1 /**************************************************************************
2 * ls_interface.c -- the FG interface to the LaRCsim routines
3 * This is a heavily modified version of LaRCsim.c
4 * As a result there is much old baggage left in this file.
6 * Originally Written 921230 by Bruce Jackson
7 * Modified by Curtis Olson, started May 1997.
9 * This program is free software; you can redistribute it and/or
10 * modify it under the terms of the GNU General Public License as
11 * published by the Free Software Foundation; either version 2 of the
12 * License, or (at your option) any later version.
14 * This program is distributed in the hope that it will be useful, but
15 * WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 * General Public License for more details.
19 * You should have received a copy of the GNU General Public License
20 * along with this program; if not, write to the Free Software
21 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
24 * (Log is kept at end of this file)
25 **************************************************************************/
27 /* Original headers follow: */
29 /***************************************************************************
33 ----------------------------------------------------------------------------
35 FUNCTION: Top level routine for LaRCSIM. Includes
36 global variable declarations.
38 ----------------------------------------------------------------------------
40 MODULE STATUS: Developmental
42 ----------------------------------------------------------------------------
44 GENEALOGY: Written 921230 by Bruce Jackson
46 ----------------------------------------------------------------------------
54 ----------------------------------------------------------------------------
60 930111 Added "progname" variable to keep name of invoking command.
62 931012 Removed altitude < 0. test to support gear development. EBJ
63 931214 Added various pressures (Impact, Dynamic, Static, etc.) EBJ
64 931215 Adopted new generic variable structure. EBJ
65 931218 Added command line options decoding. EBJ
66 940110 Changed file type of matrix file to ".m" EBJ
67 940513 Renamed this routine "LaRCsim.c" from "ls_main.c" EBJ
68 940513 Added time_stamp routine, t_stamp. EBJ
69 950225 Added options flag, 'i', to set I/O output rate. EBJ
70 950306 Added calls to ls_get_settings() and ls_put_settings() EBJ
71 950314 Options flag 'i' now reads IC file; 'o' is output rate EBJ
72 950406 Many changes: added definition of default value macros;
73 removed local variables term_update_hz, model_dt, endtime,
74 substituted sim_control_ globals for these; removed
75 initialization of sim_control_.tape_channels; moved optarg
76 to generic extern; added mod_end_time & mod_buf_size flags
77 and temporary buffer_time and data_rate locals to
78 ls_checkopts(); added additional command line switches '-s'
79 and '-b'; made psuedo-mandatory file names for data output
80 switches; considerable rewrite of logic for setting data
81 buffer length and interleave parameters; updated '-h' help
82 output message; added protection logic to calculations of
83 these parameters; added check of return value on first call
84 to ls_cockpit() so <esc> abort works from initial pause
85 state; added call to ls_unsync() immediately following
86 first ls_sync() call, if paused (to avoid alarm clock
87 timeout); moved call to ls_record() into non-paused
88 multiloop path (was filling buffer with identical data
89 during pause); put check of paused flag before calling sync
90 routine ls_pause(); and added call to exit() on termination.
94 $Original log: LaRCsim.c,v $
95 * Revision 1.4.1.7 1995/04/07 01:04:37 bjax
96 * Many changes made to support storage of sim options from run to run,
97 * as well as restructuring storage buffer sizing and some loop logic
98 * changes. See the modification log for details.
100 * Revision 1.4.1.6 1995/03/29 16:12:09 bjax
101 * Added argument to -o switch; changed run loop to pass dt=0
102 * if in paused mode. EBj
104 * Revision 1.4.1.5 1995/03/15 12:30:20 bjax
105 * Set paused flag to non-zero by default; moved 'i' I/O rate flag
106 * switch to 'o'; made 'i' an initial conditions file switch; added
107 * null string to ls_get_settings() call so that default settings
108 * file will be read. EBJ
110 * Revision 1.4.1.4 1995/03/08 12:31:34 bjax
111 * Added userid retrieval and proper termination of time & date strings.
113 * Revision 1.4.1.3 1995/03/08 12:00:21 bjax
114 * Moved setting of default options to ls_setdefopts from
115 * ls_checkopts; rearranged order of ls_get_settings() call
116 * to between ls_setdefopts and ls_checkopts, so command
117 * line options will override settings file options.
