1 // LaRCsim.cxx -- interface to the LaRCsim flight model
3 // Written by Curtis Olson, started October 1998.
5 // Copyright (C) 1998 Curtis L. Olson - curt@me.umn.edu
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
22 // (Log is kept at end of this file)
25 #include "LaRCsim.hxx"
27 #include <Aircraft/aircraft.hxx>
28 #include <Controls/controls.hxx>
29 #include <Flight/flight.hxx>
30 #include <Flight/LaRCsim/ls_cockpit.h>
31 #include <Flight/LaRCsim/ls_generic.h>
32 #include <Flight/LaRCsim/ls_interface.h>
35 // Initialize the LaRCsim flight model, dt is the time increment for
36 // each subsequent iteration through the EOM
37 int fgLaRCsimInit(double dt) {
44 // Run an iteration of the EOM (equations of motion)
45 int fgLaRCsimUpdate(FGState& f, int multiloop) {
46 double save_alt = 0.0;
48 // lets try to avoid really screwing up the LaRCsim model
49 if ( f.get_Altitude() < -9000 ) {
50 save_alt = f.get_Altitude();
51 f.set_Altitude( 0.0 );
54 // copy control positions into the LaRCsim structure
55 Lat_control = controls.get_aileron();
56 Long_control = controls.get_elevator();
57 Long_trim = controls.get_elevator_trim();
58 Rudder_pedal = controls.get_rudder();
59 Throttle_pct = controls.get_throttle( 0 );
60 Brake_pct = controls.get_brake( 0 );
62 // Inform LaRCsim of the local terrain altitude
63 Runway_altitude = f.get_Runway_altitude();
65 // old -- FGstate_2_LaRCsim() not needed except for Init()
66 // translate FG to LaRCsim structure
67 // FGState_2_LaRCsim(f);
68 // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
69 // printf("Altitude = %.2f\n", Altitude * 0.3048);
70 // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
74 // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
75 // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
77 // translate LaRCsim back to FG structure so that the
78 // autopilot (and the rest of the sim can use the updated
80 fgLaRCsim_2_FGState(f);
82 // but lets restore our original bogus altitude when we are done
83 if ( save_alt < -9000.0 ) {
84 f.set_Altitude( save_alt );
91 // Convert from the FGState struct to the LaRCsim generic_ struct
92 int FGState_2_LaRCsim (FGState& f) {
99 // Dx_pilot = f.get_Dx_pilot();
100 // Dy_pilot = f.get_Dy_pilot();
101 // Dz_pilot = f.get_Dz_pilot();
102 Dx_cg = f.get_Dx_cg();
103 Dy_cg = f.get_Dy_cg();
104 Dz_cg = f.get_Dz_cg();
105 // F_X = f.get_F_X();
106 // F_Y = f.get_F_Y();
107 // F_Z = f.get_F_Z();
108 // F_north = f.get_F_north();
109 // F_east = f.get_F_east();
110 // F_down = f.get_F_down();
111 // F_X_aero = f.get_F_X_aero();
112 // F_Y_aero = f.get_F_Y_aero();
113 // F_Z_aero = f.get_F_Z_aero();
114 // F_X_engine = f.get_F_X_engine();
115 // F_Y_engine = f.get_F_Y_engine();
116 // F_Z_engine = f.get_F_Z_engine();
117 // F_X_gear = f.get_F_X_gear();
118 // F_Y_gear = f.get_F_Y_gear();
119 // F_Z_gear = f.get_F_Z_gear();
120 // M_l_rp = f.get_M_l_rp();
121 // M_m_rp = f.get_M_m_rp();
122 // M_n_rp = f.get_M_n_rp();
123 // M_l_cg = f.get_M_l_cg();
124 // M_m_cg = f.get_M_m_cg();
125 // M_n_cg = f.get_M_n_cg();
126 // M_l_aero = f.get_M_l_aero();
127 // M_m_aero = f.get_M_m_aero();
128 // M_n_aero = f.get_M_n_aero();
129 // M_l_engine = f.get_M_l_engine();
130 // M_m_engine = f.get_M_m_engine();
131 // M_n_engine = f.get_M_n_engine();
132 // M_l_gear = f.get_M_l_gear();
133 // M_m_gear = f.get_M_m_gear();
134 // M_n_gear = f.get_M_n_gear();
135 // V_dot_north = f.get_V_dot_north();
136 // V_dot_east = f.get_V_dot_east();
137 // V_dot_down = f.get_V_dot_down();
138 // U_dot_body = f.get_U_dot_body();
139 // V_dot_body = f.get_V_dot_body();
140 // W_dot_body = f.get_W_dot_body();
