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"
243 #include <Flight/flight.h>
244 #include <Aircraft/aircraft.h>
245 #include <Autopilot/autopilot.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) {
558 for ( i = 0; i < multiloop; i++ ) {
559 //Insertion by Jeff Goeke-Smith for Autopilot.
561 // run Autopilot system
562 // fgPrintf( FG_ALL, FG_BULK, "Attempting autopilot run\n");
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);
573 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);
588 /* Convert from the fgFLIGHT struct to the LaRCsim generic_ struct */
589 int fgFlight_2_LaRCsim (fgFLIGHT *f) {
595 Dx_pilot = FG_Dx_pilot;
596 Dy_pilot = FG_Dy_pilot;
597 Dz_pilot = FG_Dz_pilot;
604 F_north = FG_F_north;
607 F_X_aero = FG_F_X_aero;
608 F_Y_aero = FG_F_Y_aero;
609 F_Z_aero = FG_F_Z_aero;
610 F_X_engine = FG_F_X_engine;
611 F_Y_engine = FG_F_Y_engine;
612 F_Z_engine = FG_F_Z_engine;
613 F_X_gear = FG_F_X_gear;
614 F_Y_gear = FG_F_Y_gear;
615 F_Z_gear = FG_F_Z_gear;
622 M_l_aero = FG_M_l_aero;
623 M_m_aero = FG_M_m_aero;
624 M_n_aero = FG_M_n_aero;
625 M_l_engine = FG_M_l_engine;
626 M_m_engine = FG_M_m_engine;
627 M_n_engine = FG_M_n_engine;
628 M_l_gear = FG_M_l_gear;
629 M_m_gear = FG_M_m_gear;
630 M_n_gear = FG_M_n_gear;
631 V_dot_north = FG_V_dot_north;
632 V_dot_east = FG_V_dot_east;
633 V_dot_down = FG_V_dot_down;
634 U_dot_body = FG_U_dot_body;
635 V_dot_body = FG_V_dot_body;
636 W_dot_body = FG_W_dot_body;
640 A_X_pilot = FG_A_X_pilot;
641 A_Y_pilot = FG_A_Y_pilot;
642 A_Z_pilot = FG_A_Z_pilot;
646 N_X_pilot = FG_N_X_pilot;
647 N_Y_pilot = FG_N_Y_pilot;
648 N_Z_pilot = FG_N_Z_pilot;
649 P_dot_body = FG_P_dot_body;
650 Q_dot_body = FG_Q_dot_body;
651 R_dot_body = FG_R_dot_body;
652 V_north = FG_V_north;
655 V_north_rel_ground = FG_V_north_rel_ground;
656 V_east_rel_ground = FG_V_east_rel_ground;
657 V_down_rel_ground = FG_V_down_rel_ground;
658 V_north_airmass = FG_V_north_airmass;
659 V_east_airmass = FG_V_east_airmass;
660 V_down_airmass = FG_V_down_airmass;
661 V_north_rel_airmass = FG_V_north_rel_airmass;
662 V_east_rel_airmass = FG_V_east_rel_airmass;
663 V_down_rel_airmass = FG_V_down_rel_airmass;
670 V_rel_wind = FG_V_rel_wind;
671 V_true_kts = FG_V_true_kts;
672 V_rel_ground = FG_V_rel_ground;
673 V_inertial = FG_V_inertial;
674 V_ground_speed = FG_V_ground_speed;
675 V_equiv = FG_V_equiv;
676 V_equiv_kts = FG_V_equiv_kts;
677 V_calibrated = FG_V_calibrated;
678 V_calibrated_kts = FG_V_calibrated_kts;
682 P_local = FG_P_local;
683 Q_local = FG_Q_local;
684 R_local = FG_R_local;
685 P_total = FG_P_total;
686 Q_total = FG_Q_total;
687 R_total = FG_R_total;
688 Phi_dot = FG_Phi_dot;
689 Theta_dot = FG_Theta_dot;
690 Psi_dot = FG_Psi_dot;
691 Latitude_dot = FG_Latitude_dot;
692 Longitude_dot = FG_Longitude_dot;
693 Radius_dot = FG_Radius_dot;