120 * Revision 1.4.1.2 1995/03/06 18:48:49 bjax
121 * Added calles to ls_get_settings() and ls_put_settings(); added
122 * passing of dt and init flags in ls_model(). EBJ
124 * Revision 1.4.1.1 1995/03/03 02:23:08 bjax
125 * Beta version for LaRCsim, version 1.4
127 * Revision 1.3.2.7 1995/02/27 20:00:21 bjax
130 * Revision 1.3.2.6 1995/02/25 16:52:31 bjax
131 * Added 'i' option to set I/O iteration rate. EBJ
133 * Revision 1.3.2.5 1995/02/06 19:33:15 bjax
136 * Revision 1.3.2.4 1995/02/06 19:30:30 bjax
137 * Oops, should really compile these before checking in. Fixed capitailzation of
138 * Initialize in ls_loop parameter.
140 * Revision 1.3.2.3 1995/02/06 19:25:44 bjax
141 * Moved main simulation loop into subroutine ls_loop. EBJ
143 * Revision 1.3.2.2 1994/05/20 21:46:45 bjax
144 * A little better logic on checking for option arguments.
146 * Revision 1.3.2.1 1994/05/20 19:29:51 bjax
147 * Added options arguments to command line.
149 * Revision 1.3.1.16 1994/05/17 15:08:45 bjax
150 * Corrected so that full name to directyr and file is saved
151 * in new global variable "fullname"; this allows symbol table
152 * to be extracted when in another default directory.
154 * Revision 1.3.1.15 1994/05/17 14:50:24 bjax
157 * Revision 1.3.1.14 1994/05/17 14:50:23 bjax
160 * Revision 1.3.1.13 1994/05/17 14:50:21 bjax
163 * Revision 1.3.1.12 1994/05/17 14:50:20 bjax
166 * Revision 1.3.1.11 1994/05/17 13:56:24 bjax
169 * Revision 1.3.1.10 1994/05/17 13:23:03 bjax
172 * Revision 1.3.1.9 1994/05/17 13:20:03 bjax
175 * Revision 1.3.1.8 1994/05/17 13:19:23 bjax
178 * Revision 1.3.1.7 1994/05/17 13:18:29 bjax
181 * Revision 1.3.1.6 1994/05/17 13:16:30 bjax
184 * Revision 1.3.1.5 1994/05/17 13:03:44 bjax
187 * Revision 1.3.1.4 1994/05/17 13:03:38 bjax
190 * Revision 1.3.1.3 1994/05/17 12:49:08 bjax
193 * Revision 1.3.1.2 1994/05/17 12:48:45 bjax
194 * *** empty log message ***
196 * Revision 1.3.1.1 1994/05/13 20:39:17 bjax
199 * Revision 1.2 1994/05/13 19:51:50 bjax
203 ----------------------------------------------------------------------------
207 ----------------------------------------------------------------------------
211 ----------------------------------------------------------------------------
215 ----------------------------------------------------------------------------
219 ----------------------------------------------------------------------------
223 --------------------------------------------------------------------------*/
225 #include <sys/types.h>
226 /* #include <sys/stat.h> */
232 #include "ls_types.h"
233 #include "ls_constants.h"
234 #include "ls_generic.h"
235 #include "ls_sim_control.h"
236 #include "ls_cockpit.h"
237 #include "ls_interface.h"
239 #include "ls_accel.h"
241 #include "ls_model.h"
244 // #include <Flight/flight.h>
245 // #include <Aircraft/aircraft.h>
246 // #include <Debug/fg_debug.h>
249 /* global variable declarations */
253 SIM_CONTROL sim_control_;
258 #define DEFAULT_TERM_UPDATE_HZ 20
259 #define DEFAULT_MODEL_HZ 120
260 #define DEFAULT_END_TIME 3600.