141 // A_X_cg = f.get_A_X_cg();
142 // A_Y_cg = f.get_A_Y_cg();
143 // A_Z_cg = f.get_A_Z_cg();
144 // A_X_pilot = f.get_A_X_pilot();
145 // A_Y_pilot = f.get_A_Y_pilot();
146 // A_Z_pilot = f.get_A_Z_pilot();
147 // N_X_cg = f.get_N_X_cg();
148 // N_Y_cg = f.get_N_Y_cg();
149 // N_Z_cg = f.get_N_Z_cg();
150 // N_X_pilot = f.get_N_X_pilot();
151 // N_Y_pilot = f.get_N_Y_pilot();
152 // N_Z_pilot = f.get_N_Z_pilot();
153 // P_dot_body = f.get_P_dot_body();
154 // Q_dot_body = f.get_Q_dot_body();
155 // R_dot_body = f.get_R_dot_body();
156 V_north = f.get_V_north();
157 V_east = f.get_V_east();
158 V_down = f.get_V_down();
159 // V_north_rel_ground = f.get_V_north_rel_ground();
160 // V_east_rel_ground = f.get_V_east_rel_ground();
161 // V_down_rel_ground = f.get_V_down_rel_ground();
162 // V_north_airmass = f.get_V_north_airmass();
163 // V_east_airmass = f.get_V_east_airmass();
164 // V_down_airmass = f.get_V_down_airmass();
165 // V_north_rel_airmass = f.get_V_north_rel_airmass();
166 // V_east_rel_airmass = f.get_V_east_rel_airmass();
167 // V_down_rel_airmass = f.get_V_down_rel_airmass();
168 // U_gust = f.get_U_gust();
169 // V_gust = f.get_V_gust();
170 // W_gust = f.get_W_gust();
171 // U_body = f.get_U_body();
172 // V_body = f.get_V_body();
173 // W_body = f.get_W_body();
174 // V_rel_wind = f.get_V_rel_wind();
175 // V_true_kts = f.get_V_true_kts();
176 // V_rel_ground = f.get_V_rel_ground();
177 // V_inertial = f.get_V_inertial();
178 // V_ground_speed = f.get_V_ground_speed();
179 // V_equiv = f.get_V_equiv();
180 // V_equiv_kts = f.get_V_equiv_kts();
181 // V_calibrated = f.get_V_calibrated();
182 // V_calibrated_kts = f.get_V_calibrated_kts();
183 P_body = f.get_P_body();
184 Q_body = f.get_Q_body();
185 R_body = f.get_R_body();
186 // P_local = f.get_P_local();
187 // Q_local = f.get_Q_local();
188 // R_local = f.get_R_local();
189 // P_total = f.get_P_total();
190 // Q_total = f.get_Q_total();
191 // R_total = f.get_R_total();
192 // Phi_dot = f.get_Phi_dot();
193 // Theta_dot = f.get_Theta_dot();
194 // Psi_dot = f.get_Psi_dot();
195 // Latitude_dot = f.get_Latitude_dot();
196 // Longitude_dot = f.get_Longitude_dot();
197 // Radius_dot = f.get_Radius_dot();
198 Lat_geocentric = f.get_Lat_geocentric();
199 Lon_geocentric = f.get_Lon_geocentric();
200 Radius_to_vehicle = f.get_Radius_to_vehicle();
201 Latitude = f.get_Latitude();
202 Longitude = f.get_Longitude();
203 Altitude = f.get_Altitude();
205 Theta = f.get_Theta();
207 // T_local_to_body_11 = f.get_T_local_to_body_11();
208 // T_local_to_body_12 = f.get_T_local_to_body_12();
209 // T_local_to_body_13 = f.get_T_local_to_body_13();
210 // T_local_to_body_21 = f.get_T_local_to_body_21();
211 // T_local_to_body_22 = f.get_T_local_to_body_22();
212 // T_local_to_body_23 = f.get_T_local_to_body_23();
213 // T_local_to_body_31 = f.get_T_local_to_body_31();
214 // T_local_to_body_32 = f.get_T_local_to_body_32();
215 // T_local_to_body_33 = f.get_T_local_to_body_33();
216 // Gravity = f.get_Gravity();
217 // Centrifugal_relief = f.get_Centrifugal_relief();
218 // Alpha = f.get_Alpha();
219 // Beta = f.get_Beta();
220 // Alpha_dot = f.get_Alpha_dot();
221 // Beta_dot = f.get_Beta_dot();
222 // Cos_alpha = f.get_Cos_alpha();
223 // Sin_alpha = f.get_Sin_alpha();
224 // Cos_beta = f.get_Cos_beta();
225 // Sin_beta = f.get_Sin_beta();
226 // Cos_phi = f.get_Cos_phi();
227 // Sin_phi = f.get_Sin_phi();
228 // Cos_theta = f.get_Cos_theta();
229 // Sin_theta = f.get_Sin_theta();
230 // Cos_psi = f.get_Cos_psi();
231 // Sin_psi = f.get_Sin_psi();
232 // Gamma_vert_rad = f.get_Gamma_vert_rad();
233 // Gamma_horiz_rad = f.get_Gamma_horiz_rad();
