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 fgLaRCsimInit(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 fgLaRCsimUpdate(fgFLIGHT *f, int multiloop) {
552 double save_alt = 0.0;
559 /* lets try to avoid really screwing up the LaRCsim model */
560 if ( FG_Altitude < -9000 ) {
561 save_alt = FG_Altitude;
565 // translate FG to LaRCsim structure
566 fgFlight_2_LaRCsim(f);
567 // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
568 // printf("Altitude = %.2f\n", Altitude * 0.3048);
569 // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
571 for ( i = 0; i < multiloop; i++ ) {
572 ls_loop( model_dt, 0);
575 // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
576 // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
578 // translate LaRCsim back to FG structure so that the
579 // autopilot (and the rest of the sim can use the updated
581 fgLaRCsim_2_Flight(f);
583 /* but lets restore our original bogus altitude when we are done */
584 if ( save_alt < -9000 ) {
585 FG_Altitude = save_alt;
592 /* Convert from the fgFLIGHT struct to the LaRCsim generic_ struct */
593 int fgFlight_2_LaRCsim (fgFLIGHT *f) {
599 Dx_pilot = FG_Dx_pilot;
600 Dy_pilot = FG_Dy_pilot;
601 Dz_pilot = FG_Dz_pilot;
608 F_north = FG_F_north;
611 F_X_aero = FG_F_X_aero;
612 F_Y_aero = FG_F_Y_aero;
613 F_Z_aero = FG_F_Z_aero;
614 F_X_engine = FG_F_X_engine;
615 F_Y_engine = FG_F_Y_engine;
616 F_Z_engine = FG_F_Z_engine;
617 F_X_gear = FG_F_X_gear;
618 F_Y_gear = FG_F_Y_gear;
619 F_Z_gear = FG_F_Z_gear;
626 M_l_aero = FG_M_l_aero;
627 M_m_aero = FG_M_m_aero;
628 M_n_aero = FG_M_n_aero;
629 M_l_engine = FG_M_l_engine;
630 M_m_engine = FG_M_m_engine;
631 M_n_engine = FG_M_n_engine;
632 M_l_gear = FG_M_l_gear;
633 M_m_gear = FG_M_m_gear;
634 M_n_gear = FG_M_n_gear;
635 V_dot_north = FG_V_dot_north;
636 V_dot_east = FG_V_dot_east;
637 V_dot_down = FG_V_dot_down;
638 U_dot_body = FG_U_dot_body;
639 V_dot_body = FG_V_dot_body;
640 W_dot_body = FG_W_dot_body;
644 A_X_pilot = FG_A_X_pilot;
645 A_Y_pilot = FG_A_Y_pilot;
646 A_Z_pilot = FG_A_Z_pilot;
650 N_X_pilot = FG_N_X_pilot;
651 N_Y_pilot = FG_N_Y_pilot;
652 N_Z_pilot = FG_N_Z_pilot;
653 P_dot_body = FG_P_dot_body;
654 Q_dot_body = FG_Q_dot_body;
655 R_dot_body = FG_R_dot_body;
656 V_north = FG_V_north;
659 V_north_rel_ground = FG_V_north_rel_ground;
660 V_east_rel_ground = FG_V_east_rel_ground;
661 V_down_rel_ground = FG_V_down_rel_ground;
662 V_north_airmass = FG_V_north_airmass;
663 V_east_airmass = FG_V_east_airmass;
664 V_down_airmass = FG_V_down_airmass;
665 V_north_rel_airmass = FG_V_north_rel_airmass;
666 V_east_rel_airmass = FG_V_east_rel_airmass;
667 V_down_rel_airmass = FG_V_down_rel_airmass;
674 V_rel_wind = FG_V_rel_wind;
675 V_true_kts = FG_V_true_kts;
676 V_rel_ground = FG_V_rel_ground;
677 V_inertial = FG_V_inertial;
678 V_ground_speed = FG_V_ground_speed;
679 V_equiv = FG_V_equiv;
680 V_equiv_kts = FG_V_equiv_kts;
681 V_calibrated = FG_V_calibrated;
682 V_calibrated_kts = FG_V_calibrated_kts;
686 P_local = FG_P_local;
687 Q_local = FG_Q_local;
688 R_local = FG_R_local;
689 P_total = FG_P_total;
690 Q_total = FG_Q_total;
691 R_total = FG_R_total;
692 Phi_dot = FG_Phi_dot;
693 Theta_dot = FG_Theta_dot;
694 Psi_dot = FG_Psi_dot;
695 Latitude_dot = FG_Latitude_dot;
696 Longitude_dot = FG_Longitude_dot;
697 Radius_dot = FG_Radius_dot;
