HISTORY +-------------------------------------------------------------------------------- +11/08/2020 MDV Created + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +SENTRY +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#ifndef FGBLDC_H +#define FGBLDC_H + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +INCLUDES +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include "FGEngine.h" + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +FORWARD DECLARATIONS +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +namespace JSBSim { + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS DOCUMENTATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +/** Models an electric brushless DC motor or more appropriately permanent magnet + synchronous motor. + FGElectric models an electric motor based on the configuration file + \ parameter. The throttle controls motor output linearly from + zero to \. This power value (converted internally to horsepower) + is then used by FGPropeller to apply torque to the propeller. At present + there is no battery model available, so this motor does not consume any + energy. There is no internal friction. + @author David Culp + */ + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS DECLARATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +class FGBldc : public FGEngine +{ +public: + /// Constructor + FGBldc(FGFDMExec* exec, Element *el, int engine_number, FGEngine::Inputs& input); + /// Destructor + ~FGBldc(); + + void Calculate(void); + double GetPowerAvailable(void) {return (HP * hptoftlbssec);} + double GetCurrentRequired(void) {return CurrentRequired;} + double getRPM(void) {return RPM;} + std::string GetEngineLabels(const std::string& delimiter); + std::string GetEngineValues(const std::string& delimiter); + +private: + + double CalcFuelNeed(void); + + //double BrakeHorsePower; + + // constants + double hptowatts; + double noLoadCurrent; + double coilResistance; + double PowerWatts; // maximum engine power + double MaxCurrent; // maximum current + double MaxVolts; + double VelocityConstant; + double TorqueConstant; + double RPM; // revolutions per minute + double HP; // engine output, in horsepower + double V; // speed control commanded voltage + double CommandedRPM; // desired RPM set by voltage + double MaxTorque; // maximum available torque from motor + double DeltaRPM; + double TorqueAvailable; + double TargetTorque; + double TorqueRequired; + double CurrentRequired; + double EnginePower; + double DeltaTorque; + void Debug(int from); +}; +} +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +#endif From bafa85afce029919426fecd65312abe47dee1184 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 28 Dec 2021 09:33:43 +0100 Subject: [PATCH 02/25] Programmable braking torque --- src/models/propulsion/FGBldc.cpp | 81 ++++++++++++++------------------ 1 file changed, 36 insertions(+), 45 deletions(-) diff --git a/src/models/propulsion/FGBldc.cpp b/src/models/propulsion/FGBldc.cpp index 5ea4cd1a28..e364ac5971 100644 --- a/src/models/propulsion/FGBldc.cpp +++ b/src/models/propulsion/FGBldc.cpp @@ -1,9 +1,11 @@ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Module: FGBldc.cpp - Author: Matt Vacanti + Original Author: Matt Vacanti + Corrections and updates: Paolo Becchi Date started: 11/08/2020 - Purpose: This module models an electric motor + Corrected : 26/12/2021 + Purpose: This module models an DLDC electric motor --------- Copyright (C) 2020 Matt Vacanti ------------- @@ -49,10 +51,9 @@ FGBldc::FGBldc(FGFDMExec* exec, Element *el, int engine_number, struct FGEngine: PowerWatts = 745.7; hptowatts = 745.7; -// this property is not necessary is computed using other properties +// this property is not necessary since is computed using other properties // if (el->FindElement("maxcurrent")) // MaxCurrent= el->FindElementValueAsNumber("maxcurrent"); -// end of modification if (el->FindElement("maxvolts")) MaxVolts= el->FindElementValueAsNumber("maxvolts"); @@ -63,14 +64,16 @@ FGBldc::FGBldc(FGFDMExec* exec, Element *el, int engine_number, struct FGEngine: if (el->FindElement("torqueconstant")) TorqueConstant= el->FindElementValueAsNumber("torqueconstant"); - // - // added coilresistance and noloadcurrent properties - // + + // added coilresistance and noload current properties + if (el->FindElement("coilresistance")) coilResistance = el->FindElementValueAsNumber("coilresistance"); if (el->FindElement("noloadcurrent")) noLoadCurrent = el->FindElementValueAsNumber("noloadcurrent"); - //MaxCurrent is calculated no input is necessary + if (el->FindElement("decelerationTime")) + deceleration_time = el->FindElementValueAsNumber("decelerationTime"); + MaxCurrent = MaxVolts / coilResistance + noLoadCurrent; // end of additions @@ -110,52 +113,40 @@ void FGBldc::Calculate(void) CurrentRequired = (TorqueRequired * VelocityConstant) / TorqueConstant; - // total current required must include no load current i0 +// total current required must include no load current i0 CurrentRequired = CurrentRequired + noLoadCurrent; - // end of addition - + V = MaxVolts * in.ThrottlePos[EngineNumber]; - // CommandedRPM = V* VelocityConstant; this line has been modified since - // Commanded RPM is given by the commanded voltage less delta voltage due to internal losses multiplied by velocity costant +// Commanded RPM = (input voltage - currentRequired * coil resistance) * velocity costant CommandedRPM = (V - CurrentRequired * coilResistance) * VelocityConstant; - // end of modification + DeltaRPM = round((CommandedRPM - RPM)); - //MaxTorque = (TorqueConstant * MaxCurrent) / VelocityConstant; this line has been modified since - // MaxTorque = maxcurrent* torqueconstant/velocityconstant is only at 0 RPM and linearly go to 0 at max RPM - // therefore MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM) - MaxTorque = MaxCurrent / VelocityConstant * TorqueConstant * (1 - RPM / (MaxVolts* VelocityConstant)); - //end of modification - - TorqueAvailable = MaxTorque - TorqueRequired; - DeltaTorque = (((DeltaRPM/60)*(2.0 * M_PI))/(max(0.00001, in.TotalDeltaT))) * ((FGPropeller*)Thruster)->GetIxx(); - //DeltaTorque = (((DeltaRPM / 60) * (2.0 * M_PI)) / in.TotalDeltaT) * ((FGPropeller*)Thruster)->GetIxx(); - /* - if (DeltaRPM >= 0){ - TargetTorque = min(abs(DeltaTorque), TorqueAvailable) + TorqueRequired; - } else { - TargetTorque = TorqueRequired -abs(DeltaTorque); - } - */ - if (DeltaRPM >= 0) { +// Torque is MaxTorque (stall torque) at 0 RPM and linearly go to 0 at max RPM (MaxVolts*VelocityCostant) +// MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM) + MaxTorque = MaxCurrent / VelocityConstant * TorqueConstant * (1 - RPM / (MaxVolts* VelocityConstant)); + + TorqueAvailable = MaxTorque - TorqueRequired; + DeltaTorque = (((DeltaRPM/60)*(2.0 * M_PI))/(max(0.00001, in.TotalDeltaT))) * ((FGPropeller*)Thruster)->GetIxx(); + +// compute acceleration and deceleration phases: +// Acceleration is due to the max delta torque available and is limited to the inertial forces + if (DeltaRPM >= 0) { TargetTorque = min(DeltaTorque, TorqueAvailable) + TorqueRequired; - } - else { - // TargetTorque = min(abs(DeltaTorque), TorqueRequired) * -1; - TargetTorque = TorqueRequired - abs(DeltaTorque)*abs(DeltaRPM)/max(RPM,0.001); - TargetTorque = TorqueRequired*(CommandedRPM / max(RPM,0.01))* (CommandedRPM / max(RPM, 0.01)); - } - - EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * TargetTorque) / 60; - // EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * MaxTorque) / 60; - HP = EnginePower / 550; - LoadThrusterInputs(); - Thruster->Calculate(EnginePower); - - RunPostFunctions(); + } else { +// Deceleration is due to braking force given by the ESC and set by parameter deceleration_time + TargetTorque = TorqueRequired - min(abs(DeltaTorque)/(max(deceleration_time,0.01)*30),RPM*TorqueConstant/VelocityConstant/VelocityConstant/coilResistance); + } + + EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * TargetTorque) / 60; + HP = EnginePower / 550; + LoadThrusterInputs(); + Thruster->Calculate(EnginePower); + + RunPostFunctions(); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% From db1afa1c9339625fb5598d8c28cfe8917824b430 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 28 Dec 2021 12:54:00 +0100 Subject: [PATCH 03/25] Delete Cobra2217.xml --- engine/Cobra2217.xml | 4 ---- 1 file changed, 4 deletions(-) delete mode 100644 engine/Cobra2217.xml diff --git a/engine/Cobra2217.xml b/engine/Cobra2217.xml deleted file mode 100644 index 49604af9d0..0000000000 --- a/engine/Cobra2217.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - 350 - From 3708f40d9a096358e873aaff63d84d302a8aca4e Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 28 Dec 2021 14:50:35 +0100 Subject: [PATCH 04/25] added F450 test case --- engine/DJI_E305.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/engine/DJI_E305.xml b/engine/DJI_E305.xml index 0f18abf0bc..6689d8d90f 100644 --- a/engine/DJI_E305.xml +++ b/engine/DJI_E305.xml @@ -7,4 +7,5 @@ 0.117 0.45 14.63 + 2.0 From 541753a7736fe28da05944244c0f5b8aa21d8f89 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 28 Dec 2021 16:31:32 +0100 Subject: [PATCH 05/25] Update FGBldc.h --- src/models/propulsion/FGBldc.h | 1 + 1 file changed, 1 insertion(+) diff --git a/src/models/propulsion/FGBldc.h b/src/models/propulsion/FGBldc.h index a4a3b70cdd..6f31a9d372 100644 --- a/src/models/propulsion/FGBldc.h +++ b/src/models/propulsion/FGBldc.h @@ -92,6 +92,7 @@ class FGBldc : public FGEngine double CurrentRequired; double EnginePower; double DeltaTorque; + double deceleration_time = 0.5; void Debug(int from); }; } From 49df919421a4f7baeb27f825b34055da4481ee1b Mon Sep 17 00:00:00 2001 From: pbecchi Date: Wed, 29 Dec 2021 14:16:17 +0100 Subject: [PATCH 06/25] FGpropulsion.cpp modified --- JSBSim.vcxproj | 2 + JSBSim.vcxproj.filters | 6 + src/models/FGPropulsion.cpp | 13 +- src/models/propulsion/CMakeLists.txt | 2 + systems/Sensor5Hole.xml | 134 ++++++++++++++ systems/SensorBaro.xml | 48 +++++ systems/SensorGps.xml | 101 ++++++++++ systems/SensorImu.xml | 268 +++++++++++++++++++++++++++ systems/SensorPitot.xml | 62 +++++++ 9 files changed, 633 insertions(+), 3 deletions(-) create mode 100644 systems/Sensor5Hole.xml create mode 100644 systems/SensorBaro.xml create mode 100644 systems/SensorGps.xml create mode 100644 systems/SensorImu.xml create mode 100644 systems/SensorPitot.xml diff --git a/JSBSim.vcxproj b/JSBSim.vcxproj index 07a30576b8..1f728b4e04 100644 --- a/JSBSim.vcxproj +++ b/JSBSim.vcxproj @@ -252,6 +252,7 @@ + @@ -371,6 +372,7 @@ + diff --git a/JSBSim.vcxproj.filters b/JSBSim.vcxproj.filters index 5091098fff..b1e5bf005c 100644 --- a/JSBSim.vcxproj.filters +++ b/JSBSim.vcxproj.filters @@ -323,6 +323,9 @@ Source Files + + Source Files + @@ -673,5 +676,8 @@ Header Files + + Header Files + \ No newline at end of file diff --git a/src/models/FGPropulsion.cpp b/src/models/FGPropulsion.cpp index 16bef3e61e..417e4de677 100644 --- a/src/models/FGPropulsion.cpp +++ b/src/models/FGPropulsion.cpp @@ -56,6 +56,8 @@ INCLUDES #include "models/propulsion/FGTurboProp.h" #include "models/propulsion/FGTank.h" #include "input_output/FGModelLoader.h" +#include "models/propulsion/FGBldc.h" + using namespace std; @@ -392,12 +394,17 @@ bool FGPropulsion::Load(Element* el) Element *element = engine_element->FindElement("turboprop_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else if (engine_element->FindElement("rocket_engine")) { - Element *element = engine_element->FindElement("rocket_engine"); - Engines.push_back(make_shared(FDMExec, element, numEngines, in)); + Element *element = engine_element->FindElement("rocket_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else if (engine_element->FindElement("electric_engine")) { Element *element = engine_element->FindElement("electric_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); - } else { + } else if (engine_element->FindElement("bldc_engine")) { + // HaveBldcEngine = true; + // if (!IsBound) bind(); + Element* element = engine_element->FindElement("bldc_engine"); + Engines.push_back(make_shared(FDMExec, element, numEngines, in)); + } + else { cerr << engine_element->ReadFrom() << " Unknown engine type" << endl; return false; } diff --git a/src/models/propulsion/CMakeLists.txt b/src/models/propulsion/CMakeLists.txt index 3d461d66b8..d30ee1d592 100644 --- a/src/models/propulsion/CMakeLists.txt +++ b/src/models/propulsion/CMakeLists.txt @@ -1,4 +1,5 @@ set(SOURCES FGElectric.cpp + FGBldc.cpp FGEngine.cpp FGForce.cpp FGNozzle.cpp @@ -13,6 +14,7 @@ set(SOURCES FGElectric.cpp FGRotor.cpp) set(HEADERS FGElectric.h + FGBldc.h FGEngine.h FGForce.h FGNozzle.h diff --git a/systems/Sensor5Hole.xml b/systems/Sensor5Hole.xml new file mode 100644 index 0000000000..03d03132b7 --- /dev/null +++ b/systems/Sensor5Hole.xml @@ -0,0 +1,134 @@ + + + + + simulation/sim-time-sec + 1000000.0 + + + + + atmosphere/P-psf + 47.88026 + + + + + aero/qbar-psf + 47.88026 + + + + + + atmosphere/T-R + -491.67 + + 0.5555555555555556 + + + + + aero/alpha-deg + aero/qbar-psf + 47.88026 + 0.0435 + + + + + aero/alpha-deg + aero/qbar-psf + 47.88026 + -0.0435 + + + + + aero/beta-deg + aero/qbar-psf + 47.88026 + 0.0435 + + + + + aero/beta-deg + aero/qbar-psf + 47.88026 + -0.0435 + + + + + sensor/fiveHole/presStatic_true_Pa + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/fiveHole/presStatic_Pa + + + sensor/fiveHole/presTip_true_Pa + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/fiveHole/presTip_Pa + + + sensor/fiveHole/presAlphaBot_true_Pa + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/fiveHole/presAlphaBot_Pa + + + sensor/fiveHole/presAlphaTop_true_Pa + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/fiveHole/presAlphaTop_Pa + + + sensor/fiveHole/presBetaRight_true_Pa + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/fiveHole/presBetaRight_Pa + + + sensor/fiveHole/presBetaLeft_true_Pa + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/fiveHole/presBetaLeft_Pa + + + sensor/fiveHole/temp_true_C + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/fiveHole/temp_C + + + diff --git a/systems/SensorBaro.xml b/systems/SensorBaro.xml new file mode 100644 index 0000000000..5303e5b2b2 --- /dev/null +++ b/systems/SensorBaro.xml @@ -0,0 +1,48 @@ + + + + + simulation/sim-time-sec + 1000000.0 + + + + + atmosphere/P-psf + 47.88026 + + + + + + atmosphere/T-R + -491.67 + + 0.5555555555555556 + + + + + + sensor/baro/presStatic_true_Pa + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/baro/presStatic_Pa + + + + sensor/baro/temp_true_C + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/baro/temp_C + + + diff --git a/systems/SensorGps.xml b/systems/SensorGps.xml new file mode 100644 index 0000000000..9a5480170e --- /dev/null +++ b/systems/SensorGps.xml @@ -0,0 +1,101 @@ + + + + + simulation/sim-time-sec + 1000000.0 + + + + position/lat-geod-rad + + + position/long-gc-rad + + + + position/h-sl-ft + 0.3048 + + + + + velocities/v-north-fps + 0.3048 + + + + + velocities/v-east-fps + 0.3048 + + + + + velocities/v-down-fps + 0.3048 + + + + + sensor/gps/lat_true_rad + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/gps/lat_rad + + + sensor/gps/long_true_rad + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/gps/long_rad + + + sensor/gps/alt_true_m + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/gps/alt_m + + + sensor/gps/vNorth_true_mps + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/gps/vNorth_mps + + + sensor/gps/vEast_true_mps + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/gps/vEast_mps + + + sensor/gps/vDown_true_mps + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/gps/vDown_mps + + + diff --git a/systems/SensorImu.xml b/systems/SensorImu.xml new file mode 100644 index 0000000000..609f22a1b9 --- /dev/null +++ b/systems/SensorImu.xml @@ -0,0 +1,268 @@ + + + + + simulation/sim-time-sec + 1000000.0 + + + + + X + + 0 + 0 + 0 + + + 0 + 0 + 0 + + sensor/imu/accelX_true_fps2 + + + Y + + 0 + 0 + 0 + + + 0 + 0 + 0 + + sensor/imu/accelY_true_fps2 + + + Z + + 0 + 0 + 0 + + + 0 + 0 + 0 + + sensor/imu/accelZ_true_fps2 + + + + + sensor/imu/accelX_true_fps2 + 0.3048 + + + + + sensor/imu/accelY_true_fps2 + 0.3048 + + + + + sensor/imu/accelZ_true_fps2 + 0.3048 + + + + + + atmosphere/T-R + -491.67 + + 0.5555555555555556 + + + + + + sensor/imu/temp_true_C + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/temp_C + + + + + + sensor/imu/accelX_true_mps2 + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/accelX_mps2 + + + sensor/imu/accelY_true_mps2 + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/accelY_mps2 + + + sensor/imu/accelZ_true_mps2 + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/accelZ_mps2 + + + + + X + + 0 + 0 + 0 + + + 0 + 0 + 0 + + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/gyroX_rps + + + Y + + 0 + 0 + 0 + + + 0 + 0 + 0 + + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/gyroY_rps + + + Z + + 0 + 0 + 0 + + + 0 + 0 + 0 + + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/gyroZ_rps + + + + + X + + 0 + 0 + 0 + + + 0 + 0 + 0 + + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/magX_nT + + + Y + + 0 + 0 + 0 + + + 0 + 0 + 0 + + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/magY_nT + + + Z + + 0 + 0 + 0 + + + 0 + 0 + 0 + + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/imu/magZ_nT + + + + + sensor/imu/magX_nT + 0.001 + + + + + sensor/imu/magY_nT + 0.001 + + + + + sensor/imu/magZ_nT + 0.001 + + + diff --git a/systems/SensorPitot.xml b/systems/SensorPitot.xml new file mode 100644 index 0000000000..a97c1f7fb1 --- /dev/null +++ b/systems/SensorPitot.xml @@ -0,0 +1,62 @@ + + + + + simulation/sim-time-sec + 1000000.0 + + + + + atmosphere/P-psf + 47.88026 + + + + + aero/qbar-psf + 47.88026 + + + + + + atmosphere/T-R + -491.67 + + 0.5555555555555556 + + + + + sensor/pitot/presStatic_true_Pa + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/pitot/presStatic_Pa + + + sensor/pitot/presTip_true_Pa + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/pitot/presTip_Pa + + + sensor/pitot/temp_true_C + 0 + 0.0 + 0 + 1 + 0 + 0 + sensor/pitot/temp_C + + + From 0ec7d4da750d55f3ef6d7a2d811d6f267e22f644 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Wed, 29 Dec 2021 14:32:32 +0100 Subject: [PATCH 07/25] local modifications --- src/models/propulsion/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/models/propulsion/CMakeLists.txt b/src/models/propulsion/CMakeLists.txt index 3d461d66b8..0edcef139a 100644 --- a/src/models/propulsion/CMakeLists.txt +++ b/src/models/propulsion/CMakeLists.txt @@ -1,4 +1,5 @@ set(SOURCES FGElectric.cpp + FGBldc.cpp FGEngine.cpp FGForce.cpp FGNozzle.cpp @@ -13,6 +14,7 @@ set(SOURCES FGElectric.cpp FGRotor.cpp) set(HEADERS FGElectric.h + FGBldc.h FGEngine.h FGForce.h FGNozzle.h From 43e2f649ac9d7c3cd5e9f013d9ab2d2eb66b691f Mon Sep 17 00:00:00 2001 From: pbecchi Date: Sat, 1 Jan 2022 10:57:13 +0100 Subject: [PATCH 08/25] Cmakelists_propulsion --- src/models/propulsion/CMakeLists.txt | 36 ++++++++++++++++++++++++++++ 1 file changed, 36 insertions(+) create mode 100644 src/models/propulsion/CMakeLists.txt diff --git a/src/models/propulsion/CMakeLists.txt b/src/models/propulsion/CMakeLists.txt new file mode 100644 index 0000000000..05ca6c55a7 --- /dev/null +++ b/src/models/propulsion/CMakeLists.txt @@ -0,0 +1,36 @@ +set(SOURCES FGElectric.cpp + FGBldc.cpp + FGEngine.cpp + FGForce.cpp + FGNozzle.cpp + FGPiston.cpp + FGPropeller.cpp + FGRocket.cpp + FGTank.cpp + FGThruster.cpp + FGTurbine.cpp + FGTurboProp.cpp + FGTransmission.cpp + FGRotor.cpp) + +set(HEADERS FGElectric.h + FGBldc.h + FGEngine.h + FGForce.h + FGNozzle.h + FGPiston.h + FGPropeller.h + FGRocket.h + FGTank.h + FGThruster.h + FGTurbine.h + FGTurboProp.h + FGTransmission.h + FGRotor.h) + +add_library(Propulsion OBJECT ${HEADERS} ${SOURCES}) +set_target_properties(Propulsion PROPERTIES TARGET_DIRECTORY + ${CMAKE_CURRENT_SOURCE_DIR}) + +install(FILES ${HEADERS} DESTINATION include/JSBSim/models/propulsion + COMPONENT devel) From 701190c179aafda5a4acd72eb863b3883d7ad447 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Sat, 8 Jan 2022 09:59:32 +0100 Subject: [PATCH 09/25] cleaned_examples --- Rascal110-JSBSim.xsd | 429 + aircraft/F450/Aero.xml | 149 - aircraft/F450/Effectors.xml | 46 - aircraft/F450/EffectorsClosedLoop.xml | 224 - aircraft/F450/F450-set.xml | 94 - aircraft/F450/F450.ac | 65868 ------------------- aircraft/F450/F450.xml | 26 - aircraft/F450/FlightControl.xml | 299 - aircraft/F450/Gear.xml | 42 - aircraft/F450/Mass.xml | 16 - aircraft/F450/Metrics.xml | 25 - aircraft/F450/Propulsion.xml | 70 - aircraft/F450/PropulsionDirect.xml | 86 - aircraft/F450/UMN_UAVLab.png | Bin 451514 -> 0 bytes aircraft/F450/initGrnd.xml | 9 - aircraft/bench_bldc/bench_bldc.xml | 296 - aircraft/bench_bldc/reset00.xml | 16 - aircraft/bench_electric/bench_electric.xml | 170 - aircraft/bench_electric/reset00.xml | 16 - engine/APC 12x6e.xml | 78 - engine/APC 16x8e.xml | 78 - engine/APC 18x8.xml | 78 - engine/APC 6x4e.xml | 78 - engine/APC 9x4_5e.xml | 78 - engine/APC_10x7E_10K.xml | 76 - engine/APC_11x55E_8K.xml | 76 - engine/APC_13x8E_6K.xml | 77 - engine/APC_13x8E_8K.xml | 76 - engine/APC_6x4E_14K.xml | 76 - engine/APC_7x5E_11K.xml | 76 - engine/APC_Electric.xml | 11 - engine/DJI-3510-380.xml | 41 - engine/DJI_9450.xml | 78 - engine/DJI_E305.xml | 11 - engine/E-max-BL2205.xml | 25 - engine/E-max-BL2210.xml | 21 - engine/EP-2814-900.xml | 22 - engine/Jetfan90v2.xml | 46 - engine/Power110.xml | 4 - engine/Power25.xml | 4 - engine/T-Motor-MN2206-2000.xml | 11 - engine/Typhoon_HET_700-68_1200Kv.xml | 4 - engine/XMotor-3536CA-8T.xml | 23 - scripts/OutputFgfs.xml | 2 - scripts/OutputLog.xml | 95 - scripts/Test_F450_Launch.xml | 168 - scripts/bench_bldc.xml | 50 - scripts/bench_bldc_ramp.xml | 35 - scripts/bench_bldc_validation.xml | 36 - scripts/bench_electric.xml | 50 - scripts/bench_electric_ramp.xml | 35 - systems/Sensor5Hole.xml | 134 - systems/SensorBaro.xml | 48 - systems/SensorGps.xml | 101 - systems/SensorImu.xml | 268 - systems/SensorPitot.xml | 62 - 56 files changed, 429 insertions(+), 69684 deletions(-) create mode 100644 Rascal110-JSBSim.xsd delete mode 100644 aircraft/F450/Aero.xml delete mode 100644 aircraft/F450/Effectors.xml delete mode 100644 aircraft/F450/EffectorsClosedLoop.xml delete mode 100644 aircraft/F450/F450-set.xml delete mode 100644 aircraft/F450/F450.ac delete mode 100644 aircraft/F450/F450.xml delete mode 100644 aircraft/F450/FlightControl.xml delete mode 100644 aircraft/F450/Gear.xml delete mode 100644 aircraft/F450/Mass.xml delete mode 100644 aircraft/F450/Metrics.xml delete mode 100644 aircraft/F450/Propulsion.xml delete mode 100644 aircraft/F450/PropulsionDirect.xml delete mode 100644 aircraft/F450/UMN_UAVLab.png delete mode 100644 aircraft/F450/initGrnd.xml delete mode 100644 aircraft/bench_bldc/bench_bldc.xml delete mode 100644 aircraft/bench_bldc/reset00.xml delete mode 100644 aircraft/bench_electric/bench_electric.xml delete mode 100644 aircraft/bench_electric/reset00.xml delete mode 100644 engine/APC 12x6e.xml delete mode 100644 engine/APC 16x8e.xml delete mode 100644 engine/APC 18x8.xml delete mode 100644 engine/APC 6x4e.xml delete mode 100644 engine/APC 9x4_5e.xml delete mode 100644 engine/APC_10x7E_10K.xml delete mode 100644 engine/APC_11x55E_8K.xml delete mode 100644 engine/APC_13x8E_6K.xml delete mode 100644 engine/APC_13x8E_8K.xml delete mode 100644 engine/APC_6x4E_14K.xml delete mode 100644 engine/APC_7x5E_11K.xml delete mode 100644 engine/APC_Electric.xml delete mode 100644 engine/DJI-3510-380.xml delete mode 100644 engine/DJI_9450.xml delete mode 100644 engine/DJI_E305.xml delete mode 100644 engine/E-max-BL2205.xml delete mode 100644 engine/E-max-BL2210.xml delete mode 100644 engine/EP-2814-900.xml delete mode 100644 engine/Jetfan90v2.xml delete mode 100644 engine/Power110.xml delete mode 100644 engine/Power25.xml delete mode 100644 engine/T-Motor-MN2206-2000.xml delete mode 100644 engine/Typhoon_HET_700-68_1200Kv.xml delete mode 100644 engine/XMotor-3536CA-8T.xml delete mode 100644 scripts/OutputFgfs.xml delete mode 100644 scripts/OutputLog.xml delete mode 100644 scripts/Test_F450_Launch.xml delete mode 100644 scripts/bench_bldc.xml delete mode 100644 scripts/bench_bldc_ramp.xml delete mode 100644 scripts/bench_bldc_validation.xml delete mode 100644 scripts/bench_electric.xml delete mode 100644 scripts/bench_electric_ramp.xml delete mode 100644 systems/Sensor5Hole.xml delete mode 100644 systems/SensorBaro.xml delete mode 100644 systems/SensorGps.xml delete mode 100644 systems/SensorImu.xml delete mode 100644 systems/SensorPitot.xml diff --git a/Rascal110-JSBSim.xsd b/Rascal110-JSBSim.xsd new file mode 100644 index 0000000000..09b93fc46a --- /dev/null +++ b/Rascal110-JSBSim.xsd @@ -0,0 +1,429 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/aircraft/F450/Aero.xml b/aircraft/F450/Aero.xml deleted file mode 100644 index 816b2d7224..0000000000 --- a/aircraft/F450/Aero.xml +++ /dev/null @@ -1,149 +0,0 @@ - - - - CL__zero - 0 - - - dCL__alpha_rad - 0 - - - CL__alpha_rad = dCL__alpha_rad * alpha_rad - - aero/coefficient/dCL__alpha_rad - aero/alpha-rad - - - - CL summation - - aero/coefficient/CL__zero - aero/coefficient/CL__alpha_rad - - - - CD__zero - 1.0 - - - dCD__alpha_rad - 0 - - - CD__alpha_rad = dCD__alpha_rad * alpha_rad - - aero/coefficient/dCD__alpha_rad - aero/alpha-rad - - - - CD summation - - aero/coefficient/CD__zero - aero/coefficient/CD__alpha_rad - - - - CY__zero - 0 - - - CY summation - - aero/coefficient/CY__zero - 0 - - - - CMl__zero - 0 - - - CMl summation - - aero/coefficient/CMl__zero - 0 - - - - CMm__zero - 0 - - - CM summation - - aero/coefficient/CMm__zero - 0 - - - - CMn__zero - 0 - - - CMn summation - - aero/coefficient/CMn__zero - 0 - - - - - - LIFT from CL - - aero/qbar-area - aero/coefficient/CL - - - - - - DRAG from CD - - aero/qbar-area - aero/coefficient/CD - - - - - - SIDE from CY - - aero/qbar-area - aero/coefficient/CY - - - - - - ROLL from CMl - - aero/qbar-area - metrics/bw-ft - aero/coefficient/CMl - - - - - - PITCH from CMm - - aero/qbar-area - metrics/cbarw-ft - aero/coefficient/CMm - - - - - - YAW from CMn - - aero/qbar-area - metrics/bw-ft - aero/coefficient/CMn - - - - diff --git a/aircraft/F450/Effectors.xml b/aircraft/F450/Effectors.xml deleted file mode 100644 index 2b17fac9ae..0000000000 --- a/aircraft/F450/Effectors.xml +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - fcs/cmdEscFR_nd - - - - 0.0 - 1.0 - - fcs/throttle-cmd-norm[0] - - - - fcs/cmdEscAL_nd - - - 0.0 - 1.0 - - fcs/throttle-cmd-norm[1] - - - - fcs/cmdEscFL_nd - - - 0.0 - 1.0 - - fcs/throttle-cmd-norm[2] - - - - fcs/cmdEscAR_nd - - - 0.0 - 1.0 - - fcs/throttle-cmd-norm[3] - - - diff --git a/aircraft/F450/EffectorsClosedLoop.xml b/aircraft/F450/EffectorsClosedLoop.xml deleted file mode 100644 index eebd913920..0000000000 --- a/aircraft/F450/EffectorsClosedLoop.xml +++ /dev/null @@ -1,224 +0,0 @@ - - - - fcs/maxRPM - fcs/maxPwr_Watt - fcs/lagMotor - fcs/delayMotor_s - - - - - - - - - - - - fcs/cmdEscFR_nd - - - fcs/delayMotor_s - - 0.01 - 1.0 - - fcs/throttle-cmd-norm[0] - - - fcs/cmdEscAL_nd - fcs/delayMotor_s - - 0.01 - 1.0 - - fcs/throttle-cmd-norm[1] - - - fcs/cmdEscFL_nd - fcs/delayMotor_s - - 0.01 - 1.0 - - fcs/throttle-cmd-norm[2] - - - - fcs/cmdEscAR_nd - fcs/delayMotor_s - - 0.01 - 1.0 - - fcs/throttle-cmd-norm[3] - - --> - - - diff --git a/aircraft/F450/F450-set.xml b/aircraft/F450/F450-set.xml deleted file mode 100644 index caaca94bee..0000000000 --- a/aircraft/F450/F450-set.xml +++ /dev/null @@ -1,94 +0,0 @@ - - - - - F450 (UMN - UAV Lab) - University of Minnesota - UAV Lab - 1.0 - F450 - - - UMN_UAVLab.png - - - jsb - F450 - 1.0 - - - Aircraft/Generic/generic-sound.xml - - - - false - - - - F450.ac - - - - - - true - true - Huds/NTPS.xml - true - true - - true - true - 0.85 - 0.85 - - - - 0.38 - 1.0 - 0.22 - - - 1.0 - 0.0 - 0.0 - - - - - - true - - 0.0 - 0.0 - -0.2 - 0 - - - - - Trail View - true - lookfrom - false - - true - 0 - 0.0f - 55.0 - - - - - - - 0.00 - 0.00 - 0.00 - - - - - - diff --git a/aircraft/F450/F450.ac b/aircraft/F450/F450.ac deleted file mode 100644 index 063bad9e5b..0000000000 --- a/aircraft/F450/F450.ac +++ /dev/null @@ -1,65868 +0,0 @@ -AC3Db -MATERIAL "DefaultWhite" rgb 1.000 0.500 0.000 amb 0.200 0.200 0.200 emis 0.000 0.000 0.000 spec 0.500 0.500 0.500 shi 10 trans 0.000 -OBJECT world -name 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- fcs/cmdHeave_nd - 1.0 - fcs/cmdHeave_nd_2_AL - - - fcs/cmdRoll_rps - 1.0 - fcs/cmdRoll_rps_2_AL - - - fcs/cmdPitch_rps - -1.0 - fcs/cmdPitch_rps_2_AL - - - fcs/cmdYaw_rps - 1.0 - fcs/cmdYaw_rps_2_AL - - - fcs/cmdHeave_nd_2_AL - fcs/cmdRoll_rps_2_AL - fcs/cmdPitch_rps_2_AL - fcs/cmdYaw_rps_2_AL - fcs/cmdAL_nd - - - - fcs/cmdHeave_nd - 1.0 - fcs/cmdHeave_nd_2_FL - - - fcs/cmdRoll_rps - 1.0 - fcs/cmdRoll_rps_2_FL - - - fcs/cmdPitch_rps - 1.0 - fcs/cmdPitch_rps_2_FL - - - fcs/cmdYaw_rps - -1.0 - fcs/cmdYaw_rps_2_FL - - - fcs/cmdHeave_nd_2_FL - fcs/cmdRoll_rps_2_FL - fcs/cmdPitch_rps_2_FL - fcs/cmdYaw_rps_2_FL - fcs/cmdFL_nd - - - - fcs/cmdHeave_nd - 1.0 - fcs/cmdHeave_nd_2_AR - - - fcs/cmdRoll_rps - -1.0 - fcs/cmdRoll_rps_2_AR - - - fcs/cmdPitch_rps - -1.0 - fcs/cmdPitch_rps_2_AR - - - fcs/cmdYaw_rps - -1.0 - fcs/cmdYaw_rps_2_AR - - - fcs/cmdHeave_nd_2_AR - fcs/cmdRoll_rps_2_AR - fcs/cmdPitch_rps_2_AR - fcs/cmdYaw_rps_2_AR - fcs/cmdAR_nd - - - - fcs/cmdFR_ext_nd - fcs/cmdAL_ext_nd - 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- 0.0 - - 0.0 - 0.0 - 0.0 - - - - - - - -0.283 - 0.00 - -0.033 - - 5 - 5 - 420 - 140 - - - - 0.283 - 0.00 - -0.033 - - 5 - 5 - 420 - 140 - - - - 0.00 - 0.283 - -0.033 - - 5 - 5 - 420 - 140 - - - - 0.00 - -0.283 - -0.033 - - 5 - 5 - 420 - 140 - - - - - - - - - - - - 0.0 - 0.0 - 0.0 - - - 0.00 - 0.00 - 0.00 - - 0 - - - 0.0 - 0.0 - 0.0 - - - 0.00 - 0.00 - 0.00 - - - - - - - - - 0.00 - 0.00 - -0.07 - - - 0.00000000001 - 0.0 - - - - - - - - Overall Drag - - aero/qbar-psf - metrics/Sw-sqft - 1 - - - - - - - - - - - - - - - propulsion/engine/propeller-rpm - propulsion/engine[0]/thrust-lbs - propulsion/engine[0]/prop_torque_ftlbs - propulsion/engine/power-hp - - - diff --git a/aircraft/bench_bldc/reset00.xml b/aircraft/bench_bldc/reset00.xml deleted file mode 100644 index 6cdf06aaa4..0000000000 --- a/aircraft/bench_bldc/reset00.