1 // flight.c -- a general interface to the various flight models
3 // Written by Curtis Olson, started May 1997.
5 // Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
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)
28 #include "LaRCsim.hxx"
30 #include <Debug/logstream.hxx>
31 #include <Flight/External/external.hxx>
32 #include <Flight/LaRCsim/ls_interface.h>
33 #include <Include/fg_constants.h>
34 #include <Math/fg_geodesy.hxx>
37 FGState cur_fdm_state;
40 // Initialize the flight model parameters
41 int fgFlightModelInit(int model, FGState& f, double dt) {
42 double save_alt = 0.0;
45 FG_LOG( FG_FLIGHT ,FG_INFO, "Initializing flight model" );
47 if ( model == FGState::FG_SLEW ) {
49 } else if ( model == FGState::FG_LARCSIM ) {
50 // lets try to avoid really screwing up the LaRCsim model
51 if ( f.get_Altitude() < -9000.0 ) {
52 save_alt = f.get_Altitude();
53 f.set_Altitude( 0.0 );
56 FGState_2_LaRCsim(f); // translate FG to LaRCsim structure
58 FG_LOG( FG_FLIGHT, FG_INFO, "FG pos = " << f.get_Latitude() );
59 fgLaRCsim_2_FGState(f); // translate LaRCsim back to FG structure
61 // but lets restore our original bogus altitude when we are done
62 if ( save_alt < -9000.0 ) {
63 f.set_Altitude( save_alt );
65 } else if ( model == FGState::FG_EXTERNAL ) {
66 fgExternalInit(f, dt);
68 FG_LOG( FG_FLIGHT, FG_WARN,
69 "Unimplemented flight model == " << model );
78 // Run multiloop iterations of the flight model
79 int fgFlightModelUpdate(int model, FGState& f, int multiloop) {
80 double time_step, start_elev, end_elev;
82 // printf("Altitude = %.2f\n", FG_Altitude * 0.3048);
84 time_step = (1.0 / DEFAULT_MODEL_HZ) * multiloop;
85 start_elev = f.get_Altitude();
87 if ( model == FGState::FG_SLEW ) {
88 // fgSlewUpdate(f, multiloop);
89 } else if ( model == FGState::FG_LARCSIM ) {
90 fgLaRCsimUpdate(f, multiloop);
91 } else if ( model == FGState::FG_EXTERNAL ) {
92 // fgExternalUpdate(f, multiloop);
94 FG_LOG( FG_FLIGHT, FG_WARN,
95 "Unimplemented flight model == " << model );
98 end_elev = f.get_Altitude();
101 f.set_Climb_Rate( (end_elev - start_elev) / time_step );
109 // Set the altitude (force)
110 void fgFlightModelSetAltitude(int model, FGState& f, double alt_meters) {
111 double sea_level_radius_meters;
113 // Set the FG variables first
114 fgGeodToGeoc( f.get_Latitude(), alt_meters,
115 &sea_level_radius_meters, &lat_geoc);
117 f.set_Altitude( alt_meters * METER_TO_FEET );
118 f.set_Radius_to_vehicle( f.get_Altitude() +
119 (sea_level_radius_meters * METER_TO_FEET) );
121 // additional work needed for some flight models
122 if ( model == FGState::FG_LARCSIM ) {
123 ls_ForceAltitude( f.get_Altitude() );
130 // Revision 1.6 1998/12/05 15:54:11 curt
131 // Renamed class fgFLIGHT to class FGState as per request by JSB.
133 // Revision 1.5 1998/12/04 01:29:39 curt
134 // Stubbed in a new flight model called "External" which is expected to be driven
135 // from some external source.
137 // Revision 1.4 1998/12/03 01:16:40 curt
138 // Converted fgFLIGHT to a class.
140 // Revision 1.3 1998/11/06 21:18:03 curt
141 // Converted to new logstream debugging facility. This allows release
142 // builds with no messages at all (and no performance impact) by using
143 // the -DFG_NDEBUGNDEBUG flag.
145 // Revision 1.2 1998/10/16 23:27:40 curt
148 // Revision 1.1 1998/10/16 20:16:41 curt
149 // Renamed flight.[ch] to flight.[ch]xx
151 // Revision 1.19 1998/09/29 14:57:38 curt
152 // c++-ified comments.
154 // Revision 1.18 1998/09/29 02:02:40 curt
155 // Added a rate of climb calculation.
157 // Revision 1.17 1998/08/24 20:09:07 curt
160 // Revision 1.16 1998/08/22 14:49:55 curt
161 // Attempting to iron out seg faults and crashes.
162 // Did some shuffling to fix a initialization order problem between view
163 // position, scenery elevation.
165 // Revision 1.15 1998/07/30 23:44:36 curt
166 // Beginning to add support for multiple flight models.
168 // Revision 1.14 1998/07/12 03:08:27 curt
169 // Added fgFlightModelSetAltitude() to force the altitude to something
170 // other than the current altitude. LaRCsim doesn't let you do this by just
171 // changing FG_Altitude.
173 // Revision 1.13 1998/04/25 22:06:28 curt
174 // Edited cvs log messages in source files ... bad bad bad!
176 // Revision 1.12 1998/04/21 16:59:33 curt
177 // Integrated autopilot.
178 // Prepairing for C++ integration.
180 // Revision 1.11 1998/04/18 04:14:04 curt
181 // Moved fg_debug.c to it's own library.
183 // Revision 1.10 1998/02/07 15:29:37 curt
184 // Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
185 // <chotchkiss@namg.us.anritsu.com>
187 // Revision 1.9 1998/01/27 00:47:53 curt
188 // Incorporated Paul Bleisch's <pbleisch@acm.org> new debug message
189 // system and commandline/config file processing code.
191 // Revision 1.8 1998/01/19 19:27:03 curt
192 // Merged in make system changes from Bob Kuehne <rpk@sgi.com>
193 // This should simplify things tremendously.
195 // Revision 1.7 1998/01/19 18:40:23 curt
196 // Tons of little changes to clean up the code and to remove fatal errors
197 // when building with the c++ compiler.
199 // Revision 1.6 1998/01/19 18:35:43 curt
200 // Minor tweaks and fixes for cygwin32.
202 // Revision 1.5 1997/12/30 20:47:37 curt
203 // Integrated new event manager with subsystem initializations.
205 // Revision 1.4 1997/12/10 22:37:42 curt
206 // Prepended "fg" on the name of all global structures that didn't have it yet.
207 // i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
209 // Revision 1.3 1997/08/27 03:30:04 curt
210 // Changed naming scheme of basic shared structures.
212 // Revision 1.2 1997/05/29 22:39:57 curt
213 // Working on incorporating the LaRCsim flight model.
215 // Revision 1.1 1997/05/29 02:35:04 curt