261 #define DEFAULT_SAVE_SPACING 8
262 #define DEFAULT_WRITE_SPACING 1
263 #define MAX_FILE_NAME_LENGTH 80
265 /* global variables */
270 /* file variables - default simulation settings */
272 static double model_dt;
273 static double speedup;
274 static char asc1name[MAX_FILE_NAME_LENGTH] = "run.asc1";
275 static char tabname[MAX_FILE_NAME_LENGTH] = "run.dat";
276 static char fltname[MAX_FILE_NAME_LENGTH] = "run.flt";
277 static char matname[MAX_FILE_NAME_LENGTH] = "run.m";
281 void ls_stamp( void ) {
282 char rcsid[] = "$Id$";
283 char revid[] = "$Revision$";
284 char dateid[] = "$Date$";
289 /* report version of LaRCsim*/
290 printf("\nLaRCsim %s, %s\n\n", revid, dateid);
292 nowtime_t = time( 0 );
293 nowtime = localtime( &nowtime_t ); /* set fields to correct time values */
294 date = (nowtime->tm_year)*10000
295 + (nowtime->tm_mon + 1)*100
296 + (nowtime->tm_mday);
297 sprintf(sim_control_.date_string, "%06d\0", date);
298 sprintf(sim_control_.time_stamp, "%02d:%02d:%02d\0",
299 nowtime->tm_hour, nowtime->tm_min, nowtime->tm_sec);
300 #ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
301 cuserid( sim_control_.userid ); /* set up user id */
302 #endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
306 void ls_setdefopts( void ) {
307 /* set default values for most options */
309 sim_control_.debug = 0; /* change to non-zero if in dbx! */
310 sim_control_.vision = 0;
311 sim_control_.write_av = 0; /* write Agile-Vu '.flt' file */
312 sim_control_.write_mat = 0; /* write matrix-x/matlab script */
313 sim_control_.write_tab = 0; /* write tab delim. history file */
314 sim_control_.write_asc1 = 0; /* write GetData file */
315 sim_control_.save_spacing = DEFAULT_SAVE_SPACING;
316 /* interpolation on recording */
317 sim_control_.write_spacing = DEFAULT_WRITE_SPACING;
318 /* interpolation on output */
319 sim_control_.end_time = DEFAULT_END_TIME;
320 sim_control_.model_hz = DEFAULT_MODEL_HZ;
321 sim_control_.term_update_hz = DEFAULT_TERM_UPDATE_HZ;
322 sim_control_.time_slices = (long int)(DEFAULT_END_TIME * DEFAULT_MODEL_HZ /
323 DEFAULT_SAVE_SPACING);
324 sim_control_.paused = 0;
330 /* return result codes from ls_checkopts */
335 #ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
340 int ls_checkopts(argc, argv) /* check and set options flags */
346 int mod_end_time = 0;
347 int mod_buf_size = 0;
348 float buffer_time, data_rate;
350 /* set default values */
352 buffer_time = sim_control_.time_slices * sim_control_.save_spacing /
353 sim_control_.model_hz;
354 data_rate = sim_control_.model_hz / sim_control_.save_spacing;
356 while ((c = getopt(argc, argv, "Aa:b:de:f:hi:kmo:r:s:t:x:")) != EOF)
359 if (sim_control_.sim_type == GLmouse)
361 fprintf(stderr, "Cannot specify both keyboard (k) and ACES (A) cockpits option\n");
362 fprintf(stderr, "Keyboard operation assumed.\n");
365 sim_control_.sim_type = cockpit;
368 sim_control_.write_av = 1;
371 strncpy(fltname, optarg, MAX_FILE_NAME_LENGTH);
376 buffer_time = atof(optarg);
377 if (buffer_time <= 0.) opt_err = -1;
381 sim_control_.debug = 1;
384 sim_control_.end_time = atof(optarg);
388 sim_control_.model_hz = atof(optarg);
394 /* ls_get_settings( optarg ); */
397 sim_control_.sim_type = GLmouse;
400 sim_control_.vision = 1;
403 sim_control_.term_update_hz = atof(optarg);