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - 0.0 - 0.0 - 0.0 - 47.0 - 122.0 - 0.0 - 0.0 - 45 - 0.0 - diff --git a/aircraft/bench_electric/bench_electric.xml b/aircraft/bench_electric/bench_electric.xml deleted file mode 100644 index 9a32ae3098..0000000000 --- a/aircraft/bench_electric/bench_electric.xml +++ /dev/null @@ -1,170 +0,0 @@ - - - - - Matt Vacanti - 2020-01-04 - 0.0 - Hexarotor X - - - 0.017 - 0.13 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - 0.00 - 0.00 - 0.00 - - - 0.0 - 0.0 - 0.0 - - - 0 - 0 - 0 - - - - - 0.985 - 0.985 - 0.985 - 11.632 - - 0.0 - 0.0 - 0.0 - - - 0.0 - - 0.0 - 0.0 - 0.0 - - - - - - - -0.283 - 0.00 - -0.033 - - 5 - 5 - 420 - 140 - - - - 0.283 - 0.00 - -0.033 - - 5 - 5 - 420 - 140 - - - - 0.00 - 0.283 - -0.033 - - 5 - 5 - 420 - 140 - - - - 0.00 - -0.283 - -0.033 - - 5 - 5 - 420 - 140 - - - - - - - 0.0 - 0.0 - 0.0 - - - 0.00 - 0.00 - 0.00 - - 0 - - - 0.0 - 0.0 - 0.0 - - - 0.00 - 0.00 - 0.00 - - - - - - - - 0.00 - 0.00 - -0.07 - - - 0.00000000001 - 0.0 - - - - - - - - Overall Drag - - aero/qbar-psf - metrics/Sw-sqft - 1 - - - - - - - - - - - - - - - propulsion/engine/propeller-rpm - propulsion/engine[0]/thrust-lbs - propulsion/engine[0]/prop_torque_ftlbs - propulsion/engine/power-hp - - - diff --git a/aircraft/bench_electric/reset00.xml b/aircraft/bench_electric/reset00.xml deleted file mode 100644 index 6cdf06aaa4..0000000000 --- a/aircraft/bench_electric/reset00.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - 0.0 - 0.0 - 0.0 - 47.0 - 122.0 - 0.0 - 0.0 - 45 - 0.0 - diff --git a/engine/APC 12x6e.xml b/engine/APC 12x6e.xml deleted file mode 100644 index 1247757d56..0000000000 --- a/engine/APC 12x6e.xml +++ /dev/null @@ -1,78 +0,0 @@ - - - 0.00012991 - 12.0 - 2 - 0 - - - - 0. 0.1088 - 0.0213 0.1078 - 0.0531 0.1065 - 0.0744 0.1051 - 0.1063 0.1033 - 0.1275 0.1014 - 0.1488 0.0992 - 0.1806 0.0967 - 0.2019 0.094 - 0.2338 0.0911 - 0.255 0.088 - 0.2806 0.0846 - 0.3081 0.0811 - 0.3294 0.0773 - 0.3612 0.0734 - 0.3825 0.0692 - 0.4125 0.0649 - 0.4356 0.0605 - 0.4569 0.056 - 0.4888 0.0514 - 0.51 0.0467 - 0.5406 0.0419 - 0.5631 0.037 - 0.5863 0.032 - 0.6162 0.0268 - 0.6375 0.0216 - 0.6681 0.0164 - 0.6906 0.011 - 0.7162 0.0055 - 0.7437 -0. - -
- - - - 0. 0.0569 - 0.0213 0.0552 - 0.0531 0.0534 - 0.0744 0.0516 - 0.1063 0.0499 - 0.1275 0.0484 - 0.1488 0.047 - 0.1806 0.0458 - 0.2019 0.0448 - 0.2338 0.0438 - 0.255 0.0429 - 0.2806 0.042 - 0.3081 0.041 - 0.3294 0.04 - 0.3612 0.0389 - 0.3825 0.0377 - 0.4125 0.0364 - 0.4356 0.035 - 0.4569 0.0334 - 0.4888 0.0317 - 0.51 0.0298 - 0.5406 0.0277 - 0.5631 0.0254 - 0.5863 0.0228 - 0.6162 0.0201 - 0.6375 0.0173 - 0.6681 0.0142 - 0.6906 0.011 - 0.7162 0.0077 - 0.7437 0.0045 - -
- - diff --git a/engine/APC 16x8e.xml b/engine/APC 16x8e.xml deleted file mode 100644 index 9c0df63ee7..0000000000 --- a/engine/APC 16x8e.xml +++ /dev/null @@ -1,78 +0,0 @@ - - - 0.0007157 - 16.0 - 2 - 0 - - - - 0. 0.1016 - 0.0215 0.1009 - 0.0538 0.1 - 0.0754 0.0989 - 0.1077 0.0976 - 0.1292 0.0961 - 0.1508 0.0943 - 0.1831 0.0923 - 0.2046 0.0901 - 0.2369 0.0875 - 0.2585 0.0848 - 0.28 0.0818 - 0.3123 0.0786 - 0.3338 0.0751 - 0.3654 0.0713 - 0.3877 0.0674 - 0.4092 0.0632 - 0.4415 0.059 - 0.4631 0.0546 - 0.4938 0.0502 - 0.5169 0.0456 - 0.5385 0.041 - 0.5708 0.0362 - 0.5923 0.0313 - 0.6231 0.0263 - 0.6462 0.0212 - 0.6677 0.016 - 0.7 0.0108 - 0.7215 0.0054 - 0.7515 -0. - -
- - - - 0. 0.0491 - 0.0215 0.048 - 0.0538 0.047 - 0.0754 0.046 - 0.1077 0.0451 - 0.1292 0.0443 - 0.1508 0.0432 - 0.1831 0.0426 - 0.2046 0.0424 - 0.2369 0.0418 - 0.2585 0.0412 - 0.28 0.0405 - 0.3123 0.0397 - 0.3338 0.0387 - 0.3654 0.0377 - 0.3877 0.0365 - 0.4092 0.0352 - 0.4415 0.0338 - 0.4631 0.0323 - 0.4938 0.0306 - 0.5169 0.0288 - 0.5385 0.0268 - 0.5708 0.0246 - 0.5923 0.0221 - 0.6231 0.0195 - 0.6462 0.0168 - 0.6677 0.0139 - 0.7 0.0108 - 0.7215 0.0076 - 0.7515 0.005 - -
- - diff --git a/engine/APC 18x8.xml b/engine/APC 18x8.xml deleted file mode 100644 index 170159101a..0000000000 --- a/engine/APC 18x8.xml +++ /dev/null @@ -1,78 +0,0 @@ - - - 0.0023 - 18.0 - 2 - 0 - - - - 0. 0.0879 - 0.0218 0.0875 - 0.0545 0.0871 - 0.0764 0.0866 - 0.0982 0.0859 - 0.1309 0.085 - 0.1527 0.084 - 0.1855 0.0827 - 0.2073 0.0812 - 0.2291 0.0794 - 0.2618 0.0769 - 0.2836 0.0739 - 0.3055 0.0708 - 0.3382 0.0675 - 0.36 0.0641 - 0.3918 0.0606 - 0.4145 0.057 - 0.4364 0.0533 - 0.4691 0.0494 - 0.4909 0.0454 - 0.5127 0.0413 - 0.5455 0.0371 - 0.5673 0.0329 - 0.5991 0.0285 - 0.6218 0.024 - 0.6436 0.0195 - 0.6764 0.0147 - 0.6982 0.0099 - 0.72 0.005 - 0.7527 0. - -
- - - - 0. 0.0491 - 0.0218 0.0479 - 0.0545 0.0466 - 0.0764 0.0453 - 0.0982 0.0441 - 0.1309 0.0427 - 0.1527 0.0415 - 0.1855 0.0407 - 0.2073 0.0392 - 0.2291 0.0383 - 0.2618 0.0373 - 0.2836 0.0362 - 0.3055 0.0353 - 0.3382 0.0344 - 0.36 0.0335 - 0.3918 0.0325 - 0.4145 0.0315 - 0.4364 0.0304 - 0.4691 0.029 - 0.4909 0.0275 - 0.5127 0.0259 - 0.5455 0.0242 - 0.5673 0.0223 - 0.5991 0.0203 - 0.6218 0.018 - 0.6436 0.0157 - 0.6764 0.0133 - 0.6982 0.0108 - 0.72 0.0083 - 0.7527 0.0059 - -
- - diff --git a/engine/APC 6x4e.xml b/engine/APC 6x4e.xml deleted file mode 100644 index d5254fd8ff..0000000000 --- a/engine/APC 6x4e.xml +++ /dev/null @@ -1,78 +0,0 @@ - - - 9.84e-06 - 6.0 - 2 - 0 - - - - 0. 0.124 - 0.0309 0.1237 - 0.0618 0.1233 - 0.0926 0.1228 - 0.1235 0.122 - 0.1544 0.1211 - 0.1853 0.1199 - 0.2162 0.1183 - 0.2468 0.1163 - 0.2776 0.1139 - 0.3085 0.1109 - 0.3394 0.1074 - 0.3703 0.1034 - 0.4012 0.0991 - 0.4321 0.0944 - 0.4626 0.0892 - 0.4935 0.0837 - 0.5244 0.0782 - 0.5553 0.0724 - 0.5862 0.0666 - 0.6171 0.0606 - 0.6479 0.0545 - 0.6788 0.0482 - 0.7097 0.0418 - 0.7403 0.0352 - 0.7712 0.0284 - 0.8021 0.0215 - 0.8329 0.0145 - 0.8641 0.0073 - 0.895 -0. - -
- - - - 0. 0.0774 - 0.0309 0.0772 - 0.0618 0.0769 - 0.0926 0.0765 - 0.1235 0.0761 - 0.1544 0.0755 - 0.1853 0.0748 - 0.2162 0.074 - 0.2468 0.073 - 0.2776 0.0717 - 0.3085 0.0702 - 0.3394 0.0686 - 0.3703 0.0668 - 0.4012 0.065 - 0.4321 0.063 - 0.4626 0.0609 - 0.4935 0.0588 - 0.5244 0.0566 - 0.5553 0.0541 - 0.5862 0.0514 - 0.6171 0.0484 - 0.6479 0.0451 - 0.6788 0.0414 - 0.7097 0.0374 - 0.7403 0.0329 - 0.7712 0.0281 - 0.8021 0.023 - 0.8329 0.0175 - 0.8641 0.0121 - 0.895 0.0078 - -
- - diff --git a/engine/APC 9x4_5e.xml b/engine/APC 9x4_5e.xml deleted file mode 100644 index c2a7d06fc3..0000000000 --- a/engine/APC 9x4_5e.xml +++ /dev/null @@ -1,78 +0,0 @@ - - - 7.7778e-05 - 9.0 - 2 - 0 - - - - 0.0000 0.1288 - 0.0209 0.1271 - 0.0522 0.1252 - 0.0730 0.1230 - 0.1039 0.1207 - 0.1252 0.1181 - 0.1470 0.1153 - 0.1774 0.1122 - 0.1983 0.1089 - 0.2287 0.1053 - 0.2504 0.1015 - 0.2774 0.0975 - 0.3022 0.0932 - 0.3235 0.0888 - 0.3539 0.0842 - 0.3757 0.0794 - 0.4039 0.0745 - 0.4274 0.0695 - 0.4496 0.0644 - 0.4787 0.0592 - 0.5004 0.0538 - 0.5296 0.0483 - 0.5526 0.0426 - 0.5783 0.0369 - 0.6039 0.0310 - 0.6257 0.0250 - 0.6548 0.0189 - 0.6774 0.0128 - 0.7039 0.0064 - 0.7291 -0.0001 - -
- - - - 0.0000 0.0666 - 0.0209 0.0647 - 0.0522 0.0628 - 0.0730 0.0611 - 0.1039 0.0595 - 0.1252 0.0581 - 0.1470 0.0567 - 0.1774 0.0554 - 0.1983 0.0542 - 0.2287 0.0531 - 0.2504 0.0520 - 0.2774 0.0509 - 0.3022 0.0498 - 0.3235 0.0485 - 0.3539 0.0471 - 0.3757 0.0456 - 0.4039 0.0440 - 0.4274 0.0422 - 0.4496 0.0402 - 0.4787 0.0381 - 0.5004 0.0358 - 0.5296 0.0332 - 0.5526 0.0305 - 0.5783 0.0275 - 0.6039 0.0243 - 0.6257 0.0210 - 0.6548 0.0175 - 0.6774 0.0137 - 0.7039 0.0099 - 0.7291 0.0061 - -
- - diff --git a/engine/APC_10x7E_10K.xml b/engine/APC_10x7E_10K.xml deleted file mode 100644 index 40319dbb25..0000000000 --- a/engine/APC_10x7E_10K.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - 0.000079 - 10.0 - 2 - 7.0 - 7.0 - - - 0.0 0.1177 - 0.03 0.1175 - 0.06 0.1173 - 0.09 0.117 - 0.13 0.1167 - 0.16 0.1162 - 0.19 0.1155 - 0.22 0.1144 - 0.25 0.1126 - 0.28 0.1103 - 0.32 0.1075 - 0.35 0.1043 - 0.38 0.1007 - 0.41 0.0967 - 0.44 0.0923 - 0.47 0.0874 - 0.51 0.0822 - 0.54 0.0766 - 0.57 0.071 - 0.6 0.0651 - 0.63 0.0592 - 0.66 0.0531 - 0.69 0.0469 - 0.73 0.0406 - 0.76 0.0341 - 0.79 0.0275 - 0.82 0.0208 - 0.85 0.014 - 0.88 0.007 - 0.92 0.0 - -
- - - 0.0 0.0646 - 0.03 0.0648 - 0.06 0.0649 - 0.09 0.0651 - 0.13 0.0652 - 0.16 0.0654 - 0.19 0.0655 - 0.22 0.0654 - 0.25 0.065 - 0.28 0.0644 - 0.32 0.0639 - 0.35 0.0632 - 0.38 0.0624 - 0.41 0.0614 - 0.44 0.0601 - 0.47 0.0585 - 0.51 0.0566 - 0.54 0.0543 - 0.57 0.0519 - 0.6 0.0492 - 0.63 0.0461 - 0.66 0.0428 - 0.69 0.0392 - 0.73 0.0352 - 0.76 0.0308 - 0.79 0.0262 - 0.82 0.0211 - 0.85 0.0157 - 0.88 0.0099 - 0.92 0.0039 - -
- diff --git a/engine/APC_11x55E_8K.xml b/engine/APC_11x55E_8K.xml deleted file mode 100644 index 2f4dbf4087..0000000000 --- a/engine/APC_11x55E_8K.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - 0.000110 - 11 - 2 - 5.5 - 5.5 - - - 0 0.1028 - 0.02 0.1015 - 0.05 0.1 - 0.07 0.0983 - 0.1 0.0965 - 0.12 0.0945 - 0.14 0.0923 - 0.17 0.09 - 0.19 0.0875 - 0.22 0.0848 - 0.24 0.0819 - 0.27 0.0788 - 0.29 0.0755 - 0.31 0.072 - 0.34 0.0683 - 0.36 0.0644 - 0.39 0.0604 - 0.41 0.0563 - 0.43 0.0521 - 0.46 0.0478 - 0.48 0.0435 - 0.51 0.039 - 0.53 0.0344 - 0.55 0.0297 - 0.58 0.025 - 0.6 0.0201 - 0.63 0.0152 - 0.65 0.0102 - 0.68 0.0051 - 0.7 0 - -
- - - 0 0.0378 - 0.02 0.0382 - 0.05 0.0385 - 0.07 0.0388 - 0.1 0.039 - 0.12 0.0392 - 0.14 0.0392 - 0.17 0.0392 - 0.19 0.0391 - 0.22 0.0389 - 0.24 0.0386 - 0.27 0.0382 - 0.29 0.0376 - 0.31 0.0369 - 0.34 0.036 - 0.36 0.035 - 0.39 0.0338 - 0.41 0.0326 - 0.43 0.0311 - 0.46 0.0295 - 0.48 0.0278 - 0.51 0.0259 - 0.53 0.0239 - 0.55 0.0216 - 0.58 0.0191 - 0.6 0.0165 - 0.63 0.0136 - 0.65 0.0106 - 0.68 0.0075 - 0.7 0.0045 - -
- diff --git a/engine/APC_13x8E_6K.xml b/engine/APC_13x8E_6K.xml deleted file mode 100644 index 5ad4ba4158..0000000000 --- a/engine/APC_13x8E_6K.xml +++ /dev/null @@ -1,77 +0,0 @@ - - - 0.000397 - 13 - 2 - 8.0 - 8.0 - - - 0 0.1002 - 0.03 0.1 - 0.06 0.0997 - 0.09 0.0993 - 0.11 0.0988 - 0.14 0.0979 - 0.17 0.0966 - 0.2 0.0951 - 0.23 0.0932 - 0.26 0.091 - 0.29 0.0886 - 0.31 0.0858 - 0.34 0.0828 - 0.37 0.0795 - 0.4 0.0758 - 0.43 0.0719 - 0.46 0.0676 - 0.49 0.063 - 0.51 0.0583 - 0.54 0.0535 - 0.57 0.0486 - 0.6 0.0436 - 0.63 0.0385 - 0.66 0.0333 - 0.69 0.0279 - 0.71 0.0225 - 0.74 0.017 - 0.77 0.0114 - 0.8 0.0058 - 0.83 0 - - -
- - - 0 0.0388 - 0.03 0.0398 - 0.06 0.0409 - 0.09 0.042 - 0.11 0.043 - 0.14 0.0439 - 0.17 0.0446 - 0.2 0.0452 - 0.23 0.0457 - 0.26 0.046 - 0.29 0.0461 - 0.31 0.0461 - 0.34 0.0458 - 0.37 0.0453 - 0.4 0.0446 - 0.43 0.0436 - 0.46 0.0423 - 0.49 0.0408 - 0.51 0.039 - 0.54 0.037 - 0.57 0.0348 - 0.6 0.0324 - 0.63 0.0297 - 0.66 0.0268 - 0.69 0.0236 - 0.71 0.0201 - 0.74 0.0164 - 0.77 0.0124 - 0.8 0.0081 - 0.83 0.0041 - -
- diff --git a/engine/APC_13x8E_8K.xml b/engine/APC_13x8E_8K.xml deleted file mode 100644 index 27cb09efce..0000000000 --- a/engine/APC_13x8E_8K.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - 0.000397 - 13.0 - 2 - 8.0 - 8.0 - - - 0.0 0.1032 - 0.03 0.103 - 0.06 0.1028 - 0.09 0.1025 - 0.11 0.102 - 0.14 0.1012 - 0.17 0.1 - 0.2 0.0983 - 0.23 0.0963 - 0.26 0.094 - 0.29 0.0913 - 0.31 0.0884 - 0.34 0.0851 - 0.37 0.0815 - 0.4 0.0776 - 0.43 0.0735 - 0.46 0.069 - 0.48 0.0643 - 0.51 0.0595 - 0.54 0.0546 - 0.57 0.0496 - 0.6 0.0445 - 0.63 0.0393 - 0.66 0.034 - 0.68 0.0286 - 0.71 0.0231 - 0.74 0.0174 - 0.77 0.0117 - 0.8 0.0059 - 0.83 0.0 - -
- - - 0.0 0.0627 - 0.03 0.0615 - 0.06 0.0603 - 0.09 0.0591 - 0.11 0.0578 - 0.14 0.0564 - 0.17 0.0549 - 0.2 0.0534 - 0.23 0.0521 - 0.26 0.051 - 0.29 0.0499 - 0.31 0.0489 - 0.34 0.0479 - 0.37 0.0467 - 0.4 0.0455 - 0.43 0.0442 - 0.46 0.0427 - 0.48 0.041 - 0.51 0.0392 - 0.54 0.0371 - 0.57 0.0348 - 0.6 0.0323 - 0.63 0.0296 - 0.66 0.0267 - 0.68 0.0234 - 0.71 0.0199 - 0.74 0.0161 - 0.77 0.0121 - 0.8 0.0077 - 0.83 0.0037 - -
- diff --git a/engine/APC_6x4E_14K.xml b/engine/APC_6x4E_14K.xml deleted file mode 100644 index cf745cb54b..0000000000 --- a/engine/APC_6x4E_14K.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - 0.000007 - 6.0 - 2 - 4.0 - 4.0 - - - 0.0 0.1185 - 0.03 0.1182 - 0.06 0.1176 - 0.09 0.1169 - 0.12 0.1159 - 0.15 0.1147 - 0.18 0.1131 - 0.21 0.1112 - 0.24 0.1089 - 0.27 0.1062 - 0.3 0.1031 - 0.33 0.0995 - 0.36 0.0957 - 0.39 0.0916 - 0.42 0.0871 - 0.45 0.0822 - 0.48 0.0772 - 0.51 0.072 - 0.54 0.0668 - 0.57 0.0613 - 0.6 0.0558 - 0.63 0.0501 - 0.66 0.0443 - 0.69 0.0384 - 0.72 0.0322 - 0.75 0.026 - 0.78 0.0196 - 0.81 0.0131 - 0.84 0.0066 - 0.87 0.0 - -