698 Lat_geocentric = FG_Lat_geocentric;
699 Lon_geocentric = FG_Lon_geocentric;
700 Radius_to_vehicle = FG_Radius_to_vehicle;
701 Latitude = FG_Latitude;
702 Longitude = FG_Longitude;
703 Altitude = FG_Altitude;
707 T_local_to_body_11 = FG_T_local_to_body_11;
708 T_local_to_body_12 = FG_T_local_to_body_12;
709 T_local_to_body_13 = FG_T_local_to_body_13;
710 T_local_to_body_21 = FG_T_local_to_body_21;
711 T_local_to_body_22 = FG_T_local_to_body_22;
712 T_local_to_body_23 = FG_T_local_to_body_23;
713 T_local_to_body_31 = FG_T_local_to_body_31;
714 T_local_to_body_32 = FG_T_local_to_body_32;
715 T_local_to_body_33 = FG_T_local_to_body_33;
716 Gravity = FG_Gravity;
717 Centrifugal_relief = FG_Centrifugal_relief;
720 Alpha_dot = FG_Alpha_dot;
721 Beta_dot = FG_Beta_dot;
722 Cos_alpha = FG_Cos_alpha;
723 Sin_alpha = FG_Sin_alpha;
724 Cos_beta = FG_Cos_beta;
725 Sin_beta = FG_Sin_beta;
726 Cos_phi = FG_Cos_phi;
727 Sin_phi = FG_Sin_phi;
728 Cos_theta = FG_Cos_theta;
729 Sin_theta = FG_Sin_theta;
730 Cos_psi = FG_Cos_psi;
731 Sin_psi = FG_Sin_psi;
732 Gamma_vert_rad = FG_Gamma_vert_rad;
733 Gamma_horiz_rad = FG_Gamma_horiz_rad;
735 Density = FG_Density;
736 V_sound = FG_V_sound;
737 Mach_number = FG_Mach_number;
738 Static_pressure = FG_Static_pressure;
739 Total_pressure = FG_Total_pressure;
740 Impact_pressure = FG_Impact_pressure;
741 Dynamic_pressure = FG_Dynamic_pressure;
742 Static_temperature = FG_Static_temperature;
743 Total_temperature = FG_Total_temperature;
744 Sea_level_radius = FG_Sea_level_radius;
745 Earth_position_angle = FG_Earth_position_angle;
746 Runway_altitude = FG_Runway_altitude;
747 Runway_latitude = FG_Runway_latitude;
748 Runway_longitude = FG_Runway_longitude;
749 Runway_heading = FG_Runway_heading;
750 Radius_to_rwy = FG_Radius_to_rwy;
751 D_cg_north_of_rwy = FG_D_cg_north_of_rwy;
752 D_cg_east_of_rwy = FG_D_cg_east_of_rwy;
753 D_cg_above_rwy = FG_D_cg_above_rwy;
754 X_cg_rwy = FG_X_cg_rwy;
755 Y_cg_rwy = FG_Y_cg_rwy;
756 H_cg_rwy = FG_H_cg_rwy;
757 D_pilot_north_of_rwy = FG_D_pilot_north_of_rwy;
758 D_pilot_east_of_rwy = FG_D_pilot_east_of_rwy;
759 D_pilot_above_rwy = FG_D_pilot_above_rwy;
760 X_pilot_rwy = FG_X_pilot_rwy;
761 Y_pilot_rwy = FG_Y_pilot_rwy;
762 H_pilot_rwy = FG_H_pilot_rwy;
768 /* Convert from the LaRCsim generic_ struct to the fgFLIGHT struct */
769 int fgLaRCsim_2_Flight (fgFLIGHT *f) {
775 FG_Dx_pilot = Dx_pilot;
776 FG_Dy_pilot = Dy_pilot;
777 FG_Dz_pilot = Dz_pilot;
784 FG_F_north = F_north;
787 FG_F_X_aero = F_X_aero;
788 FG_F_Y_aero = F_Y_aero;
789 FG_F_Z_aero = F_Z_aero;
790 FG_F_X_engine = F_X_engine;
791 FG_F_Y_engine = F_Y_engine;
792 FG_F_Z_engine = F_Z_engine;
793 FG_F_X_gear = F_X_gear;
794 FG_F_Y_gear = F_Y_gear;
795 FG_F_Z_gear = F_Z_gear;
802 FG_M_l_aero = M_l_aero;
803 FG_M_m_aero = M_m_aero;
804 FG_M_n_aero = M_n_aero;
805 FG_M_l_engine = M_l_engine;
806 FG_M_m_engine = M_m_engine;
807 FG_M_n_engine = M_n_engine;
808 FG_M_l_gear = M_l_gear;
809 FG_M_m_gear = M_m_gear;
810 FG_M_n_gear = M_n_gear;
811 FG_V_dot_north = V_dot_north;
812 FG_V_dot_east = V_dot_east;
813 FG_V_dot_down = V_dot_down;
814 FG_U_dot_body = U_dot_body;
815 FG_V_dot_body = V_dot_body;
816 FG_W_dot_body = W_dot_body;
820 FG_A_X_pilot = A_X_pilot;
821 FG_A_Y_pilot = A_Y_pilot;
822 FG_A_Z_pilot = A_Z_pilot;
826 FG_N_X_pilot = N_X_pilot;
827 FG_N_Y_pilot = N_Y_pilot;