404 if (sim_control_.term_update_hz <= 0.) opt_err = 1;
407 sim_control_.write_mat = 1;
410 strncpy(matname, optarg, MAX_FILE_NAME_LENGTH);
415 data_rate = atof(optarg);
416 if (data_rate <= 0.) opt_err = -1;
419 sim_control_.write_tab = 1;
422 strncpy(tabname, optarg, MAX_FILE_NAME_LENGTH);
427 sim_control_.write_asc1 = 1;
430 strncpy(asc1name, optarg, MAX_FILE_NAME_LENGTH);
441 fprintf(stderr, "Usage: %s [-options]\n", progname);
442 fprintf(stderr, "\n");
443 fprintf(stderr, " where [-options] is zero or more of the following:\n");
444 fprintf(stderr, "\n");
445 fprintf(stderr, " [A|k] Run mode: [A]CES cockpit [default]\n");
446 fprintf(stderr, " or [k]eyboard\n");
447 fprintf(stderr, "\n");
448 fprintf(stderr, " [i <filename>] [i]nitial conditions filename\n");
449 fprintf(stderr, "\n");
450 fprintf(stderr, " [f <value>] Iteration rate [f]requency, Hz (default is %5.2f Hz)\n",
451 sim_control_.model_hz);
452 fprintf(stderr, "\n");
453 fprintf(stderr, " [o <value>] Display [o]utput frequency, Hz (default is %5.2f Hz)\n",
454 sim_control_.term_update_hz);
455 fprintf(stderr, "\n");
456 fprintf(stderr, " [s <value>] Data storage frequency, Hz (default is %5.2f Hz)\n",
458 fprintf(stderr, "\n");
459 fprintf(stderr, " [e <value>] [e]nd time in seconds (default %5.1f seconds)\n",
460 sim_control_.end_time);
461 fprintf(stderr, "\n");
462 fprintf(stderr, " [b <value>] circular time history storage [b]uffer size, in seconds \n");
463 fprintf(stderr, " (default %5.1f seconds) (normally same as end time)\n",
464 sim_control_.time_slices*sim_control_.save_spacing/
465 sim_control_.model_hz);
466 fprintf(stderr, "\n");
467 fprintf(stderr, " [atxr [<filename>]] Output: [a]gile-vu (default name: %s )\n", fltname);
468 fprintf(stderr, " and/or [t]ab delimited ( '' name: %s )\n", tabname);
469 fprintf(stderr, " and/or [x]plot (default name: %s)\n", asc1name);
470 fprintf(stderr, " and/or mat[r]ix script ( '' name: %s )\n", matname);
471 fprintf(stderr, "\n");
475 /* calculate additional controls */
477 sim_control_.save_spacing = (int) (0.5 + sim_control_.model_hz / data_rate);
478 if (sim_control_.save_spacing < 1) sim_control_.save_spacing = 1;
480 sim_control_.time_slices = buffer_time * sim_control_.model_hz /
481 sim_control_.save_spacing;
482 if (sim_control_.time_slices < 2) sim_control_.time_slices = 2;
486 #endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
489 void ls_loop( SCALAR dt, int initialize ) {
490 /* printf (" In ls_loop()\n"); */
491 ls_step( dt, initialize );
492 /* if (sim_control_.sim_type == cockpit ) ls_ACES(); */
494 ls_model( dt, initialize );
500 int ls_cockpit( void ) {
503 sim_control_.paused = 0;
505 // c = current_aircraft.controls;
507 // Lat_control = FG_Aileron;
508 // Long_control = FG_Elevator;
509 // Long_trim = FG_Elev_Trim;
510 // Rudder_pedal = FG_Rudder;
511 // Throttle_pct = FG_Throttle[0];
513 /* printf("Mach = %.2f ", Mach_number);
514 printf("%.4f,%.4f,%.2f ", Latitude, Longitude, Altitude);
515 printf("%.2f,%.2f,%.2f\n", Phi, Theta, Psi); */
521 /* Initialize the LaRCsim flight model, dt is the time increment for
522 each subsequent iteration through the EOM */
523 int ls_toplevel_init(double dt) {
526 ls_setdefopts(); /* set default options */
528 ls_stamp(); /* ID stamp; record time and date of run */