- - - 0.0 0.056 - 0.03 0.0569 - 0.06 0.0577 - 0.09 0.0585 - 0.12 0.0592 - 0.15 0.0598 - 0.18 0.0602 - 0.21 0.0605 - 0.24 0.0606 - 0.27 0.0606 - 0.3 0.0603 - 0.33 0.0598 - 0.36 0.0592 - 0.39 0.0583 - 0.42 0.0572 - 0.45 0.0558 - 0.48 0.0542 - 0.51 0.0525 - 0.54 0.0505 - 0.57 0.0482 - 0.6 0.0455 - 0.63 0.0425 - 0.66 0.039 - 0.69 0.0352 - 0.72 0.031 - 0.75 0.0263 - 0.78 0.0214 - 0.81 0.0162 - 0.84 0.0109 - 0.87 0.0069 - -
- diff --git a/engine/APC_7x5E_11K.xml b/engine/APC_7x5E_11K.xml deleted file mode 100644 index 5536fd0228..0000000000 --- a/engine/APC_7x5E_11K.xml +++ /dev/null @@ -1,76 +0,0 @@ - - - 0.000015 - 7.0 - 2 - 5.0 - 5.0 - - - 0.0 0.1322 - 0.03 0.1318 - 0.07 0.1313 - 0.1 0.1308 - 0.13 0.1301 - 0.16 0.1292 - 0.2 0.128 - 0.23 0.1265 - 0.26 0.1246 - 0.29 0.1222 - 0.33 0.1193 - 0.36 0.1159 - 0.39 0.112 - 0.43 0.1076 - 0.46 0.1026 - 0.49 0.0971 - 0.52 0.0912 - 0.56 0.0851 - 0.59 0.0788 - 0.62 0.0724 - 0.66 0.0659 - 0.69 0.0592 - 0.72 0.0523 - 0.75 0.0452 - 0.79 0.0381 - 0.82 0.0307 - 0.85 0.0232 - 0.88 0.0156 - 0.92 0.0078 - 0.95 0.0 - -
- - - 0.0 0.0643 - 0.03 0.0656 - 0.07 0.0669 - 0.1 0.0682 - 0.13 0.0695 - 0.16 0.0708 - 0.2 0.0719 - 0.23 0.0729 - 0.26 0.0737 - 0.29 0.0742 - 0.33 0.0744 - 0.36 0.0743 - 0.39 0.0738 - 0.43 0.0729 - 0.46 0.0716 - 0.49 0.0698 - 0.52 0.0676 - 0.56 0.0652 - 0.59 0.0624 - 0.62 0.0593 - 0.66 0.0558 - 0.69 0.0519 - 0.72 0.0476 - 0.75 0.0428 - 0.79 0.0376 - 0.82 0.0319 - 0.85 0.0257 - 0.88 0.0192 - 0.92 0.0123 - 0.95 0.0057 - -
- diff --git a/engine/APC_Electric.xml b/engine/APC_Electric.xml deleted file mode 100644 index 0862f110b1..0000000000 --- a/engine/APC_Electric.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - 237.8783 - diff --git a/engine/DJI-3510-380.xml b/engine/DJI-3510-380.xml deleted file mode 100644 index c94652590c..0000000000 --- a/engine/DJI-3510-380.xml +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - - - - - 380 - 6.1217 - 0.208 - 0.28 - 8.24 - 14.63 - diff --git a/engine/DJI_9450.xml b/engine/DJI_9450.xml deleted file mode 100644 index 2547af9a26..0000000000 --- a/engine/DJI_9450.xml +++ /dev/null @@ -1,78 +0,0 @@ - - - 6.05e-05 - 9.45 - 2 - 0 - - - - 0.0000 0.1288 - 0.0209 0.1271 - 0.0522 0.1252 - 0.0730 0.1230 - 0.1039 0.1207 - 0.1252 0.1181 - 0.1470 0.1153 - 0.1774 0.1122 - 0.1983 0.1089 - 0.2287 0.1053 - 0.2504 0.1015 - 0.2774 0.0975 - 0.3022 0.0932 - 0.3235 0.0888 - 0.3539 0.0842 - 0.3757 0.0794 - 0.4039 0.0745 - 0.4274 0.0695 - 0.4496 0.0644 - 0.4787 0.0592 - 0.5004 0.0538 - 0.5296 0.0483 - 0.5526 0.0426 - 0.5783 0.0369 - 0.6039 0.0310 - 0.6257 0.0250 - 0.6548 0.0189 - 0.6774 0.0128 - 0.7039 0.0064 - 0.7291 -0.0001 - -
- - - - 0.0000 0.0666 - 0.0209 0.0647 - 0.0522 0.0628 - 0.0730 0.0611 - 0.1039 0.0595 - 0.1252 0.0581 - 0.1470 0.0567 - 0.1774 0.0554 - 0.1983 0.0542 - 0.2287 0.0531 - 0.2504 0.0520 - 0.2774 0.0509 - 0.3022 0.0498 - 0.3235 0.0485 - 0.3539 0.0471 - 0.3757 0.0456 - 0.4039 0.0440 - 0.4274 0.0422 - 0.4496 0.0402 - 0.4787 0.0381 - 0.5004 0.0358 - 0.5296 0.0332 - 0.5526 0.0305 - 0.5783 0.0275 - 0.6039 0.0243 - 0.6257 0.0210 - 0.6548 0.0175 - 0.6774 0.0137 - 0.7039 0.0099 - 0.7291 0.0061 - -
- - diff --git a/engine/DJI_E305.xml b/engine/DJI_E305.xml deleted file mode 100644 index 6689d8d90f..0000000000 --- a/engine/DJI_E305.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - 320 - 960 - 6.1217 - 0.117 - 0.45 - 14.63 - 2.0 - diff --git a/engine/E-max-BL2205.xml b/engine/E-max-BL2205.xml deleted file mode 100644 index 000a02c472..0000000000 --- a/engine/E-max-BL2205.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - 1880 - 6.1217 - 0.08 - 1.8 - 8.4 - 9.9 - diff --git a/engine/E-max-BL2210.xml b/engine/E-max-BL2210.xml deleted file mode 100644 index b0fd5ce59c..0000000000 --- a/engine/E-max-BL2210.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - 1970 - 6.1217 - 15 - 6.9 - - diff --git a/engine/EP-2814-900.xml b/engine/EP-2814-900.xml deleted file mode 100644 index 728d8a9ef0..0000000000 --- a/engine/EP-2814-900.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - 888 - 6.1217 - 19 - 7.8 - diff --git a/engine/Jetfan90v2.xml b/engine/Jetfan90v2.xml deleted file mode 100644 index 1a5212537d..0000000000 --- a/engine/Jetfan90v2.xml +++ /dev/null @@ -1,46 +0,0 @@ - - - 0.00002 - 3.54331 - 9 - 0 - - - - 0.0000 1.0649 - 0.2000 0.9765 - 0.4000 0.8886 - 0.6000 0.8011 - 0.8000 0.7142 - 1.0000 0.6278 - 1.2000 0.5420 - 1.4000 0.4566 - 1.6000 0.3717 - 1.8000 0.2874 - 2.0000 0.2035 - 2.2000 0.1202 - 2.4000 0.0374 - 2.6000 0.0000 - -
- - - - 0.0000 1.3390 - 0.2000 1.4526 - 0.4000 1.5326 - 0.6000 1.5790 - 0.8000 1.5919 - 1.0000 1.5713 - 1.2000 1.5171 - 1.4000 1.4293 - 1.6000 1.3080 - 1.8000 1.1532 - 2.0000 0.9648 - 2.2000 0.7428 - 2.4000 0.4873 - 2.6000 0.0000 - -
- - diff --git a/engine/Power110.xml b/engine/Power110.xml deleted file mode 100644 index 5b23809bbe..0000000000 --- a/engine/Power110.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - 2000 - diff --git a/engine/Power25.xml b/engine/Power25.xml deleted file mode 100644 index 1c9e092d43..0000000000 --- a/engine/Power25.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - 600 - diff --git a/engine/T-Motor-MN2206-2000.xml b/engine/T-Motor-MN2206-2000.xml deleted file mode 100644 index d6f6a27aa3..0000000000 --- a/engine/T-Motor-MN2206-2000.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - 2000 - 6.1217 - 15.18 - 10.95 - diff --git a/engine/Typhoon_HET_700-68_1200Kv.xml b/engine/Typhoon_HET_700-68_1200Kv.xml deleted file mode 100644 index 9673c0b6d8..0000000000 --- a/engine/Typhoon_HET_700-68_1200Kv.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - 4500 - diff --git a/engine/XMotor-3536CA-8T.xml b/engine/XMotor-3536CA-8T.xml deleted file mode 100644 index 0d48759212..0000000000 --- a/engine/XMotor-3536CA-8T.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - 990 - 6.1217 - 18.4 - 9.8 - - diff --git a/scripts/OutputFgfs.xml b/scripts/OutputFgfs.xml deleted file mode 100644 index 91e00d2b2e..0000000000 --- a/scripts/OutputFgfs.xml +++ /dev/null @@ -1,2 +0,0 @@ - - diff --git a/scripts/OutputLog.xml b/scripts/OutputLog.xml deleted file mode 100644 index 302bc675a8..0000000000 --- a/scripts/OutputLog.xml +++ /dev/null @@ -1,95 +0,0 @@ - - - ON - ON - ON - ON - ON - OFF - OFF - ON - OFF - ON - OFF - ON - OFF - OFF - - sensor/imu/time_us - sensor/imu/accelX_true_mps2 - sensor/imu/accelY_true_mps2 - sensor/imu/accelZ_true_mps2 - sensor/imu/accelX_mps2 - sensor/imu/accelY_mps2 - sensor/imu/accelZ_mps2 - - sensor/imu/gyroX_true_rps - sensor/imu/gyroY_true_rps - sensor/imu/gyroZ_true_rps - sensor/imu/gyroX_rps - sensor/imu/gyroY_rps - sensor/imu/gyroZ_rps - - sensor/imu/magX_nT - sensor/imu/magY_nT - sensor/imu/magZ_nT - - sensor/imu/temp_C - sensor/imu/temp_true_C - - - sensor/gps/time_us - sensor/gps/lat_true_rad - sensor/gps/long_true_rad - sensor/gps/alt_true_m - - sensor/gps/lat_rad - sensor/gps/long_rad - sensor/gps/alt_m - - sensor/gps/vNorth_true_mps - sensor/gps/vEast_true_mps - sensor/gps/vDown_true_mps - - sensor/gps/vNorth_mps - sensor/gps/vEast_mps - sensor/gps/vDown_mps - - - sensor/baro/time_us - sensor/baro/presStatic_true_Pa - sensor/baro/temp_true_C - sensor/baro/presStatic_Pa - sensor/baro/temp_C - - sensor/pitot/time_us - sensor/pitot/presStatic_true_Pa - sensor/pitot/presTip_true_Pa - sensor/pitot/temp_true_C - sensor/pitot/presStatic_Pa - sensor/pitot/presTip_Pa - sensor/pitot/temp_C - - sensor/fiveHole/time_us - sensor/fiveHole/presStatic_true_Pa - sensor/fiveHole/presTip_true_Pa - sensor/fiveHole/presAlpha_true_Pa - sensor/fiveHole/presAlphaBot_true_Pa - sensor/fiveHole/presAlphaTop_true_Pa - sensor/fiveHole/presBeta_true_Pa - sensor/fiveHole/presBetaRight_true_Pa - sensor/fiveHole/presBetaLeft_true_Pa - sensor/fiveHole/temp_true_C - sensor/fiveHole/presStatic_Pa - sensor/fiveHole/presTip_Pa - sensor/fiveHole/presAlpha_Pa - sensor/fiveHole/presAlphaBot_Pa - sensor/fiveHole/presAlphaTop_Pa - sensor/fiveHole/presBeta_Pa - sensor/fiveHole/presBetaRight_Pa - sensor/fiveHole/presBetaLeft_Pa - sensor/fiveHole/temp_C - - sensor/cmd/time_us - - diff --git a/scripts/Test_F450_Launch.xml b/scripts/Test_F450_Launch.xml deleted file mode 100644 index f0f7c6c658..0000000000 --- a/scripts/Test_F450_Launch.xml +++ /dev/null @@ -1,168 +0,0 @@ - - - - - - - - fcs/ScasEngage - simulation/notify-time-trigger - - - simulation/frame le 1 - - - - - - - - simulation/frame gt 1 - - - - position/h-agl-ft - - - - - simulation/sim-time-sec ge 1 - - - - - simulation/sim-time-sec ge 2 - - - - - - - - - - simulation/sim-time-sec ge 10 - - - - simulation/sim-time-sec ge 11 - - - - simulation/sim-time-sec ge 12 - - - - - - - simulation/sim-time-sec ge 20 - - - - simulation/sim-time-sec ge 22 - - - - simulation/sim-time-sec ge 24 - - - - - Output message at 1 second intervals - - fcs/ScasEngage - - fcs/throttle-cmd-norm - fcs/throttle-cmd-norm[1] - fcs/throttle-cmd-norm[2] - fcs/throttle-cmd-norm[3] - - propulsion/engine[0]/propeller-rpm - propulsion/engine[1]/propeller-rpm - propulsion/engine[2]/propeller-rpm - propulsion/engine[3]/propeller-rpm - - propulsion/engine[0]/thrust-lbs - propulsion/engine[1]/thrust-lbs - propulsion/engine[2]/thrust-lbs - propulsion/engine[3]/thrust-lbs - position/h-agl-ft - velocities/vc-kts - attitude/phi-rad - attitude/theta-rad - attitude/psi-rad - - simulation/sim-time-sec >= simulation/notify-time-trigger - - - - - - - position/h-agl-ft - velocities/vc-kts - attitude/phi-rad - attitude/theta-rad - attitude/psi-rad - - - propulsion/engine[0]/propeller-rpm - propulsion/engine[0]/thrust-lbs - propulsion/engine[0]/power-hp - propulsion/engine[1]/propeller-rpm - propulsion/engine[1]/thrust-lbs - propulsion/engine[1]/power-hp - - - - - diff --git a/scripts/bench_bldc.xml b/scripts/bench_bldc.xml deleted file mode 100644 index 58352e9a30..0000000000 --- a/scripts/bench_bldc.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - - Simplest of all tests - - - - simulation/notify-time-trigger - - Output message at 10 second intervals, starting after - trimming is completed. - - - - propulsion/engine/propeller-rpm - propulsion/engine[0]/thrust-lbs - propulsion/engine[0]/prop_torque_ftlbs - propulsion/engine/power-hp - - - simulation/sim-time-sec >= simulation/notify-time-trigger - - - - - Move throttle to full for take-off. - simulation/sim-time-sec ge 10.0 - - - - - - Move throttle to full for take-off. - simulation/sim-time-sec ge 30.0 - - - - - - Move throttle to full for take-off. - simulation/sim-time-sec ge 45.0 - - - - - - - diff --git a/scripts/bench_bldc_ramp.xml b/scripts/bench_bldc_ramp.xml deleted file mode 100644 index a8f964db6d..0000000000 --- a/scripts/bench_bldc_ramp.xml +++ /dev/null @@ -1,35 +0,0 @@ - - - - Simplest of all tests - - - - simulation/notify-time-trigger - - Output message at 10 second intervals, starting after - trimming is completed. - - - - propulsion/engine/propeller-rpm - propulsion/engine[0]/thrust-lbs - propulsion/engine[0]/prop_torque_ftlbs - propulsion/engine/power-hp - - - simulation/sim-time-sec >= simulation/notify-time-trigger - - - - - Move throttle to full for take-off. - simulation/sim-time-sec ge 10.0 - - - - - - diff --git a/scripts/bench_bldc_validation.xml b/scripts/bench_bldc_validation.xml deleted file mode 100644 index 6facc2c0e7..0000000000 --- a/scripts/bench_bldc_validation.xml +++ /dev/null @@ -1,36 +0,0 @@ - - - - Simplest of all tests - - - - simulation/notify-time-trigger - - Output message at 10 second intervals, starting after - trimming is completed. - - - - propulsion/engine/propeller-rpm - propulsion/engine[0]/thrust-lbs - propulsion/engine[0]/prop_torque_ftlbs - propulsion/engine/power-hp - - - simulation/sim-time-sec >= simulation/notify-time-trigger - - - - - Move throttle to full for take-off. - simulation/sim-time-sec ge 10.0 - - - - - - - diff --git a/scripts/bench_electric.xml b/scripts/bench_electric.xml deleted file mode 100644 index ed10e0bceb..0000000000 --- a/scripts/bench_electric.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - - Simplest of all tests - - - - simulation/notify-time-trigger - - Output message at 10 second intervals, starting after - trimming is completed. - - - - propulsion/engine[0]/thrust-lbs - propulsion/engine[0]/prop_torque_ftlbs - propulsion/engine/propeller-rpm - propulsion/engine/power-hp - - - simulation/sim-time-sec >= simulation/notify-time-trigger - - - - - Move throttle to full for take-off. - simulation/sim-time-sec ge 10.0 - - - - - - Move throttle to full for take-off. - simulation/sim-time-sec ge 30.0 - - - - - - Move throttle to full for take-off. - simulation/sim-time-sec ge 45.0 - - - - - - - diff --git a/scripts/bench_electric_ramp.xml b/scripts/bench_electric_ramp.xml deleted file mode 100644 index 77e6ba9238..0000000000 --- a/scripts/bench_electric_ramp.xml +++ /dev/null @@ -1,35 +0,0 @@ - - - - Simplest of all tests - - - - simulation/notify-time-trigger - - Output message at 10 second intervals, starting after - trimming is completed. - - - - propulsion/engine/propeller-rpm - propulsion/engine[0]/thrust-lbs - propulsion/engine[0]/prop_torque_ftlbs - propulsion/engine/power-hp - - - simulation/sim-time-sec >= simulation/notify-time-trigger - - - - - Move throttle to full for take-off. - simulation/sim-time-sec ge 10.0 - - - - - - diff --git a/systems/Sensor5Hole.xml b/systems/Sensor5Hole.xml deleted file mode 100644 index 03d03132b7..0000000000 --- a/systems/Sensor5Hole.xml +++ /dev/null @@ -1,134 +0,0 @@ - - - - - simulation/sim-time-sec - 1000000.0 - - - - - atmosphere/P-psf - 47.88026 - - - - - aero/qbar-psf - 47.88026 - - - - - - atmosphere/T-R - -491.67 - - 0.5555555555555556 - - - - - aero/alpha-deg - aero/qbar-psf - 47.88026 - 0.0435 - - - - - aero/alpha-deg - aero/qbar-psf - 47.88026 - -0.0435 - - - - - aero/beta-deg - aero/qbar-psf - 47.88026 - 0.0435 - - - - - aero/beta-deg - aero/qbar-psf - 47.88026 - -0.0435 - - - - - sensor/fiveHole/presStatic_true_Pa - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/fiveHole/presStatic_Pa - - - sensor/fiveHole/presTip_true_Pa - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/fiveHole/presTip_Pa - - - sensor/fiveHole/presAlphaBot_true_Pa - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/fiveHole/presAlphaBot_Pa - - - sensor/fiveHole/presAlphaTop_true_Pa - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/fiveHole/presAlphaTop_Pa - - - sensor/fiveHole/presBetaRight_true_Pa - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/fiveHole/presBetaRight_Pa - - - sensor/fiveHole/presBetaLeft_true_Pa - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/fiveHole/presBetaLeft_Pa - - - sensor/fiveHole/temp_true_C - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/fiveHole/temp_C - - - diff --git a/systems/SensorBaro.xml b/systems/SensorBaro.xml deleted file mode 100644 index 5303e5b2b2..0000000000 --- a/systems/SensorBaro.