An Integrated, Modular Simulation System for Education ... - Cal Poly

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}opMode = HELP;else if ((*argv[i] == ’w’) || (*argv[i] == ’W’))opMode = WALK;else if ((*argv[i] == ’v’) || (*argv[i] == ’V’))opMode = VERSION;elseTerminate("invalid command line parameter","ParseCLP()");}}else if (argc > (MAX_ARGS + 1))Terminate("extra command line parameter","ParseCLP()");// handles a ground approach by determining from pitch and roll whether// the airplane has landed safely or crashedvoid GroundApproach(){// handle approaching the ground// REV 2.1 change debug mode to reset aircraft.if ((opMode == FLIGHT)||(opMode == DEBUG) ) {if ( (Snoopy.airborne) && (Snoopy.altitude 10) ||(Snoopy.pitch < -10)) ||((Snoopy.roll > 10) ||(Snoopy.roll < -10)) ){if( opMode == DEBUG) {gotoxy(3,1);cprintf(" CRRAAASSSSHHHHH!!!! Go find a real Pilot you Looser!");}elseShowCrash();// viewcntl.cppSnoopy.ResetACState(); // aircraft.cppdelay(200);controler.ResetControls();while( !controler.<strong>An</strong>yPress() ); // input.cpp}elseSnoopy.LandAC(); // aircraft.cpp}}}// this function displays the program version numbervoid DisplayVersion(){cprintf(" ŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒ¨\r\n");cprintf("……\r\n");cprintf("ØŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒŒ_\r\n");gotoxy( 4, 2 );cprintf("Snoopy Linear Flight Simulator, Version %i.%i%c", MAJ_VER, MIN_VER, VER_LET);gotoxy( 4, 6 );}104
program entry pointvoid main( int argc, char* argv[]){window(1,1,80,25);// conio.h: set a text windowclrscr();// conio.h: clear the screentextcolor(7);// conio.h: set the text coloroldVmode = *(byte *)MK_FP(0x40,0x49); // store the text modeopMode = FLIGHT;// assume normal operating modeParseCLP( argc, argv );// parse command line argsif (opMode == HELP) {// if this is a help runDisplayHelp(); // then display the commandexit(0);// list and exit}if (opMode == VERSION) {DisplayVersion();exit(0);}StartUp();controler.GetControls(Snoopy);// input.cpp: run one control passthe state vector// main flight loop// to initializewhile(!controler.Exit()) {// input.cpp: check <strong>for</strong> exit command}controler.GetControls(Snoopy);// input.cpp: get control settingsSnoopy.RunFModel();// aircraft.cpp: run flight modelGroundApproach();if (!UpdateView( Snoopy ))// aircraft.cpp: make the next frameTerminate("View switch file or memory error","UpdateView()");if (opMode != DEBUG)// if not debugging...blitscreen( bkground.Image() ); // display the new frameelse// else if debugging...VectorDump();// do the screen dump}checkpt = 4;// update progress flagTerminate("Normal program termination", "main()");105
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Authorization PageI grant permissio
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Table of ContentsLIST OF TABLESXIIL
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Standard Atmosphere 64Input 65Outpu
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RK4 (RUNGE-KUTTA) HELP FILE 91RK4 (
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List of TablesTablePageTable 1. Air
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Figure 27. Kaman SH2-F 72Figure 28.
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has been developing a set of the ba
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Simulink is a graphical user interf
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computers are now fast enough to do
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simulation after the conversion. Th
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then a simple one axis closed loop
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PhEagle IPhEagle Hardware - Sim Cab
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highlight some text on a word proce
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up to perform the less processor in
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the Heads Up Display (HUD). While c
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and monitors and computer code to s
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Existing Simulation ToolsThere are
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great control over the model dynami
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Figure 11 BYOFS Original ScreenFigu
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Basic 6-DOF Nonlinear, Rigid Body,
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0 18 Cmu - Pitch moment due to forw
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each of the linear force terms. The
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PhEagle IIPhEagle II Introduction a
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instructor a graphical interface to
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Simulink block set, however, when m
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existing graphics by creating a TCP
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Simulink environment, and Mathworks
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D/A (output) block is the code for
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Table 9 Cab InputsInput from cab ou
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Key Features of SimulationsStabilit
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subsystem with inputs and outputs.