530 if (speedup == 0.0) {
531 fprintf(stderr, "%s: Cannot run with speedup of 0.\n", progname);
535 /* printf("LS pre Init pos = %.2f\n", Latitude); */
539 /* printf("LS post Init pos = %.2f\n", Latitude); */
542 /* Initialize (get) cockpit (controls) settings */
550 /* Run an iteration of the EOM (equations of motion) */
551 int ls_update(int multiloop) {
558 for ( i = 0; i < multiloop; i++ ) {
559 ls_loop( model_dt, 0);
567 /* Convert from the fgFLIGHT struct to the LaRCsim generic_ struct */
568 int fgFlight_2_LaRCsim (fgFLIGHT *f) {
574 Dx_pilot = FG_Dx_pilot;
575 Dy_pilot = FG_Dy_pilot;
576 Dz_pilot = FG_Dz_pilot;
583 F_north = FG_F_north;
586 F_X_aero = FG_F_X_aero;
587 F_Y_aero = FG_F_Y_aero;
588 F_Z_aero = FG_F_Z_aero;
589 F_X_engine = FG_F_X_engine;
590 F_Y_engine = FG_F_Y_engine;
591 F_Z_engine = FG_F_Z_engine;
592 F_X_gear = FG_F_X_gear;
593 F_Y_gear = FG_F_Y_gear;
594 F_Z_gear = FG_F_Z_gear;
601 M_l_aero = FG_M_l_aero;
602 M_m_aero = FG_M_m_aero;
603 M_n_aero = FG_M_n_aero;
604 M_l_engine = FG_M_l_engine;
605 M_m_engine = FG_M_m_engine;
606 M_n_engine = FG_M_n_engine;
607 M_l_gear = FG_M_l_gear;
608 M_m_gear = FG_M_m_gear;
609 M_n_gear = FG_M_n_gear;
610 V_dot_north = FG_V_dot_north;
611 V_dot_east = FG_V_dot_east;
612 V_dot_down = FG_V_dot_down;
613 U_dot_body = FG_U_dot_body;
614 V_dot_body = FG_V_dot_body;
615 W_dot_body = FG_W_dot_body;
619 A_X_pilot = FG_A_X_pilot;
620 A_Y_pilot = FG_A_Y_pilot;
621 A_Z_pilot = FG_A_Z_pilot;
625 N_X_pilot = FG_N_X_pilot;
626 N_Y_pilot = FG_N_Y_pilot;
627 N_Z_pilot = FG_N_Z_pilot;
628 P_dot_body = FG_P_dot_body;
629 Q_dot_body = FG_Q_dot_body;
630 R_dot_body = FG_R_dot_body;
631 V_north = FG_V_north;
634 V_north_rel_ground = FG_V_north_rel_ground;
635 V_east_rel_ground = FG_V_east_rel_ground;
636 V_down_rel_ground = FG_V_down_rel_ground;
637 V_north_airmass = FG_V_north_airmass;
638 V_east_airmass = FG_V_east_airmass;
639 V_down_airmass = FG_V_down_airmass;
640 V_north_rel_airmass = FG_V_north_rel_airmass;
641 V_east_rel_airmass = FG_V_east_rel_airmass;
642 V_down_rel_airmass = FG_V_down_rel_airmass;
649 V_rel_wind = FG_V_rel_wind;
650 V_true_kts = FG_V_true_kts;
651 V_rel_ground = FG_V_rel_ground;
652 V_inertial = FG_V_inertial;
653 V_ground_speed = FG_V_ground_speed;
654 V_equiv = FG_V_equiv;
655 V_equiv_kts = FG_V_equiv_kts;
656 V_calibrated = FG_V_calibrated;
657 V_calibrated_kts = FG_V_calibrated_kts;
661 P_local = FG_P_local;
662 Q_local = FG_Q_local;
663 R_local = FG_R_local;
664 P_total = FG_P_total;
665 Q_total = FG_Q_total;
666 R_total = FG_R_total;
667 Phi_dot = FG_Phi_dot;
668 Theta_dot = FG_Theta_dot;
669 Psi_dot = FG_Psi_dot;
670 Latitude_dot = FG_Latitude_dot;
671 Longitude_dot = FG_Longitude_dot;
672 Radius_dot = FG_Radius_dot;
673 Lat_geocentric = FG_Lat_geocentric;
674 Lon_geocentric = FG_Lon_geocentric;
675 Radius_to_vehicle = FG_Radius_to_vehicle;
676 Latitude = FG_Latitude;
677 Longitude = FG_Longitude;
678 Altitude = FG_Altitude;
682 T_local_to_body_11 = FG_T_local_to_body_11;
683 T_local_to_body_12 = FG_T_local_to_body_12;
684 T_local_to_body_13 = FG_T_local_to_body_13;
685 T_local_to_body_21 = FG_T_local_to_body_21;
686 T_local_to_body_22 = FG_T_local_to_body_22;
687 T_local_to_body_23 = FG_T_local_to_body_23;
688 T_local_to_body_31 = FG_T_local_to_body_31;
689 T_local_to_body_32 = FG_T_local_to_body_32;