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - - - simulation/sim-time-sec - 1000000.0 - - - - - atmosphere/P-psf - 47.88026 - - - - - - atmosphere/T-R - -491.67 - - 0.5555555555555556 - - - - - - sensor/baro/presStatic_true_Pa - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/baro/presStatic_Pa - - - - sensor/baro/temp_true_C - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/baro/temp_C - - - diff --git a/systems/SensorGps.xml b/systems/SensorGps.xml deleted file mode 100644 index 9a5480170e..0000000000 --- a/systems/SensorGps.xml +++ /dev/null @@ -1,101 +0,0 @@ - - - - - simulation/sim-time-sec - 1000000.0 - - - - position/lat-geod-rad - - - position/long-gc-rad - - - - position/h-sl-ft - 0.3048 - - - - - velocities/v-north-fps - 0.3048 - - - - - velocities/v-east-fps - 0.3048 - - - - - velocities/v-down-fps - 0.3048 - - - - - sensor/gps/lat_true_rad - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/gps/lat_rad - - - sensor/gps/long_true_rad - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/gps/long_rad - - - sensor/gps/alt_true_m - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/gps/alt_m - - - sensor/gps/vNorth_true_mps - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/gps/vNorth_mps - - - sensor/gps/vEast_true_mps - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/gps/vEast_mps - - - sensor/gps/vDown_true_mps - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/gps/vDown_mps - - - diff --git a/systems/SensorImu.xml b/systems/SensorImu.xml deleted file mode 100644 index 609f22a1b9..0000000000 --- a/systems/SensorImu.xml +++ /dev/null @@ -1,268 +0,0 @@ - - - - - simulation/sim-time-sec - 1000000.0 - - - - - X - - 0 - 0 - 0 - - - 0 - 0 - 0 - - sensor/imu/accelX_true_fps2 - - - Y - - 0 - 0 - 0 - - - 0 - 0 - 0 - - sensor/imu/accelY_true_fps2 - - - Z - - 0 - 0 - 0 - - - 0 - 0 - 0 - - sensor/imu/accelZ_true_fps2 - - - - - sensor/imu/accelX_true_fps2 - 0.3048 - - - - - sensor/imu/accelY_true_fps2 - 0.3048 - - - - - sensor/imu/accelZ_true_fps2 - 0.3048 - - - - - - atmosphere/T-R - -491.67 - - 0.5555555555555556 - - - - - - sensor/imu/temp_true_C - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/temp_C - - - - - - sensor/imu/accelX_true_mps2 - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/accelX_mps2 - - - sensor/imu/accelY_true_mps2 - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/accelY_mps2 - - - sensor/imu/accelZ_true_mps2 - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/accelZ_mps2 - - - - - X - - 0 - 0 - 0 - - - 0 - 0 - 0 - - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/gyroX_rps - - - Y - - 0 - 0 - 0 - - - 0 - 0 - 0 - - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/gyroY_rps - - - Z - - 0 - 0 - 0 - - - 0 - 0 - 0 - - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/gyroZ_rps - - - - - X - - 0 - 0 - 0 - - - 0 - 0 - 0 - - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/magX_nT - - - Y - - 0 - 0 - 0 - - - 0 - 0 - 0 - - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/magY_nT - - - Z - - 0 - 0 - 0 - - - 0 - 0 - 0 - - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/imu/magZ_nT - - - - - sensor/imu/magX_nT - 0.001 - - - - - sensor/imu/magY_nT - 0.001 - - - - - sensor/imu/magZ_nT - 0.001 - - - diff --git a/systems/SensorPitot.xml b/systems/SensorPitot.xml deleted file mode 100644 index a97c1f7fb1..0000000000 --- a/systems/SensorPitot.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - - - simulation/sim-time-sec - 1000000.0 - - - - - atmosphere/P-psf - 47.88026 - - - - - aero/qbar-psf - 47.88026 - - - - - - atmosphere/T-R - -491.67 - - 0.5555555555555556 - - - - - sensor/pitot/presStatic_true_Pa - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/pitot/presStatic_Pa - - - sensor/pitot/presTip_true_Pa - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/pitot/presTip_Pa - - - sensor/pitot/temp_true_C - 0 - 0.0 - 0 - 1 - 0 - 0 - sensor/pitot/temp_C - - - From f5667021769e7f2829abf82adb5f50dd44bd9fa4 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Sat, 8 Jan 2022 10:25:08 +0100 Subject: [PATCH 10/25] FGBLdc.cpp_reformatted --- Rascal110-JSBSim.xsd | 429 ------------------------------- engine/Castle-3412-1100.xml | 11 - engine/electric_eqv.xml | 18 -- src/models/propulsion/FGBldc.cpp | 101 ++++---- 4 files changed, 47 insertions(+), 512 deletions(-) delete mode 100644 Rascal110-JSBSim.xsd delete mode 100644 engine/Castle-3412-1100.xml delete mode 100644 engine/electric_eqv.xml diff --git a/Rascal110-JSBSim.xsd b/Rascal110-JSBSim.xsd deleted file mode 100644 index 09b93fc46a..0000000000 --- a/Rascal110-JSBSim.xsd +++ /dev/null @@ -1,429 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/engine/Castle-3412-1100.xml b/engine/Castle-3412-1100.xml deleted file mode 100644 index 3d350f4388..0000000000 --- a/engine/Castle-3412-1100.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - 1000 - 6.1217 - 36.2 - 10.7 - diff --git a/engine/electric_eqv.xml b/engine/electric_eqv.xml deleted file mode 100644 index 344d6215e8..0000000000 --- a/engine/electric_eqv.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - 525 - - - - diff --git a/src/models/propulsion/FGBldc.cpp b/src/models/propulsion/FGBldc.cpp index e364ac5971..876580d6b6 100644 --- a/src/models/propulsion/FGBldc.cpp +++ b/src/models/propulsion/FGBldc.cpp @@ -45,99 +45,92 @@ CLASS IMPLEMENTATION FGBldc::FGBldc(FGFDMExec* exec, Element *el, int engine_number, struct FGEngine::Inputs& input) : FGEngine(engine_number, input) { - Load(exec,el); + Load(exec,el); - Type = etElectric; - PowerWatts = 745.7; - hptowatts = 745.7; + Type = etElectric; + PowerWatts = 745.7; + hptowatts = 745.7; -// this property is not necessary since is computed using other properties -// if (el->FindElement("maxcurrent")) -// MaxCurrent= el->FindElementValueAsNumber("maxcurrent"); + // this property is not necessary since is computed using other properties + // if (el->FindElement("maxcurrent")) + // MaxCurrent= el->FindElementValueAsNumber("maxcurrent"); - if (el->FindElement("maxvolts")) - MaxVolts= el->FindElementValueAsNumber("maxvolts"); + if (el->FindElement("maxvolts")) + MaxVolts= el->FindElementValueAsNumber("maxvolts"); - if (el->FindElement("velocityconstant")) - VelocityConstant= el->FindElementValueAsNumber("velocityconstant"); + if (el->FindElement("velocityconstant")) + VelocityConstant= el->FindElementValueAsNumber("velocityconstant"); - if (el->FindElement("torqueconstant")) - TorqueConstant= el->FindElementValueAsNumber("torqueconstant"); + if (el->FindElement("torqueconstant")) + TorqueConstant= el->FindElementValueAsNumber("torqueconstant"); - - // added coilresistance and noload current properties - - if (el->FindElement("coilresistance")) - coilResistance = el->FindElementValueAsNumber("coilresistance"); - if (el->FindElement("noloadcurrent")) - noLoadCurrent = el->FindElementValueAsNumber("noloadcurrent"); - if (el->FindElement("decelerationTime")) - deceleration_time = el->FindElementValueAsNumber("decelerationTime"); + if (el->FindElement("coilresistance")) + coilResistance = el->FindElementValueAsNumber("coilresistance"); + if (el->FindElement("noloadcurrent")) + noLoadCurrent = el->FindElementValueAsNumber("noloadcurrent"); + if (el->FindElement("decelerationTime")) + deceleration_time = el->FindElementValueAsNumber("decelerationTime"); - MaxCurrent = MaxVolts / coilResistance + noLoadCurrent; - // end of additions + MaxCurrent = MaxVolts / coilResistance + noLoadCurrent; - PowerWatts = MaxCurrent * MaxVolts; + PowerWatts = MaxCurrent * MaxVolts; - string base_property_name = CreateIndexedPropertyName("propulsion/engine", - EngineNumber); - exec->GetPropertyManager()->Tie(base_property_name + "/power-hp", &HP); + string base_property_name = CreateIndexedPropertyName("propulsion/engine", + EngineNumber); + exec->GetPropertyManager()->Tie(base_property_name + "/power-hp", &HP); - exec->GetPropertyManager()->Tie(base_property_name + "/current-a", &CurrentRequired); + exec->GetPropertyManager()->Tie(base_property_name + "/current-a", &CurrentRequired); - Debug(0); // Call Debug() routine from constructor if needed + Debug(0); // Call Debug() routine from constructor if needed } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGBldc::~FGBldc() -{ - Debug(1); // Call Debug() routine from constructor if needed + { + Debug(1); // Call Debug() routine from constructor if needed } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGBldc::Calculate(void) { - RunPreFunctions(); + RunPreFunctions(); - if (Thruster->GetType() == FGThruster::ttPropeller) { - ((FGPropeller*)Thruster)->SetAdvance(in.PropAdvance[EngineNumber]); - ((FGPropeller*)Thruster)->SetFeather(in.PropFeather[EngineNumber]); - } - - RPM = Thruster->GetRPM(); - //TODO Add gear ratio / transmission support. + if (Thruster->GetType() == FGThruster::ttPropeller) { + ((FGPropeller*)Thruster)->SetAdvance(in.PropAdvance[EngineNumber]); + ((FGPropeller*)Thruster)->SetFeather(in.PropFeather[EngineNumber]); + } - TorqueRequired = abs(((FGPropeller*)Thruster)->GetTorque()); + RPM = Thruster->GetRPM(); + TorqueRequired = abs(((FGPropeller*)Thruster)->GetTorque()); - CurrentRequired = (TorqueRequired * VelocityConstant) / TorqueConstant; + CurrentRequired = (TorqueRequired * VelocityConstant) / TorqueConstant; -// total current required must include no load current i0 - CurrentRequired = CurrentRequired + noLoadCurrent; +// total current required must include no load current i0 + CurrentRequired = CurrentRequired + noLoadCurrent; - V = MaxVolts * in.ThrottlePos[EngineNumber]; + V = MaxVolts * in.ThrottlePos[EngineNumber]; -// Commanded RPM = (input voltage - currentRequired * coil resistance) * velocity costant +// Commanded RPM = (input voltage - currentRequired * coil resistance) * velocity costant CommandedRPM = (V - CurrentRequired * coilResistance) * VelocityConstant; - - DeltaRPM = round((CommandedRPM - RPM)); +// Torque is MaxTorque (stall torque) at 0 RPM and linearly go to 0 at max RPM (MaxVolts*VelocityCostant) +// MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM) -// Torque is MaxTorque (stall torque) at 0 RPM and linearly go to 0 at max RPM (MaxVolts*VelocityCostant) -// MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM) MaxTorque = MaxCurrent / VelocityConstant * TorqueConstant * (1 - RPM / (MaxVolts* VelocityConstant)); - + TorqueAvailable = MaxTorque - TorqueRequired; DeltaTorque = (((DeltaRPM/60)*(2.0 * M_PI))/(max(0.00001, in.TotalDeltaT))) * ((FGPropeller*)Thruster)->GetIxx(); -// compute acceleration and deceleration phases: -// Acceleration is due to the max delta torque available and is limited to the inertial forces +// compute acceleration and deceleration phases: +// Acceleration is due to the max delta torque available and is limited to the inertial forces + if (DeltaRPM >= 0) { TargetTorque = min(DeltaTorque, TorqueAvailable) + TorqueRequired; } else { -// Deceleration is due to braking force given by the ESC and set by parameter deceleration_time +// Deceleration is due to braking force given by the ESC and set by parameter deceleration_time TargetTorque = TorqueRequired - min(abs(DeltaTorque)/(max(deceleration_time,0.01)*30),RPM*TorqueConstant/VelocityConstant/VelocityConstant/coilResistance); } From 841d32f13d1888874d7922040416e5912f17c1e9 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Sat, 8 Jan 2022 11:05:57 +0100 Subject: [PATCH 11/25] formatCorrections --- src/models/FGPropulsion.cpp | 3 ++- src/models/propulsion/FGBldc.cpp | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/models/FGPropulsion.cpp b/src/models/FGPropulsion.cpp index 417e4de677..a89548db25 100644 --- a/src/models/FGPropulsion.cpp +++ b/src/models/FGPropulsion.cpp @@ -394,7 +394,8 @@ bool FGPropulsion::Load(Element* el) Element *element = engine_element->FindElement("turboprop_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else if (engine_element->FindElement("rocket_engine")) { - Element *element = engine_element->FindElement("rocket_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); + Element *element = engine_element->FindElement("rocket_engine"); + Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else if (engine_element->FindElement("electric_engine")) { Element *element = engine_element->FindElement("electric_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); diff --git a/src/models/propulsion/FGBldc.cpp b/src/models/propulsion/FGBldc.cpp index 876580d6b6..e326cccff3 100644 --- a/src/models/propulsion/FGBldc.cpp +++ b/src/models/propulsion/FGBldc.cpp @@ -7,7 +7,7 @@ Corrected : 26/12/2021 Purpose: This module models an DLDC electric motor - --------- Copyright (C) 2020 Matt Vacanti ------------- + --------- Copyright (C) 2020 Matt Vacanti / Paolo Becchi------------- UPDATE LICENSE From 031a001e7b1d58b3ed6be4e5e1180602c0f8ecd1 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Sat, 8 Jan 2022 17:18:07 +0100 Subject: [PATCH 12/25] Correction_Reformat_requested --- JSBSim.vcxproj | 4 +- JSBSim.vcxproj.filters | 4 +- src/models/FGPropulsion.cpp | 12 +- src/models/propulsion/FGBldc.cpp | 224 ---------------- src/models/propulsion/FGBrushLessDCMotor.cpp | 242 ++++++++++++++++++ .../{FGBldc.h => FGBrushLessDCMotor.h} | 73 +++--- 6 files changed, 293 insertions(+), 266 deletions(-) delete mode 100644 src/models/propulsion/FGBldc.cpp create mode 100644 src/models/propulsion/FGBrushLessDCMotor.cpp rename src/models/propulsion/{FGBldc.h => FGBrushLessDCMotor.h} (52%) diff --git a/JSBSim.vcxproj b/JSBSim.vcxproj index 1f728b4e04..6dfb6bdb10 100644 --- a/JSBSim.vcxproj +++ b/JSBSim.vcxproj @@ -252,7 +252,7 @@ - + @@ -372,7 +372,7 @@ - + diff --git a/JSBSim.vcxproj.filters b/JSBSim.vcxproj.filters index b1e5bf005c..4904035990 