828 FG_N_Z_pilot = N_Z_pilot;
829 FG_P_dot_body = P_dot_body;
830 FG_Q_dot_body = Q_dot_body;
831 FG_R_dot_body = R_dot_body;
832 FG_V_north = V_north;
835 FG_V_north_rel_ground = V_north_rel_ground;
836 FG_V_east_rel_ground = V_east_rel_ground;
837 FG_V_down_rel_ground = V_down_rel_ground;
838 FG_V_north_airmass = V_north_airmass;
839 FG_V_east_airmass = V_east_airmass;
840 FG_V_down_airmass = V_down_airmass;
841 FG_V_north_rel_airmass = V_north_rel_airmass;
842 FG_V_east_rel_airmass = V_east_rel_airmass;
843 FG_V_down_rel_airmass = V_down_rel_airmass;
850 FG_V_rel_wind = V_rel_wind;
851 FG_V_true_kts = V_true_kts;
852 FG_V_rel_ground = V_rel_ground;
853 FG_V_inertial = V_inertial;
854 FG_V_ground_speed = V_ground_speed;
855 FG_V_equiv = V_equiv;
856 FG_V_equiv_kts = V_equiv_kts;
857 FG_V_calibrated = V_calibrated;
858 FG_V_calibrated_kts = V_calibrated_kts;
862 FG_P_local = P_local;
863 FG_Q_local = Q_local;
864 FG_R_local = R_local;
865 FG_P_total = P_total;
866 FG_Q_total = Q_total;
867 FG_R_total = R_total;
868 FG_Phi_dot = Phi_dot;
869 FG_Theta_dot = Theta_dot;
870 FG_Psi_dot = Psi_dot;
871 FG_Latitude_dot = Latitude_dot;
872 FG_Longitude_dot = Longitude_dot;
873 FG_Radius_dot = Radius_dot;
874 FG_Lat_geocentric = Lat_geocentric;
875 FG_Lon_geocentric = Lon_geocentric;
876 FG_Radius_to_vehicle = Radius_to_vehicle;
877 FG_Latitude = Latitude;
878 FG_Longitude = Longitude;
879 FG_Altitude = Altitude;
883 FG_T_local_to_body_11 = T_local_to_body_11;
884 FG_T_local_to_body_12 = T_local_to_body_12;
885 FG_T_local_to_body_13 = T_local_to_body_13;
886 FG_T_local_to_body_21 = T_local_to_body_21;
887 FG_T_local_to_body_22 = T_local_to_body_22;
888 FG_T_local_to_body_23 = T_local_to_body_23;
889 FG_T_local_to_body_31 = T_local_to_body_31;
890 FG_T_local_to_body_32 = T_local_to_body_32;
891 FG_T_local_to_body_33 = T_local_to_body_33;
892 FG_Gravity = Gravity;
893 FG_Centrifugal_relief = Centrifugal_relief;
896 FG_Alpha_dot = Alpha_dot;
897 FG_Beta_dot = Beta_dot;
898 FG_Cos_alpha = Cos_alpha;
899 FG_Sin_alpha = Sin_alpha;
900 FG_Cos_beta = Cos_beta;
901 FG_Sin_beta = Sin_beta;
902 FG_Cos_phi = Cos_phi;
903 FG_Sin_phi = Sin_phi;
904 FG_Cos_theta = Cos_theta;
905 FG_Sin_theta = Sin_theta;
906 FG_Cos_psi = Cos_psi;
907 FG_Sin_psi = Sin_psi;
908 FG_Gamma_vert_rad = Gamma_vert_rad;
909 FG_Gamma_horiz_rad = Gamma_horiz_rad;
911 FG_Density = Density;
912 FG_V_sound = V_sound;
913 FG_Mach_number = Mach_number;
914 FG_Static_pressure = Static_pressure;
915 FG_Total_pressure = Total_pressure;
916 FG_Impact_pressure = Impact_pressure;
917 FG_Dynamic_pressure = Dynamic_pressure;
918 FG_Static_temperature = Static_temperature;
919 FG_Total_temperature = Total_temperature;
920 FG_Sea_level_radius = Sea_level_radius;
921 FG_Earth_position_angle = Earth_position_angle;
922 FG_Runway_altitude = Runway_altitude;
923 FG_Runway_latitude = Runway_latitude;
924 FG_Runway_longitude = Runway_longitude;
925 FG_Runway_heading = Runway_heading;
926 FG_Radius_to_rwy = Radius_to_rwy;
927 FG_D_cg_north_of_rwy = D_cg_north_of_rwy;
928 FG_D_cg_east_of_rwy = D_cg_east_of_rwy;
929 FG_D_cg_above_rwy = D_cg_above_rwy;
930 FG_X_cg_rwy = X_cg_rwy;
931 FG_Y_cg_rwy = Y_cg_rwy;
932 FG_H_cg_rwy = H_cg_rwy;
933 FG_D_pilot_north_of_rwy = D_pilot_north_of_rwy;
934 FG_D_pilot_east_of_rwy = D_pilot_east_of_rwy;
935 FG_D_pilot_above_rwy = D_pilot_above_rwy;