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viewer has the end of the runway co
Page 68 and 69: The 6 degree of freedom (3 translat
Page 70 and 71: difference between the two axes are
Page 72 and 73: Unit Delay1zelevatorelevElevElevato
Page 74 and 75: 6 DOF Model VerificationThe 6 DOF m
Page 76 and 77: oth models. The two state space mod
Page 78 and 79: Impulse ResponseRoll Angle32.5Ampli
Page 80 and 81: modeled. By feeding back any of the
Page 82 and 83: R10000 processors an inceptor Flybo
Page 84 and 85: directly to the Euler block the out
Page 86 and 87: function and the dynamics were very
Page 88 and 89: made by handling qualities engineer
Page 90 and 91: mode. The aircraft was divergent de
Page 92 and 93: simplified to resemble a spring-dam
Page 94 and 95: the data and converting to the prop
Page 96 and 97: ConclusionsConverting existing soft
Page 98 and 99: Future WorkPhEagle II provides basi
Page 100 and 101: workstation or PC for function test
Page 102 and 103: 13. Tischler, M. B.; Chen, R. T. N;
Page 104 and 105: AppendixEuler Help File%***** euler
Page 106 and 107: k4=dt*(z(index-1)+l3/2.0);l4=dt*(-a
Page 108 and 109: float K = 10.0;printf("\nEnter wn [
Page 110 and 111: Snoopy 2nd order RK4 Class//-------
Page 112 and 113: {private:void CalcPowerDyn();void C
Page 114 and 115: int opMode;int oldVmode;int checkpt
Page 116 and 117: }exit_code = 0;}if (opMode != DEBUG
Page 120 and 121: Instrument D/A Simulink S-function/
Page 122 and 123: * Function: mdlInitializeSampleTime
Page 124 and 125: cdVerIndicator.channelNumber=5;cdVe
Page 126 and 127: set(&yawForceOut,*uPtrs[26]);set(&r
Page 128 and 129: Instrument Help Filefunctionallinst
Page 130 and 131: Stick D/A Simulink S-function/*****
Page 132 and 133: aToD12.cntCtrl=addr + 3;aToD12.da1L
Page 134 and 135: * with in an enabled subsystem whic
Page 136 and 137: #define MDL_DERIVATIVES /* Change t
Page 138 and 139: Abbreviated Instrument D/A Simulink
Page 140 and 141: {d16.nBits=16;d16.baseAddr=0x340;d1
Page 142 and 143: InputRealPtrsType uPtrs = ssGetInpu
Page 144 and 145: #ifdef MATLAB_MEX_FILE /* Is this f
Page 146 and 147: Abbreviated Stick D/A Simulink S-fu
Page 148 and 149: aToD12.da2Low=addr + 6;aToD12.da2Hi
Page 150 and 151: */static void mdlDerivatives(SimStr
Page 152 and 153: Header file for Stick S-functions//
Page 154 and 155: Abbreviated Stick Help filefunction
Page 156 and 157: #define Deg2Rad 0.01745329#define R
Page 158 and 159: * Parameter Value Description* Name
Page 160 and 161: * y[15]= qDot* y[16]= rDot* y[17]=
Page 162 and 163: ***** Compute the rolling moment ex
Page 164 and 165: xDot=u*CTheta*CPsi+v*(SPhi*STheta*C
Page 166 and 167: SAD file: Navion.tsf2.153 1 Alt1 [f
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% | sAcB -sAsB cA | Fzb% Test dataF
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Standard Atmosphere Simulink S-func
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* in estimate();** Alt=*uPtrs[0]; m
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Euler Coordinate Transform and Inte
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* Abstract:* Specifiy that we inher
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* calulate the trig functions first
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Euler Transform Help Filefunction [
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Game Joystick Driver Simulink S-fun
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*/static void mdlInitializeConditio
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* This function is called once for
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Navion Longitudianal State Space Se
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ANavionLatB=[0 .07045610 028.73202
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Navion Longitudinal State Space Set
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NNavionLatB=[0 0.070456128.73202 2.
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% create a frequency vectorw=0.1:0.
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