100644 --- a/JSBSim.vcxproj.filters +++ b/JSBSim.vcxproj.filters @@ -323,7 +323,7 @@ Source Files - + Source Files @@ -676,7 +676,7 @@ Header Files - + Header Files diff --git a/src/models/FGPropulsion.cpp b/src/models/FGPropulsion.cpp index a89548db25..ed29f26f53 100644 --- a/src/models/FGPropulsion.cpp +++ b/src/models/FGPropulsion.cpp @@ -56,7 +56,7 @@ INCLUDES #include "models/propulsion/FGTurboProp.h" #include "models/propulsion/FGTank.h" #include "input_output/FGModelLoader.h" -#include "models/propulsion/FGBldc.h" +#include "models/propulsion/FGBrushLessDCMotor.h" using namespace std; @@ -394,16 +394,14 @@ bool FGPropulsion::Load(Element* el) Element *element = engine_element->FindElement("turboprop_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else if (engine_element->FindElement("rocket_engine")) { - Element *element = engine_element->FindElement("rocket_engine"); + Element* element = engine_element->FindElement("rocket_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else if (engine_element->FindElement("electric_engine")) { Element *element = engine_element->FindElement("electric_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); - } else if (engine_element->FindElement("bldc_engine")) { - // HaveBldcEngine = true; - // if (!IsBound) bind(); - Element* element = engine_element->FindElement("bldc_engine"); - Engines.push_back(make_shared(FDMExec, element, numEngines, in)); + } else if (engine_element->FindElement("brushless_dc_motor")) { + Element* element = engine_element->FindElement("brushless_dc_motor"); + Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else { cerr << engine_element->ReadFrom() << " Unknown engine type" << endl; diff --git a/src/models/propulsion/FGBldc.cpp b/src/models/propulsion/FGBldc.cpp deleted file mode 100644 index e326cccff3..0000000000 --- a/src/models/propulsion/FGBldc.cpp +++ /dev/null @@ -1,224 +0,0 @@ -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - Module: FGBldc.cpp - Original Author: Matt Vacanti - Corrections and updates: Paolo Becchi - Date started: 11/08/2020 - Corrected : 26/12/2021 - Purpose: This module models an DLDC electric motor - - --------- Copyright (C) 2020 Matt Vacanti / Paolo Becchi------------- - -UPDATE LICENSE - -FUNCTIONAL DESCRIPTION --------------------------------------------------------------------------------- - -UPDATE FUNCTIONAL DESCRIPTION - -HISTORY --------------------------------------------------------------------------------- -11/08/2020 MDV Created - - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -INCLUDES -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -#include -#include -#include - -#include "FGFDMExec.h" -#include "FGBldc.h" -#include "FGPropeller.h" -#include "input_output/FGXMLElement.h" - -using namespace std; - -namespace JSBSim { - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -CLASS IMPLEMENTATION -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -FGBldc::FGBldc(FGFDMExec* exec, Element *el, int engine_number, struct FGEngine::Inputs& input) - : FGEngine(engine_number, input) -{ - Load(exec,el); - - Type = etElectric; - PowerWatts = 745.7; - hptowatts = 745.7; - - // this property is not necessary since is computed using other properties - // if (el->FindElement("maxcurrent")) - // MaxCurrent= el->FindElementValueAsNumber("maxcurrent"); - - if (el->FindElement("maxvolts")) - MaxVolts= el->FindElementValueAsNumber("maxvolts"); - - if (el->FindElement("velocityconstant")) - VelocityConstant= el->FindElementValueAsNumber("velocityconstant"); - - if (el->FindElement("torqueconstant")) - TorqueConstant= el->FindElementValueAsNumber("torqueconstant"); - - if (el->FindElement("coilresistance")) - coilResistance = el->FindElementValueAsNumber("coilresistance"); - if (el->FindElement("noloadcurrent")) - noLoadCurrent = el->FindElementValueAsNumber("noloadcurrent"); - if (el->FindElement("decelerationTime")) - deceleration_time = el->FindElementValueAsNumber("decelerationTime"); - - MaxCurrent = MaxVolts / coilResistance + noLoadCurrent; - - PowerWatts = MaxCurrent * MaxVolts; - - string base_property_name = CreateIndexedPropertyName("propulsion/engine", - EngineNumber); - exec->GetPropertyManager()->Tie(base_property_name + "/power-hp", &HP); - - exec->GetPropertyManager()->Tie(base_property_name + "/current-a", &CurrentRequired); - - Debug(0); // Call Debug() routine from constructor if needed -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -FGBldc::~FGBldc() - { - Debug(1); // Call Debug() routine from constructor if needed -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -void FGBldc::Calculate(void) -{ - RunPreFunctions(); - - if (Thruster->GetType() == FGThruster::ttPropeller) { - ((FGPropeller*)Thruster)->SetAdvance(in.PropAdvance[EngineNumber]); - ((FGPropeller*)Thruster)->SetFeather(in.PropFeather[EngineNumber]); - } - - RPM = Thruster->GetRPM(); - TorqueRequired = abs(((FGPropeller*)Thruster)->GetTorque()); - - CurrentRequired = (TorqueRequired * VelocityConstant) / TorqueConstant; - -// total current required must include no load current i0 - CurrentRequired = CurrentRequired + noLoadCurrent; - - V = MaxVolts * in.ThrottlePos[EngineNumber]; - -// Commanded RPM = (input voltage - currentRequired * coil resistance) * velocity costant - CommandedRPM = (V - CurrentRequired * coilResistance) * VelocityConstant; - DeltaRPM = round((CommandedRPM - RPM)); - -// Torque is MaxTorque (stall torque) at 0 RPM and linearly go to 0 at max RPM (MaxVolts*VelocityCostant) -// MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM) - - MaxTorque = MaxCurrent / VelocityConstant * TorqueConstant * (1 - RPM / (MaxVolts* VelocityConstant)); - - TorqueAvailable = MaxTorque - TorqueRequired; - DeltaTorque = (((DeltaRPM/60)*(2.0 * M_PI))/(max(0.00001, in.TotalDeltaT))) * ((FGPropeller*)Thruster)->GetIxx(); - -// compute acceleration and deceleration phases: -// Acceleration is due to the max delta torque available and is limited to the inertial forces - - if (DeltaRPM >= 0) { - TargetTorque = min(DeltaTorque, TorqueAvailable) + TorqueRequired; - } else { -// Deceleration is due to braking force given by the ESC and set by parameter deceleration_time - TargetTorque = TorqueRequired - min(abs(DeltaTorque)/(max(deceleration_time,0.01)*30),RPM*TorqueConstant/VelocityConstant/VelocityConstant/coilResistance); - } - - EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * TargetTorque) / 60; - HP = EnginePower / 550; - LoadThrusterInputs(); - Thruster->Calculate(EnginePower); - - RunPostFunctions(); -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -double FGBldc::CalcFuelNeed(void) -{ - return 0; -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -string FGBldc::GetEngineLabels(const string& delimiter) -{ - std::ostringstream buf; - - buf << Name << " HP (engine " << EngineNumber << ")" << delimiter - << Thruster->GetThrusterLabels(EngineNumber, delimiter); - - return buf.str(); -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -string FGBldc::GetEngineValues(const string& delimiter) -{ - std::ostringstream buf; - - buf << HP << delimiter - << Thruster->GetThrusterValues(EngineNumber, delimiter); - - return buf.str(); -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -// -// The bitmasked value choices are as follows: -// unset: In this case (the default) JSBSim would only print -// out the normally expected messages, essentially echoing -// the config files as they are read. If the environment -// variable is not set, debug_lvl is set to 1 internally -// 0: This requests JSBSim not to output any messages -// whatsoever. -// 1: This value explicity requests the normal JSBSim -// startup messages -// 2: This value asks for a message to be printed out when -// a class is instantiated -// 4: When this value is set, a message is displayed when a -// FGModel object executes its Run() method -// 8: When this value is set, various runtime state variables -// are printed out periodically -// 16: When set various parameters are sanity checked and -// a message is printed out when they go out of bounds - -void FGBldc::Debug(int from) -{ - if (debug_lvl <= 0) return; - - if (debug_lvl & 1) { // Standard console startup message output - if (from == 0) { // Constructor - - cout << "\n Engine Name: " << Name << endl; - cout << " Power Watts: " << PowerWatts << endl; - - } - } - if (debug_lvl & 2 ) { // Instantiation/Destruction notification - if (from == 0) cout << "Instantiated: FGBldc" << endl; - if (from == 1) cout << "Destroyed: FGBldc" << endl; - } - if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects - } - if (debug_lvl & 8 ) { // Runtime state variables - } - if (debug_lvl & 16) { // Sanity checking - } - if (debug_lvl & 64) { - if (from == 0) { // Constructor - } - } -} - -} // namespace JSBSim diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp new file mode 100644 index 0000000000..76978d73f5 --- /dev/null +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -0,0 +1,242 @@ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Module: FGBrushLessDCMotor.cpp + Autor Paolo Becchi + 1st release 1/1/2022 + Purpose: This module models an BLDC electric motor + + ------------- Copyright (C) 1999 Paolo Becchi (pbecchi@aerobusinees.it) ------------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU Lesser 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 Lesser General Public License for more + details. + + You should have received a copy of the GNU Lesser 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. + + Further information about the GNU Lesser General Public License can also be + found on the world wide web at http://www.gnu.org + +FUNCTIONAL DESCRIPTION +-------------------------------------------------------------------------------- +Following code represent a new BrushLess DC motor to be used as alternative +to basic electric motor. +BLDC motor code is based on basic "3 constant motor equations" +It require 3 basic phisical motor properties: +Kv speed motor constant +Rm internal coil resistance +I0 no load current + +HISTORY +-------------------------------------------------------------------------------- +1/01/2022 MDV Created + + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +INCLUDES +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include +#include +#include + +#include "FGFDMExec.h" +#include "FGBrushLessDCMotor.h" +#include "FGPropeller.h" +#include "input_output/FGXMLElement.h" + +using namespace std; + +namespace JSBSim { + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +CLASS IMPLEMENTATION +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_number, struct FGEngine::Inputs& input) + : FGEngine(engine_number, input) +{ + Load(exec, el); + + Type = etElectric; + PowerWatts = 745.7; + hptowatts = 745.7; + + // this property is not necessary since is computed using other properties + // if (el->FindElement("maxcurrent")) + // MaxCurrent= el->FindElementValueAsNumber("maxcurrent"); + + if (el->FindElement("maxvolts")) + MaxVolts = el->FindElementValueAsNumber("maxvolts"); + + if (el->FindElement("velocityconstant")) + VelocityConstant = el->FindElementValueAsNumber("velocityconstant"); + +// if (el->FindElement("torqueconstant")) +// TorqueConstant = el->FindElementValueAsNumber("torqueconstant"); + + if (el->FindElement("coilresistance")) + coilResistance = el->FindElementValueAsNumber("coilresistance"); + if (el->FindElement("noloadcurrent")) + noLoadCurrent = el->FindElementValueAsNumber("noloadcurrent"); + if (el->FindElement("deceleration_factor")) + DecelerationFactor = el->FindElementValueAsNumber("deceleration_factor"); + + MaxCurrent = MaxVolts / coilResistance + noLoadCurrent; + + PowerWatts = MaxCurrent * MaxVolts; + + string base_property_name = CreateIndexedPropertyName("propulsion/engine", + EngineNumber); + exec->GetPropertyManager()->Tie(base_property_name + "/power-hp", &HP); + + exec->GetPropertyManager()->Tie(base_property_name + "/current-a", &CurrentRequired); + + Debug(0); // Call Debug() routine from constructor if needed +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +FGBrushLessDCMotor::~FGBrushLessDCMotor() +{ + Debug(1); // Call Debug() routine from constructor if needed +} + + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGBrushLessDCMotor::Calculate(void) +{ + RunPreFunctions(); + + if (Thruster->GetType() == FGThruster::ttPropeller) { + ((FGPropeller*)Thruster)->SetAdvance(in.PropAdvance[EngineNumber]); + ((FGPropeller*)Thruster)->SetFeather(in.PropFeather[EngineNumber]); + } + + RPM = Thruster->GetRPM(); + TorqueRequired = abs(((FGPropeller*)Thruster)->GetTorque()); //units [#*ft] + + CurrentRequired = (TorqueRequired * VelocityConstant) / TorqueConstant; + + // total current required must include no load current i0 + CurrentRequired = CurrentRequired + noLoadCurrent; + + V = MaxVolts * in.ThrottlePos[EngineNumber]; + + // Delta RPM = (input voltage - currentRequired * coil resistance) * velocity costant + DeltaRPM = round((V - CurrentRequired * coilResistance) * VelocityConstant); + + // Torque is MaxTorque (stall torque) at 0 RPM and linearly go to 0 at max RPM (MaxVolts*VelocityCostant) + // MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM) + + MaxTorque = MaxCurrent / VelocityConstant * TorqueConstant * (1 - RPM / (MaxVolts* VelocityConstant)); + + TorqueAvailable = MaxTorque - TorqueRequired; + InertiaTorque = (((DeltaRPM/60)*(2.0 * M_PI))/(max(0.00001, in.TotalDeltaT))) * ((FGPropeller*)Thruster)->GetIxx(); + + // compute acceleration and deceleration phases: + // Acceleration is due to the max delta torque available and is limited to the inertial forces + + if (DeltaRPM >= 0) { + TargetTorque = min(InertiaTorque, TorqueAvailable) + TorqueRequired; + } else { + // Deceleration is due to braking force given by the ESC and set by parameter deceleration_time + TargetTorque = TorqueRequired - min(abs(InertiaTorque)/(max(DecelerationFactor,0.01)*30),RPM*TorqueConstant/VelocityConstant/VelocityConstant/coilResistance); + } + + EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * TargetTorque) / 60; //units [#*ft/s] + HP = EnginePower / 