936 FG_X_pilot_rwy = X_pilot_rwy;
937 FG_Y_pilot_rwy = Y_pilot_rwy;
938 FG_H_pilot_rwy = H_pilot_rwy;
944 /* Set the altitude (force) */
945 int ls_ForceAltitude(double alt_feet) {
947 ls_geod_to_geoc( Latitude, Altitude, &Sea_level_radius, &Lat_geocentric);
948 Radius_to_vehicle = Altitude + Sea_level_radius;
952 /* Flight Gear Modification Log
955 * Revision 1.22 1998/09/29 02:02:59 curt
956 * Added a brake + autopilot mods.
958 * Revision 1.21 1998/08/22 14:49:56 curt
959 * Attempting to iron out seg faults and crashes.
960 * Did some shuffling to fix a initialization order problem between view
961 * position, scenery elevation.
963 * Revision 1.20 1998/07/12 03:11:03 curt
964 * Removed some printf()'s.
965 * Fixed the autopilot integration so it should be able to update it's control
966 * positions every time the internal flight model loop is run, and not just
967 * once per rendered frame.
968 * Added a routine to do the necessary stuff to force an arbitrary altitude
970 * Gave the Navion engine just a tad more power.
972 * Revision 1.19 1998/05/11 18:17:28 curt
973 * Output message tweaking.
975 * Revision 1.18 1998/04/21 16:59:38 curt
976 * Integrated autopilot.
977 * Prepairing for C++ integration.
979 * Revision 1.17 1998/02/23 19:07:58 curt
980 * Incorporated Durk's Astro/ tweaks. Includes unifying the sun position
981 * calculation code between sun display, and other FG sections that use this
982 * for things like lighting.
984 * Revision 1.16 1998/02/07 15:29:38 curt
985 * Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
986 * <chotchkiss@namg.us.anritsu.com>
988 * Revision 1.15 1998/01/22 22:03:47 curt
989 * Removed #include <sys/stat.h>
991 * Revision 1.14 1998/01/19 19:27:04 curt
992 * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
993 * This should simplify things tremendously.
995 * Revision 1.13 1998/01/19 18:40:26 curt
996 * Tons of little changes to clean up the code and to remove fatal errors
997 * when building with the c++ compiler.
999 * Revision 1.12 1998/01/06 01:20:16 curt
1000 * Tweaks to help building with MSVC++
1002 * Revision 1.11 1998/01/05 22:19:26 curt
1003 * #ifdef'd out some unused code that was problematic for MSVC++ to compile.
1005 * Revision 1.10 1997/12/10 22:37:43 curt
1006 * Prepended "fg" on the name of all global structures that didn't have it yet.
1007 * i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
1009 * Revision 1.9 1997/08/27 03:30:08 curt
1010 * Changed naming scheme of basic shared structures.
1012 * Revision 1.8 1997/06/21 17:12:50 curt
1013 * Capitalized subdirectory names.
1015 * Revision 1.7 1997/05/31 19:16:28 curt
1016 * Elevator trim added.
1018 * Revision 1.6 1997/05/31 04:13:53 curt
1021 * Continuing work on the LaRCsim flight model integration.
1022 * Added some MSFS-like keyboard input handling.
1024 * Revision 1.5 1997/05/30 23:26:25 curt
1025 * Added elevator/aileron controls.
1027 * Revision 1.4 1997/05/30 19:30:15 curt
1028 * The LaRCsim flight model is starting to look like it is working.
1030 * Revision 1.3 1997/05/30 03:54:12 curt
1031 * Made a bit more progress towards integrating the LaRCsim flight model.
1033 * Revision 1.2 1997/05/29 22:39:59 curt
1034 * Working on incorporating the LaRCsim flight model.
1036 * Revision 1.1 1997/05/29 00:09:57 curt
1037 * Initial Flight Gear revision.