690 T_local_to_body_33 = FG_T_local_to_body_33;
691 Gravity = FG_Gravity;
692 Centrifugal_relief = FG_Centrifugal_relief;
695 Alpha_dot = FG_Alpha_dot;
696 Beta_dot = FG_Beta_dot;
697 Cos_alpha = FG_Cos_alpha;
698 Sin_alpha = FG_Sin_alpha;
699 Cos_beta = FG_Cos_beta;
700 Sin_beta = FG_Sin_beta;
701 Cos_phi = FG_Cos_phi;
702 Sin_phi = FG_Sin_phi;
703 Cos_theta = FG_Cos_theta;
704 Sin_theta = FG_Sin_theta;
705 Cos_psi = FG_Cos_psi;
706 Sin_psi = FG_Sin_psi;
707 Gamma_vert_rad = FG_Gamma_vert_rad;
708 Gamma_horiz_rad = FG_Gamma_horiz_rad;
710 Density = FG_Density;
711 V_sound = FG_V_sound;
712 Mach_number = FG_Mach_number;
713 Static_pressure = FG_Static_pressure;
714 Total_pressure = FG_Total_pressure;
715 Impact_pressure = FG_Impact_pressure;
716 Dynamic_pressure = FG_Dynamic_pressure;
717 Static_temperature = FG_Static_temperature;
718 Total_temperature = FG_Total_temperature;
719 Sea_level_radius = FG_Sea_level_radius;
720 Earth_position_angle = FG_Earth_position_angle;
721 Runway_altitude = FG_Runway_altitude;
722 Runway_latitude = FG_Runway_latitude;
723 Runway_longitude = FG_Runway_longitude;
724 Runway_heading = FG_Runway_heading;
725 Radius_to_rwy = FG_Radius_to_rwy;
726 D_cg_north_of_rwy = FG_D_cg_north_of_rwy;
727 D_cg_east_of_rwy = FG_D_cg_east_of_rwy;
728 D_cg_above_rwy = FG_D_cg_above_rwy;
729 X_cg_rwy = FG_X_cg_rwy;
730 Y_cg_rwy = FG_Y_cg_rwy;
731 H_cg_rwy = FG_H_cg_rwy;
732 D_pilot_north_of_rwy = FG_D_pilot_north_of_rwy;
733 D_pilot_east_of_rwy = FG_D_pilot_east_of_rwy;
734 D_pilot_above_rwy = FG_D_pilot_above_rwy;
735 X_pilot_rwy = FG_X_pilot_rwy;
736 Y_pilot_rwy = FG_Y_pilot_rwy;
737 H_pilot_rwy = FG_H_pilot_rwy;
743 /* Convert from the LaRCsim generic_ struct to the fgFLIGHT struct */
744 int fgLaRCsim_2_Flight (fgFLIGHT *f) {
750 FG_Dx_pilot = Dx_pilot;
751 FG_Dy_pilot = Dy_pilot;
752 FG_Dz_pilot = Dz_pilot;
759 FG_F_north = F_north;
762 FG_F_X_aero = F_X_aero;
763 FG_F_Y_aero = F_Y_aero;
764 FG_F_Z_aero = F_Z_aero;
765 FG_F_X_engine = F_X_engine;
766 FG_F_Y_engine = F_Y_engine;
767 FG_F_Z_engine = F_Z_engine;
768 FG_F_X_gear = F_X_gear;
769 FG_F_Y_gear = F_Y_gear;
770 FG_F_Z_gear = F_Z_gear;
777 FG_M_l_aero = M_l_aero;
778 FG_M_m_aero = M_m_aero;
779 FG_M_n_aero = M_n_aero;
780 FG_M_l_engine = M_l_engine;
781 FG_M_m_engine = M_m_engine;
782 FG_M_n_engine = M_n_engine;
783 FG_M_l_gear = M_l_gear;
784 FG_M_m_gear = M_m_gear;
785 FG_M_n_gear = M_n_gear;
786 FG_V_dot_north = V_dot_north;
787 FG_V_dot_east = V_dot_east;
788 FG_V_dot_down = V_dot_down;
789 FG_U_dot_body = U_dot_body;
790 FG_V_dot_body = V_dot_body;
791 FG_W_dot_body = W_dot_body;
795 FG_A_X_pilot = A_X_pilot;
796 FG_A_Y_pilot = A_Y_pilot;
797 FG_A_Z_pilot = A_Z_pilot;
801 FG_N_X_pilot = N_X_pilot;
802 FG_N_Y_pilot = N_Y_pilot;
803 FG_N_Z_pilot = N_Z_pilot;
804 FG_P_dot_body = P_dot_body;
805 FG_Q_dot_body = Q_dot_body;
806 FG_R_dot_body = R_dot_body;
807 FG_V_north = V_north;
810 FG_V_north_rel_ground = V_north_rel_ground;
811 FG_V_east_rel_ground = V_east_rel_ground;
812 FG_V_down_rel_ground = V_down_rel_ground;
813 FG_V_north_airmass = V_north_airmass;
814 FG_V_east_airmass = V_east_airmass;
815 FG_V_down_airmass = V_down_airmass;
816 FG_V_north_rel_airmass = V_north_rel_airmass;
817 FG_V_east_rel_airmass = V_east_rel_airmass;