550; // units[HP] + LoadThrusterInputs(); + Thruster->Calculate(EnginePower); + + RunPostFunctions(); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGBrushLessDCMotor::CalcFuelNeed(void) +{ +return 0; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +string FGBrushLessDCMotor::GetEngineLabels(const string& delimiter) +{ +std::ostringstream buf; + +buf << Name << " HP (engine " << EngineNumber << ")" << delimiter + << Thruster->GetThrusterLabels(EngineNumber, delimiter); + +return buf.str(); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +string FGBrushLessDCMotor::GetEngineValues(const string& delimiter) +{ + std::ostringstream buf; + + buf << HP << delimiter + << Thruster->GetThrusterValues(EngineNumber, delimiter); + + return buf.str(); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +// +// The bitmasked value choices are as follows: +// unset: In this case (the default) JSBSim would only print +// out the normally expected messages, essentially echoing +// the config files as they are read. If the environment +// variable is not set, debug_lvl is set to 1 internally +// 0: This requests JSBSim not to output any messages +// whatsoever. +// 1: This value explicity requests the normal JSBSim +// startup messages +// 2: This value asks for a message to be printed out when +// a class is instantiated +// 4: When this value is set, a message is displayed when a +// FGModel object executes its Run() method +// 8: When this value is set, various runtime state variables +// are printed out periodically +// 16: When set various parameters are sanity checked and +// a message is printed out when they go out of bounds + +void FGBrushLessDCMotor::Debug(int from) +{ + if (debug_lvl <= 0) return; + + if (debug_lvl & 1) { // Standard console startup message output + if (from == 0) { // Constructor + + cout << "\n Engine Name: " << Name << endl; + cout << " Power Watts: " << PowerWatts << endl; + + } + } + if (debug_lvl & 2 ) { // Instantiation/Destruction notification + if (from == 0) cout << "Instantiated: FGBrushLessDCMotor" << endl; + if (from == 1) cout << "Destroyed: FGBrushLessDCMotor" << endl; + } + if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects + } + if (debug_lvl & 8 ) { // Runtime state variables + } + if (debug_lvl & 16) { // Sanity checking + } + if (debug_lvl & 64) { + if (from == 0) { // Constructor + } + } +} + +} // namespace JSBSim diff --git a/src/models/propulsion/FGBldc.h b/src/models/propulsion/FGBrushLessDCMotor.h similarity index 52% rename from src/models/propulsion/FGBldc.h rename to src/models/propulsion/FGBrushLessDCMotor.h index 6f31a9d372..bee95ad4d8 100644 --- a/src/models/propulsion/FGBldc.h +++ b/src/models/propulsion/FGBrushLessDCMotor.h @@ -1,23 +1,38 @@ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - Header: FGBldc.h - Author: Matt Vacanti - Date started: 11/08/2020 + Header: FGBrussLessDCMotor.h + Author: Paolo Becchi + Date started: 1-1-2022 - ----- Copyright (C) 2020 Matt Vacanti (mdvacanti@gmail.com) -------------- + ----- Copyright (C) 2022 Paolo Becchi (pbecchi@aerobusiness.it) -------------- + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU Lesser 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 Lesser General Public License for more + details. + + You should have received a copy of the GNU Lesser 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. + + Further information about the GNU Lesser General Public License can also be + found on the world wide web at http://www.gnu.org -UPDATE LICENSE HISTORY -------------------------------------------------------------------------------- -11/08/2020 MDV Created +1/01/2022 MDV Created %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SENTRY %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#ifndef FGBLDC_H -#define FGBLDC_H +#ifndef FGBrushLessDCMotor_H +#define FGBrushLessDCMotor_H /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES @@ -50,49 +65,45 @@ CLASS DOCUMENTATION CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGBldc : public FGEngine +class FGBrushLessDCMotor : public FGEngine { public: /// Constructor - FGBldc(FGFDMExec* exec, Element *el, int engine_number, FGEngine::Inputs& input); + FGBrushLessDCMotor(FGFDMExec* exec, Element *el, int engine_number, FGEngine::Inputs& input); /// Destructor - ~FGBldc(); + ~FGBrushLessDCMotor(); void Calculate(void); double GetPowerAvailable(void) {return (HP * hptoftlbssec);} double GetCurrentRequired(void) {return CurrentRequired;} double getRPM(void) {return RPM;} + double CalcFuelNeed(void); std::string GetEngineLabels(const std::string& delimiter); std::string GetEngineValues(const std::string& delimiter); private: - double CalcFuelNeed(void); - - //double BrakeHorsePower; - // constants double hptowatts; - double noLoadCurrent; - double coilResistance; + double noLoadCurrent; // 0 torque current [A] + double coilResistance; // internal resistance [Ohm] double PowerWatts; // maximum engine power - double MaxCurrent; // maximum current - double MaxVolts; - double VelocityConstant; - double TorqueConstant; + double MaxCurrent; // maximum current [A] + double MaxVolts; // max voltage available from battery [V] + double VelocityConstant; //.speed constant of brusless DC motors [RPM/V] + double TorqueConstant=6.1217; double RPM; // revolutions per minute double HP; // engine output, in horsepower - double V; // speed control commanded voltage - double CommandedRPM; // desired RPM set by voltage + double V; // speed control commanded voltage + double DeltaRPM; // desired RPM set by voltage double MaxTorque; // maximum available torque from motor - double DeltaRPM; - double TorqueAvailable; - double TargetTorque; - double TorqueRequired; - double CurrentRequired; - double EnginePower; - double DeltaTorque; - double deceleration_time = 0.5; + double TorqueAvailable; //.torque available at set voltage + double TargetTorque; // torque applied to propeller + double TorqueRequired; // propeller torque at current RPM + double CurrentRequired; // current required at current RPM + double EnginePower; // power in pounds *feet + double InertiaTorque; // acceleration torque due to rotating inertia + double DecelerationFactor = 1; //factor to increase deceleration time void Debug(int from); }; } From 313b16952fc7ab446e52a5f64f34d39748c3f12b Mon Sep 17 00:00:00 2001 From: pbecchi Date: Sat, 8 Jan 2022 18:04:28 +0100 Subject: [PATCH 13/25] updatedMakefile&addedElectricalUnits --- src/input_output/FGXMLElement.cpp | 4 ++++ src/models/propulsion/CMakeLists.txt | 8 ++++---- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/src/input_output/FGXMLElement.cpp b/src/input_output/FGXMLElement.cpp index b59a98378e..654bb3dc5a 100644 --- a/src/input_output/FGXMLElement.cpp +++ b/src/input_output/FGXMLElement.cpp @@ -244,6 +244,10 @@ Element::Element(const string& nm) // Gravitational convert["FT3/SEC2"]["FT3/SEC2"] = 1.0; convert["M3/SEC2"]["M3/SEC2"] = 1.0; + //Electrical + convert["VOLTS"]["VOLTS"] = 1.0; + convert["OHMS"]["OHMS"] = 1.0; + convert["AMPS"]["AMPS"] = 1.0; } } diff --git a/src/models/propulsion/CMakeLists.txt b/src/models/propulsion/CMakeLists.txt index 05ca6c55a7..f22ed06cac 100644 --- a/src/models/propulsion/CMakeLists.txt +++ b/src/models/propulsion/CMakeLists.txt @@ -1,5 +1,4 @@ set(SOURCES FGElectric.cpp - FGBldc.cpp FGEngine.cpp FGForce.cpp FGNozzle.cpp @@ -11,10 +10,10 @@ set(SOURCES FGElectric.cpp FGTurbine.cpp FGTurboProp.cpp FGTransmission.cpp - FGRotor.cpp) + FGRotor.cpp + FGBrushLessDCMotor.cpp) set(HEADERS FGElectric.h - FGBldc.h FGEngine.h FGForce.h FGNozzle.h @@ -26,7 +25,8 @@ set(HEADERS FGElectric.h FGTurbine.h FGTurboProp.h FGTransmission.h - FGRotor.h) + FGRotor.h + FGBrushLessDCMotor.h) add_library(Propulsion OBJECT ${HEADERS} ${SOURCES}) set_target_properties(Propulsion PROPERTIES TARGET_DIRECTORY From 9c2b187ecf2ae02ec46737882b246659be040a2e Mon Sep 17 00:00:00 2001 From: pbecchi Date: Mon, 10 Jan 2022 18:17:48 +0100 Subject: [PATCH 14/25] corrections --- src/input_output/FGXMLElement.cpp | 2 +- src/models/FGPropulsion.cpp | 4 ++-- src/models/propulsion/FGBrushLessDCMotor.cpp | 22 +++++++------------- src/models/propulsion/FGBrushLessDCMotor.h | 4 ++-- 4 files changed, 13 insertions(+), 19 deletions(-) diff --git a/src/input_output/FGXMLElement.cpp b/src/input_output/FGXMLElement.cpp index 654bb3dc5a..a89533d6a5 100644 --- a/src/input_output/FGXMLElement.cpp +++ b/src/input_output/FGXMLElement.cpp @@ -244,7 +244,7 @@ Element::Element(const string& nm) // Gravitational convert["FT3/SEC2"]["FT3/SEC2"] = 1.0; convert["M3/SEC2"]["M3/SEC2"] = 1.0; - //Electrical + // Electrical convert["VOLTS"]["VOLTS"] = 1.0; convert["OHMS"]["OHMS"] = 1.0; convert["AMPS"]["AMPS"] = 1.0; diff --git a/src/models/FGPropulsion.cpp b/src/models/FGPropulsion.cpp index ed29f26f53..fdbf6c8157 100644 --- a/src/models/FGPropulsion.cpp +++ b/src/models/FGPropulsion.cpp @@ -394,13 +394,13 @@ bool FGPropulsion::Load(Element* el) Element *element = engine_element->FindElement("turboprop_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else if (engine_element->FindElement("rocket_engine")) { - Element* element = engine_element->FindElement("rocket_engine"); + Element *element = engine_element->FindElement("rocket_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else if (engine_element->FindElement("electric_engine")) { Element *element = engine_element->FindElement("electric_engine"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else if (engine_element->FindElement("brushless_dc_motor")) { - Element* element = engine_element->FindElement("brushless_dc_motor"); + Element *element = engine_element->FindElement("brushless_dc_motor"); Engines.push_back(make_shared(FDMExec, element, numEngines, in)); } else { diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index 76978d73f5..8bacb6a641 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -36,7 +36,7 @@ I0 no load current HISTORY -------------------------------------------------------------------------------- -1/01/2022 MDV Created +1/01/2022 Created %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -69,9 +69,6 @@ FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_ PowerWatts = 745.7; hptowatts = 745.7; - // this property is not necessary since is computed using other properties - // if (el->FindElement("maxcurrent")) - // MaxCurrent= el->FindElementValueAsNumber("maxcurrent"); if (el->FindElement("maxvolts")) MaxVolts = el->FindElementValueAsNumber("maxvolts"); @@ -79,17 +76,14 @@ FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_ if (el->FindElement("velocityconstant")) VelocityConstant = el->FindElementValueAsNumber("velocityconstant"); -// if (el->FindElement("torqueconstant")) -// TorqueConstant = el->FindElementValueAsNumber("torqueconstant"); - if (el->FindElement("coilresistance")) - coilResistance = el->FindElementValueAsNumber("coilresistance"); + CoilResistance = el->FindElementValueAsNumber("coilresistance"); if (el->FindElement("noloadcurrent")) - noLoadCurrent = el->FindElementValueAsNumber("noloadcurrent"); + NoLoadCurrent = el->FindElementValueAsNumber("noloadcurrent"); if (el->FindElement("deceleration_factor")) DecelerationFactor = el->FindElementValueAsNumber("deceleration_factor"); - MaxCurrent = MaxVolts / coilResistance + noLoadCurrent; + MaxCurrent = MaxVolts / CoilResistance + NoLoadCurrent; PowerWatts = MaxCurrent * MaxVolts; @@ -127,12 +121,12 @@ void FGBrushLessDCMotor::Calculate(void) CurrentRequired = (TorqueRequired * VelocityConstant) / TorqueConstant; // total current required must include no load current i0 - CurrentRequired = CurrentRequired + noLoadCurrent; + CurrentRequired = CurrentRequired + NoLoadCurrent; V = MaxVolts * in.ThrottlePos[EngineNumber]; // Delta RPM = (input voltage - currentRequired * coil resistance) * velocity costant - DeltaRPM = round((V - CurrentRequired * coilResistance) * VelocityConstant); + DeltaRPM = round((V - CurrentRequired * CoilResistance) * VelocityConstant); // Torque is MaxTorque (stall torque) at 0 RPM and linearly go to 0 at max RPM (MaxVolts*VelocityCostant) // MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM) @@ -146,10 +140,10 @@ void FGBrushLessDCMotor::Calculate(void) // Acceleration is due to the max delta torque available and is limited to the inertial forces if (DeltaRPM >= 0) { - TargetTorque = min(InertiaTorque, TorqueAvailable) + TorqueRequired; + TargetTorque = min(InertiaTorque, TorqueAvailable) + TorqueRequired; } else { // Deceleration is due to braking force given by the ESC and set by parameter deceleration_time - TargetTorque = TorqueRequired - min(abs(InertiaTorque)/(max(DecelerationFactor,0.01)*30),RPM*TorqueConstant/VelocityConstant/VelocityConstant/coilResistance); + TargetTorque = TorqueRequired - min(abs(InertiaTorque)/(max(DecelerationFactor,0.01)*30),RPM*TorqueConstant/VelocityConstant/VelocityConstant/CoilResistance); } EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * TargetTorque) / 60; //units [#*ft/s] diff --git a/src/models/propulsion/FGBrushLessDCMotor.h b/src/models/propulsion/FGBrushLessDCMotor.h index bee95ad4d8..7a6ecb81f3 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.h +++ b/src/models/propulsion/FGBrushLessDCMotor.h @@ -85,8 +85,8 @@ class FGBrushLessDCMotor : public FGEngine // constants double hptowatts; - double noLoadCurrent; // 0 torque current [A] - double coilResistance; // internal resistance [Ohm] + double NoLoadCurrent; // 0 torque current [A] + double CoilResistance; // internal resistance [Ohm] double PowerWatts; // maximum engine power double MaxCurrent; // maximum current [A] double MaxVolts; // max voltage available from battery [V] From e76c6435246e072797ee5a7c44f2f2516a30b00f Mon Sep 17 00:00:00 2001 From: pbecchi Date: Mon, 10 Jan 2022 18:32:31 +0100 Subject: [PATCH 15/25] AdditionalCorrections --- src/models/propulsion/FGBrushLessDCMotor.cpp | 10 +++++----- src/models/propulsion/FGBrushLessDCMotor.h | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index 8bacb6a641..49b72b3c54 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -5,7 +5,7 @@ 1st release 1/1/2022 Purpose: This module models an BLDC electric motor - ------------- Copyright (C) 1999 Paolo Becchi (pbecchi@aerobusinees.it) ------------- + ------------- Copyright (C) 2022 Paolo Becchi (pbecchi@aerobusinees.it) ------------- This program is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free @@ -29,7 +29,7 @@ FUNCTIONAL DESCRIPTION Following code represent a new BrushLess DC motor to be used as alternative to basic electric motor. BLDC motor code is based on basic "3 constant motor equations" -It require 3 basic phisical motor properties: +It require 3 basic physical motor properties: Kv speed motor constant Rm internal coil resistance I0 no load current @@ -165,12 +165,12 @@ return 0; string FGBrushLessDCMotor::GetEngineLabels(const string& delimiter) { -std::ostringstream buf; + std::ostringstream buf; -buf << Name << " HP (engine " << EngineNumber << ")" << delimiter + buf << Name << " HP (engine " << EngineNumber << ")" << delimiter << Thruster->GetThrusterLabels(EngineNumber, delimiter); -return buf.str(); + return buf.str(); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/models/propulsion/FGBrushLessDCMotor.h b/src/models/propulsion/FGBrushLessDCMotor.h index 7a6ecb81f3..abf2e9f022 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.h +++ b/src/models/propulsion/FGBrushLessDCMotor.h @@ -25,7 +25,7 @@ HISTORY -------------------------------------------------------------------------------- -1/01/2022 MDV Created +1/01/2022 Created %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SENTRY From 927d82b18dbee5b5485b3d99a923039d449e6d6c Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 11 Jan 2022 00:01:28 +0100 Subject: [PATCH 16/25] Update src/models/propulsion/FGBrushLessDCMotor.cpp Co-authored-by: Bertrand Coconnier --- src/models/propulsion/FGBrushLessDCMotor.