234 // Sigma = f.get_Sigma();
235 // Density = f.get_Density();
236 // V_sound = f.get_V_sound();
237 // Mach_number = f.get_Mach_number();
238 // Static_pressure = f.get_Static_pressure();
239 // Total_pressure = f.get_Total_pressure();
240 // Impact_pressure = f.get_Impact_pressure();
241 // Dynamic_pressure = f.get_Dynamic_pressure();
242 // Static_temperature = f.get_Static_temperature();
243 // Total_temperature = f.get_Total_temperature();
244 Sea_level_radius = f.get_Sea_level_radius();
245 Earth_position_angle = f.get_Earth_position_angle();
246 Runway_altitude = f.get_Runway_altitude();
247 // Runway_latitude = f.get_Runway_latitude();
248 // Runway_longitude = f.get_Runway_longitude();
249 // Runway_heading = f.get_Runway_heading();
250 // Radius_to_rwy = f.get_Radius_to_rwy();
251 // D_cg_north_of_rwy = f.get_D_cg_north_of_rwy();
252 // D_cg_east_of_rwy = f.get_D_cg_east_of_rwy();
253 // D_cg_above_rwy = f.get_D_cg_above_rwy();
254 // X_cg_rwy = f.get_X_cg_rwy();
255 // Y_cg_rwy = f.get_Y_cg_rwy();
256 // H_cg_rwy = f.get_H_cg_rwy();
257 // D_pilot_north_of_rwy = f.get_D_pilot_north_of_rwy();
258 // D_pilot_east_of_rwy = f.get_D_pilot_east_of_rwy();
259 // D_pilot_above_rwy = f.get_D_pilot_above_rwy();
260 // X_pilot_rwy = f.get_X_pilot_rwy();
261 // Y_pilot_rwy = f.get_Y_pilot_rwy();
262 // H_pilot_rwy = f.get_H_pilot_rwy();
268 // Convert from the LaRCsim generic_ struct to the FGState struct
269 int fgLaRCsim_2_FGState (FGState& f) {
271 // Mass properties and geometry values
272 f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
273 // f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
274 f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
277 // f.set_Forces_Body_Total( F_X, F_Y, F_Z );
278 // f.set_Forces_Local_Total( F_north, F_east, F_down );
279 // f.set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
280 // f.set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
281 // f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
284 // f.set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
285 // f.set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
286 // f.set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
287 // f.set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
288 // f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
291 // f.set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
292 // f.set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
293 // f.set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
294 // f.set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
295 // f.set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
296 // f.set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
297 // f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
300 f.set_Velocities_Local( V_north, V_east, V_down );
301 // f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
302 // V_down_rel_ground );
303 // f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
305 // f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
306 // V_east_rel_airmass, V_down_rel_airmass );
307 // f.set_Velocities_Gust( U_gust, V_gust, W_gust );
308 // f.set_Velocities_Wind_Body( U_body, V_body, W_body );
310 // f.set_V_rel_wind( V_rel_wind );
311 // f.set_V_true_kts( V_true_kts );
312 // f.set_V_rel_ground( V_rel_ground );
313 // f.set_V_inertial( V_inertial );
314 // f.set_V_ground_speed( V_ground_speed );
315 // f.set_V_equiv( V_equiv );
316 f.set_V_equiv_kts( V_equiv_kts );
317 // f.set_V_calibrated( V_calibrated );
318 // f.set_V_calibrated_kts( V_calibrated_kts );
320 f.set_Omega_Body( P_body, Q_body, R_body );