818 FG_V_down_rel_airmass = V_down_rel_airmass;
825 FG_V_rel_wind = V_rel_wind;
826 FG_V_true_kts = V_true_kts;
827 FG_V_rel_ground = V_rel_ground;
828 FG_V_inertial = V_inertial;
829 FG_V_ground_speed = V_ground_speed;
830 FG_V_equiv = V_equiv;
831 FG_V_equiv_kts = V_equiv_kts;
832 FG_V_calibrated = V_calibrated;
833 FG_V_calibrated_kts = V_calibrated_kts;
837 FG_P_local = P_local;
838 FG_Q_local = Q_local;
839 FG_R_local = R_local;
840 FG_P_total = P_total;
841 FG_Q_total = Q_total;
842 FG_R_total = R_total;
843 FG_Phi_dot = Phi_dot;
844 FG_Theta_dot = Theta_dot;
845 FG_Psi_dot = Psi_dot;
846 FG_Latitude_dot = Latitude_dot;
847 FG_Longitude_dot = Longitude_dot;
848 FG_Radius_dot = Radius_dot;
849 FG_Lat_geocentric = Lat_geocentric;
850 FG_Lon_geocentric = Lon_geocentric;
851 FG_Radius_to_vehicle = Radius_to_vehicle;
852 FG_Latitude = Latitude;
853 FG_Longitude = Longitude;
854 FG_Altitude = Altitude;
858 FG_T_local_to_body_11 = T_local_to_body_11;
859 FG_T_local_to_body_12 = T_local_to_body_12;
860 FG_T_local_to_body_13 = T_local_to_body_13;
861 FG_T_local_to_body_21 = T_local_to_body_21;
862 FG_T_local_to_body_22 = T_local_to_body_22;
863 FG_T_local_to_body_23 = T_local_to_body_23;
864 FG_T_local_to_body_31 = T_local_to_body_31;
865 FG_T_local_to_body_32 = T_local_to_body_32;
866 FG_T_local_to_body_33 = T_local_to_body_33;
867 FG_Gravity = Gravity;
868 FG_Centrifugal_relief = Centrifugal_relief;
871 FG_Alpha_dot = Alpha_dot;
872 FG_Beta_dot = Beta_dot;
873 FG_Cos_alpha = Cos_alpha;
874 FG_Sin_alpha = Sin_alpha;
875 FG_Cos_beta = Cos_beta;
876 FG_Sin_beta = Sin_beta;
877 FG_Cos_phi = Cos_phi;
878 FG_Sin_phi = Sin_phi;
879 FG_Cos_theta = Cos_theta;
880 FG_Sin_theta = Sin_theta;
881 FG_Cos_psi = Cos_psi;
882 FG_Sin_psi = Sin_psi;
883 FG_Gamma_vert_rad = Gamma_vert_rad;
884 FG_Gamma_horiz_rad = Gamma_horiz_rad;
886 FG_Density = Density;
887 FG_V_sound = V_sound;
888 FG_Mach_number = Mach_number;
889 FG_Static_pressure = Static_pressure;
890 FG_Total_pressure = Total_pressure;
891 FG_Impact_pressure = Impact_pressure;
892 FG_Dynamic_pressure = Dynamic_pressure;
893 FG_Static_temperature = Static_temperature;
894 FG_Total_temperature = Total_temperature;
895 FG_Sea_level_radius = Sea_level_radius;
896 FG_Earth_position_angle = Earth_position_angle;
897 FG_Runway_altitude = Runway_altitude;
898 FG_Runway_latitude = Runway_latitude;
899 FG_Runway_longitude = Runway_longitude;
900 FG_Runway_heading = Runway_heading;
901 FG_Radius_to_rwy = Radius_to_rwy;
902 FG_D_cg_north_of_rwy = D_cg_north_of_rwy;
903 FG_D_cg_east_of_rwy = D_cg_east_of_rwy;
904 FG_D_cg_above_rwy = D_cg_above_rwy;
905 FG_X_cg_rwy = X_cg_rwy;
906 FG_Y_cg_rwy = Y_cg_rwy;
907 FG_H_cg_rwy = H_cg_rwy;
908 FG_D_pilot_north_of_rwy = D_pilot_north_of_rwy;
909 FG_D_pilot_east_of_rwy = D_pilot_east_of_rwy;
910 FG_D_pilot_above_rwy = D_pilot_above_rwy;
911 FG_X_pilot_rwy = X_pilot_rwy;
912 FG_Y_pilot_rwy = Y_pilot_rwy;
913 FG_H_pilot_rwy = H_pilot_rwy;
919 /* Set the altitude (force) */
920 int ls_ForceAltitude(double alt_feet) {
922 ls_geod_to_geoc( Latitude, Altitude, &Sea_level_radius, &Lat_geocentric);
923 Radius_to_vehicle = Altitude + Sea_level_radius;
927 /* Flight Gear Modification Log
930 * Revision 1.23 1998/10/16 23:27:44 curt
933 * Revision 1.22 1998/09/29 02:02:59 curt
934 * Added a brake + autopilot mods.