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index 49b72b3c54..c974470e32 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -79,7 +79,12 @@ FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_ if (el->FindElement("coilresistance")) CoilResistance = el->FindElementValueAsNumber("coilresistance"); if (el->FindElement("noloadcurrent")) - NoLoadCurrent = el->FindElementValueAsNumber("noloadcurrent"); + NoLoadCurrent = el->FindElementValueAsNumberConvertTo("noloadcurrent", "AMPERES"); + else { + cerr << el->ReadFrom() + << " is a mandatory parameter" << endl; + throw JSBBaseException("Missing parameter"); + } if (el->FindElement("deceleration_factor")) DecelerationFactor = el->FindElementValueAsNumber("deceleration_factor"); From 7b27fc6d0149f8892108d13f132f06003ac11ddc Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 11 Jan 2022 00:01:51 +0100 Subject: [PATCH 17/25] Update src/input_output/FGXMLElement.cpp Co-authored-by: Bertrand Coconnier --- src/input_output/FGXMLElement.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/input_output/FGXMLElement.cpp b/src/input_output/FGXMLElement.cpp index a89533d6a5..7e01151396 100644 --- a/src/input_output/FGXMLElement.cpp +++ b/src/input_output/FGXMLElement.cpp @@ -247,7 +247,7 @@ Element::Element(const string& nm) // Electrical convert["VOLTS"]["VOLTS"] = 1.0; convert["OHMS"]["OHMS"] = 1.0; - convert["AMPS"]["AMPS"] = 1.0; + convert["AMPERES"]["AMPERES"] = 1.0; } } From 59488514c506a62c3d3c83d23439d8938a60b923 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 11 Jan 2022 00:02:13 +0100 Subject: [PATCH 18/25] Update src/models/propulsion/FGBrushLessDCMotor.h Co-authored-by: Bertrand Coconnier --- src/models/propulsion/FGBrushLessDCMotor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/models/propulsion/FGBrushLessDCMotor.h b/src/models/propulsion/FGBrushLessDCMotor.h index abf2e9f022..45b6728580 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.h +++ b/src/models/propulsion/FGBrushLessDCMotor.h @@ -77,7 +77,7 @@ class FGBrushLessDCMotor : public FGEngine double GetPowerAvailable(void) {return (HP * hptoftlbssec);} double GetCurrentRequired(void) {return CurrentRequired;} double getRPM(void) {return RPM;} - double CalcFuelNeed(void); + double CalcFuelNeed(void) { return 0.; } std::string GetEngineLabels(const std::string& delimiter); std::string GetEngineValues(const std::string& delimiter); From 2ce9a4eb17fa800b1a496a8d7341df9e55b328c2 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 11 Jan 2022 00:02:25 +0100 Subject: [PATCH 19/25] Update src/models/propulsion/FGBrushLessDCMotor.cpp Co-authored-by: Bertrand Coconnier --- src/models/propulsion/FGBrushLessDCMotor.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index c974470e32..436af9a1f9 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -75,6 +75,11 @@ FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_ if (el->FindElement("velocityconstant")) VelocityConstant = el->FindElementValueAsNumber("velocityconstant"); + else { + cerr << el->ReadFrom() + << " is a mandatory parameter" << endl; + throw JSBBaseException("Missing parameter"); + } if (el->FindElement("coilresistance")) CoilResistance = el->FindElementValueAsNumber("coilresistance"); From 3da9f595094eaa24e42410cc2a2f1a97d1ab00ad Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 11 Jan 2022 00:02:52 +0100 Subject: [PATCH 20/25] Update src/models/propulsion/FGBrushLessDCMotor.cpp Co-authored-by: Bertrand Coconnier --- src/models/propulsion/FGBrushLessDCMotor.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index 436af9a1f9..7f5c39524d 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -92,6 +92,10 @@ FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_ } if (el->FindElement("deceleration_factor")) DecelerationFactor = el->FindElementValueAsNumber("deceleration_factor"); + else { + cout << el->ReadFrom() + << "Using default value " << DecelerationFactor << " for " << endl; + } MaxCurrent = MaxVolts / CoilResistance + NoLoadCurrent; From 7273ed7cb00611704a0c072f433717bc838b249e Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 11 Jan 2022 00:03:57 +0100 Subject: [PATCH 21/25] Update src/models/propulsion/FGBrushLessDCMotor.cpp Co-authored-by: Bertrand Coconnier --- src/models/propulsion/FGBrushLessDCMotor.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index 7f5c39524d..86c5ca02a2 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -82,7 +82,12 @@ FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_ } if (el->FindElement("coilresistance")) - CoilResistance = el->FindElementValueAsNumber("coilresistance"); + CoilResistance = el->FindElementValueAsNumberConvertTo("coilresistance", "OHMS"); + else { + cerr << el->ReadFrom() + << " is a mandatory parameter" << endl; + throw JSBBaseException("Missing parameter"); + } if (el->FindElement("noloadcurrent")) NoLoadCurrent = el->FindElementValueAsNumberConvertTo("noloadcurrent", "AMPERES"); else { From 4d5b655302369cfe3d9257839cab94b889e2931c Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 11 Jan 2022 00:04:31 +0100 Subject: [PATCH 22/25] Update src/models/propulsion/FGBrushLessDCMotor.cpp Co-authored-by: Bertrand Coconnier --- src/models/propulsion/FGBrushLessDCMotor.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index 86c5ca02a2..22e2e1535a 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -173,12 +173,6 @@ void FGBrushLessDCMotor::Calculate(void) RunPostFunctions(); } -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -double FGBrushLessDCMotor::CalcFuelNeed(void) -{ -return 0; -} //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% From d19358fca1174b35f469837f9f8ffb58eff53eb1 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 11 Jan 2022 00:06:01 +0100 Subject: [PATCH 23/25] Update src/models/propulsion/FGBrushLessDCMotor.cpp Co-authored-by: Bertrand Coconnier --- src/models/propulsion/FGBrushLessDCMotor.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index 22e2e1535a..3b4bd1a423 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -71,7 +71,12 @@ FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_ if (el->FindElement("maxvolts")) - MaxVolts = el->FindElementValueAsNumber("maxvolts"); + MaxVolts = el->FindElementValueAsNumberConvertTo("maxvolts", "VOLTS"); + else { + cerr << el->ReadFrom() + << " is a mandatory parameter" << endl; + throw JSBBaseException("Missing parameter"); + } if (el->FindElement("velocityconstant")) VelocityConstant = el->FindElementValueAsNumber("velocityconstant"); From 073615f6c668db3e8ed973d768d03949425772e7 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 11 Jan 2022 10:04:17 +0100 Subject: [PATCH 24/25] Remaining_comments --- src/models/propulsion/FGBrushLessDCMotor.cpp | 17 +++++---- src/models/propulsion/FGBrushLessDCMotor.h | 37 ++++++++++++++------ 2 files changed, 34 insertions(+), 20 deletions(-) diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index 49b72b3c54..67141308b2 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -30,9 +30,9 @@ Following code represent a new BrushLess DC motor to be used as alternative to basic electric motor. BLDC motor code is based on basic "3 constant motor equations" It require 3 basic physical motor properties: -Kv speed motor constant -Rm internal coil resistance -I0 no load current +Kv speed motor constant [RPM/Volt] +Rm internal coil resistance [Ohms] +I0 no load current [Amperes] HISTORY -------------------------------------------------------------------------------- @@ -66,8 +66,7 @@ FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_ Load(exec, el); Type = etElectric; - PowerWatts = 745.7; - hptowatts = 745.7; + if (el->FindElement("maxvolts")) @@ -87,11 +86,11 @@ FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_ PowerWatts = MaxCurrent * MaxVolts; - string base_property_name = CreateIndexedPropertyName("propulsion/engine", - EngineNumber); + string base_property_name = CreateIndexedPropertyName("propulsion/engine", EngineNumber); + exec->GetPropertyManager()->Tie(base_property_name + "/power-hp", &HP); - exec->GetPropertyManager()->Tie(base_property_name + "/current-a", &CurrentRequired); + exec->GetPropertyManager()->Tie(base_property_name + "/current-amperes", &CurrentRequired); Debug(0); // Call Debug() routine from constructor if needed } @@ -147,7 +146,7 @@ void FGBrushLessDCMotor::Calculate(void) } EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * TargetTorque) / 60; //units [#*ft/s] - HP = EnginePower / 550; // units[HP] + HP = EnginePower /hptowatts*NMtoftpound; // units[HP] LoadThrusterInputs(); Thruster->Calculate(EnginePower); diff --git a/src/models/propulsion/FGBrushLessDCMotor.h b/src/models/propulsion/FGBrushLessDCMotor.h index abf2e9f022..64e481f59a 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.h +++ b/src/models/propulsion/FGBrushLessDCMotor.h @@ -51,16 +51,32 @@ CLASS DOCUMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /** Models an electric brushless DC motor or more appropriately permanent magnet - synchronous motor. - FGElectric models an electric motor based on the configuration file - \ parameter. The throttle controls motor output linearly from - zero to \. This power value (converted internally to horsepower) - is then used by FGPropeller to apply torque to the propeller. At present - there is no battery model available, so this motor does not consume any - energy. There is no internal friction. - @author David Culp + synchronous motor. as alternative to basic electric motor. +BLDC motor code is based on basic "3 constant motor equations" +It require 3 basic physical motor properties (available from manufactures): +Kv speed motor constant [RPM/Volt] +Rm internal coil resistance [Ohms] +I0 no load current [Amperes] +additional inputs : +maxvolts nominal voltage from battery +deceleration factor..........braking deceleration factor representing aproximate time to stop the rotor +Input format : + + {number} + {number} + {number} + {number} + .{number} + + */ + // conversion factors + constexpr double NMtoftpound = 1.3558; + constexpr double hptowatts = 745.7; + constexpr double TorqueConstant = 60 / (2 * M_PI * NMtoftpound); + + /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ @@ -83,15 +99,14 @@ class FGBrushLessDCMotor : public FGEngine private: - // constants - double hptowatts; + // constants + double NoLoadCurrent; // 0 torque current [A] double CoilResistance; // internal resistance [Ohm] double PowerWatts; // maximum engine power double MaxCurrent; // maximum current [A] double MaxVolts; // max voltage available from battery [V] double VelocityConstant; //.speed constant of brusless DC motors [RPM/V] - double TorqueConstant=6.1217; double RPM; // revolutions per minute double HP; // engine output, in horsepower double V; // speed control commanded voltage From 2a98044c34c2bee6ecb8713f0cea36ce05c72f17 Mon Sep 17 00:00:00 2001 From: pbecchi Date: Tue, 18 Jan 2022 19:30:22 +0100 Subject: [PATCH 25/25] ERROR in PR corrected --- src/models/propulsion/FGBrushLessDCMotor.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/models/propulsion/FGBrushLessDCMotor.cpp b/src/models/propulsion/FGBrushLessDCMotor.cpp index 4fb9e2dcba..1fd576e8c1 100644 --- a/src/models/propulsion/FGBrushLessDCMotor.cpp +++ b/src/models/propulsion/FGBrushLessDCMotor.cpp @@ -33,6 +33,8 @@ It require 3 basic physical motor properties: Kv speed motor constant [RPM/Volt] Rm internal coil resistance [Ohms] I0 no load current [Amperes] +REFERENCE: +http://web.mit.edu/drela/Public/web/qprop/motor1_theory.pdf HISTORY -------------------------------------------------------------------------------- @@ -149,7 +151,7 @@ void FGBrushLessDCMotor::Calculate(void) V = MaxVolts * in.ThrottlePos[EngineNumber]; // Delta RPM = (input voltage - currentRequired * coil resistance) * velocity costant - DeltaRPM = round((V - CurrentRequired * CoilResistance) * VelocityConstant); + DeltaRPM = (V - CurrentRequired * CoilResistance) * VelocityConstant-RPM; // Torque is MaxTorque (stall torque) at 0 RPM and linearly go to 0 at max RPM (MaxVolts*VelocityCostant) // MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM) @@ -169,7 +171,7 @@ void FGBrushLessDCMotor::Calculate(void) TargetTorque = TorqueRequired - min(abs(InertiaTorque)/(max(DecelerationFactor,0.01)*30),RPM*TorqueConstant/VelocityConstant/VelocityConstant/CoilResistance); } - EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * TargetTorque) / 60; //units [#*ft/s] + EnginePower = ((2 * M_PI) * RPM * TargetTorque) / 60; //units [#*ft/s] HP = EnginePower /hptowatts*NMtoftpound; // units[HP] LoadThrusterInputs(); Thruster->Calculate(EnginePower);