321 // f.set_Omega_Local( P_local, Q_local, R_local );
322 // f.set_Omega_Total( P_total, Q_total, R_total );
324 // f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
325 f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
328 f.set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
330 f.set_Geodetic_Position( Latitude, Longitude, Altitude );
331 f.set_Euler_Angles( Phi, Theta, Psi );
333 // Miscellaneous quantities
334 f.set_T_Local_to_Body(T_local_to_body_m);
335 // f.set_Gravity( Gravity );
336 // f.set_Centrifugal_relief( Centrifugal_relief );
338 f.set_Alpha( Alpha );
340 // f.set_Alpha_dot( Alpha_dot );
341 // f.set_Beta_dot( Beta_dot );
343 // f.set_Cos_alpha( Cos_alpha );
344 // f.set_Sin_alpha( Sin_alpha );
345 // f.set_Cos_beta( Cos_beta );
346 // f.set_Sin_beta( Sin_beta );
348 // f.set_Cos_phi( Cos_phi );
349 // f.set_Sin_phi( Sin_phi );
350 // f.set_Cos_theta( Cos_theta );
351 // f.set_Sin_theta( Sin_theta );
352 // f.set_Cos_psi( Cos_psi );
353 // f.set_Sin_psi( Sin_psi );
355 f.set_Gamma_vert_rad( Gamma_vert_rad );
356 // f.set_Gamma_horiz_rad( Gamma_horiz_rad );
358 // f.set_Sigma( Sigma );
359 // f.set_Density( Density );
360 // f.set_V_sound( V_sound );
361 // f.set_Mach_number( Mach_number );
363 // f.set_Static_pressure( Static_pressure );
364 // f.set_Total_pressure( Total_pressure );
365 // f.set_Impact_pressure( Impact_pressure );
366 // f.set_Dynamic_pressure( Dynamic_pressure );
368 // f.set_Static_temperature( Static_temperature );
369 // f.set_Total_temperature( Total_temperature );
371 f.set_Sea_level_radius( Sea_level_radius );
372 f.set_Earth_position_angle( Earth_position_angle );
374 f.set_Runway_altitude( Runway_altitude );
375 // f.set_Runway_latitude( Runway_latitude );
376 // f.set_Runway_longitude( Runway_longitude );
377 // f.set_Runway_heading( Runway_heading );
378 // f.set_Radius_to_rwy( Radius_to_rwy );
380 // f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
381 // f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
382 // f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
383 // D_pilot_above_rwy );
384 // f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
392 // Revision 1.9 1999/01/08 19:27:36 curt
393 // Fixed AOA reading on HUD.
394 // Continued work on time jitter compensation.
396 // Revision 1.8 1998/12/18 23:37:06 curt
397 // Collapsed out the FGState variables not currently needed. They are just
398 // commented out and can be readded easily at any time. The point of this
399 // exersize is to determine which variables were or were not currently being
402 // Revision 1.7 1998/12/14 13:31:06 curt
403 // LaRCsim maintains all it's variables internally. I had been copying all of
404 // them back and forth to the FG struture everytime I updated the flight model.
405 // However, I have realized that this is not necessary. I just need to copy
406 // the control positions and environmental parameters into the LaRCsim structure
407 // before updating the FDM, then copy every thing back out into the publick FGFS
408 // structure afterwords. This seems to solve (or at least help) a westward
409 // drift problem some poeple had been observing.
411 // Revision 1.6 1998/12/05 15:54:08 curt
412 // Renamed class fgFLIGHT to class FGState as per request by JSB.
414 // Revision 1.5 1998/12/03 04:25:02 curt
415 // Working on fixing up new fgFLIGHT class.
417 // Revision 1.4 1998/12/03 01:16:37 curt
418 // Converted fgFLIGHT to a class.
420 // Revision 1.3 1998/10/25 14:08:43 curt
421 // Turned "struct fgCONTROLS" into a class, with inlined accessor functions.
423 // Revision 1.2 1998/10/17 01:34:11 curt
426 // Revision 1.1 1998/10/17 00:43:58 curt