936 * Revision 1.21 1998/08/22 14:49:56 curt
937 * Attempting to iron out seg faults and crashes.
938 * Did some shuffling to fix a initialization order problem between view
939 * position, scenery elevation.
941 * Revision 1.20 1998/07/12 03:11:03 curt
942 * Removed some printf()'s.
943 * Fixed the autopilot integration so it should be able to update it's control
944 * positions every time the internal flight model loop is run, and not just
945 * once per rendered frame.
946 * Added a routine to do the necessary stuff to force an arbitrary altitude
948 * Gave the Navion engine just a tad more power.
950 * Revision 1.19 1998/05/11 18:17:28 curt
951 * Output message tweaking.
953 * Revision 1.18 1998/04/21 16:59:38 curt
954 * Integrated autopilot.
955 * Prepairing for C++ integration.
957 * Revision 1.17 1998/02/23 19:07:58 curt
958 * Incorporated Durk's Astro/ tweaks. Includes unifying the sun position
959 * calculation code between sun display, and other FG sections that use this
960 * for things like lighting.
962 * Revision 1.16 1998/02/07 15:29:38 curt
963 * Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
964 * <chotchkiss@namg.us.anritsu.com>
966 * Revision 1.15 1998/01/22 22:03:47 curt
967 * Removed #include <sys/stat.h>
969 * Revision 1.14 1998/01/19 19:27:04 curt
970 * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
971 * This should simplify things tremendously.
973 * Revision 1.13 1998/01/19 18:40:26 curt
974 * Tons of little changes to clean up the code and to remove fatal errors
975 * when building with the c++ compiler.
977 * Revision 1.12 1998/01/06 01:20:16 curt
978 * Tweaks to help building with MSVC++
980 * Revision 1.11 1998/01/05 22:19:26 curt
981 * #ifdef'd out some unused code that was problematic for MSVC++ to compile.
983 * Revision 1.10 1997/12/10 22:37:43 curt
984 * Prepended "fg" on the name of all global structures that didn't have it yet.
985 * i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
987 * Revision 1.9 1997/08/27 03:30:08 curt
988 * Changed naming scheme of basic shared structures.
990 * Revision 1.8 1997/06/21 17:12:50 curt
991 * Capitalized subdirectory names.
993 * Revision 1.7 1997/05/31 19:16:28 curt
994 * Elevator trim added.
996 * Revision 1.6 1997/05/31 04:13:53 curt
999 * Continuing work on the LaRCsim flight model integration.
1000 * Added some MSFS-like keyboard input handling.
1002 * Revision 1.5 1997/05/30 23:26:25 curt
1003 * Added elevator/aileron controls.
1005 * Revision 1.4 1997/05/30 19:30:15 curt
1006 * The LaRCsim flight model is starting to look like it is working.
1008 * Revision 1.3 1997/05/30 03:54:12 curt
1009 * Made a bit more progress towards integrating the LaRCsim flight model.
1011 * Revision 1.2 1997/05/29 22:39:59 curt
1012 * Working on incorporating the LaRCsim flight model.
1014 * Revision 1.1 1997/05/29 00:09:57 curt
1015 * Initial Flight Gear revision.