694 Lat_geocentric = FG_Lat_geocentric;
695 Lon_geocentric = FG_Lon_geocentric;
696 Radius_to_vehicle = FG_Radius_to_vehicle;
697 Latitude = FG_Latitude;
698 Longitude = FG_Longitude;
699 Altitude = FG_Altitude;
703 T_local_to_body_11 = FG_T_local_to_body_11;
704 T_local_to_body_12 = FG_T_local_to_body_12;
705 T_local_to_body_13 = FG_T_local_to_body_13;
706 T_local_to_body_21 = FG_T_local_to_body_21;
707 T_local_to_body_22 = FG_T_local_to_body_22;
708 T_local_to_body_23 = FG_T_local_to_body_23;
709 T_local_to_body_31 = FG_T_local_to_body_31;
710 T_local_to_body_32 = FG_T_local_to_body_32;
711 T_local_to_body_33 = FG_T_local_to_body_33;
712 Gravity = FG_Gravity;
713 Centrifugal_relief = FG_Centrifugal_relief;
716 Alpha_dot = FG_Alpha_dot;
717 Beta_dot = FG_Beta_dot;
718 Cos_alpha = FG_Cos_alpha;
719 Sin_alpha = FG_Sin_alpha;
720 Cos_beta = FG_Cos_beta;
721 Sin_beta = FG_Sin_beta;
722 Cos_phi = FG_Cos_phi;
723 Sin_phi = FG_Sin_phi;
724 Cos_theta = FG_Cos_theta;
725 Sin_theta = FG_Sin_theta;
726 Cos_psi = FG_Cos_psi;
727 Sin_psi = FG_Sin_psi;
728 Gamma_vert_rad = FG_Gamma_vert_rad;
729 Gamma_horiz_rad = FG_Gamma_horiz_rad;
731 Density = FG_Density;
732 V_sound = FG_V_sound;
733 Mach_number = FG_Mach_number;
734 Static_pressure = FG_Static_pressure;
735 Total_pressure = FG_Total_pressure;
736 Impact_pressure = FG_Impact_pressure;
737 Dynamic_pressure = FG_Dynamic_pressure;
738 Static_temperature = FG_Static_temperature;
739 Total_temperature = FG_Total_temperature;
740 Sea_level_radius = FG_Sea_level_radius;
741 Earth_position_angle = FG_Earth_position_angle;
742 Runway_altitude = FG_Runway_altitude;
743 Runway_latitude = FG_Runway_latitude;
744 Runway_longitude = FG_Runway_longitude;
745 Runway_heading = FG_Runway_heading;
746 Radius_to_rwy = FG_Radius_to_rwy;
747 D_cg_north_of_rwy = FG_D_cg_north_of_rwy;
748 D_cg_east_of_rwy = FG_D_cg_east_of_rwy;
749 D_cg_above_rwy = FG_D_cg_above_rwy;
750 X_cg_rwy = FG_X_cg_rwy;
751 Y_cg_rwy = FG_Y_cg_rwy;
752 H_cg_rwy = FG_H_cg_rwy;
753 D_pilot_north_of_rwy = FG_D_pilot_north_of_rwy;
754 D_pilot_east_of_rwy = FG_D_pilot_east_of_rwy;
755 D_pilot_above_rwy = FG_D_pilot_above_rwy;
756 X_pilot_rwy = FG_X_pilot_rwy;
757 Y_pilot_rwy = FG_Y_pilot_rwy;
758 H_pilot_rwy = FG_H_pilot_rwy;
764 /* Convert from the LaRCsim generic_ struct to the fgFLIGHT struct */
765 int fgLaRCsim_2_Flight (fgFLIGHT *f) {
771 FG_Dx_pilot = Dx_pilot;
772 FG_Dy_pilot = Dy_pilot;
773 FG_Dz_pilot = Dz_pilot;
780 FG_F_north = F_north;
783 FG_F_X_aero = F_X_aero;
784 FG_F_Y_aero = F_Y_aero;
785 FG_F_Z_aero = F_Z_aero;
786 FG_F_X_engine = F_X_engine;
787 FG_F_Y_engine = F_Y_engine;
788 FG_F_Z_engine = F_Z_engine;
789 FG_F_X_gear = F_X_gear;
790 FG_F_Y_gear = F_Y_gear;
791 FG_F_Z_gear = F_Z_gear;
798 FG_M_l_aero = M_l_aero;
799 FG_M_m_aero = M_m_aero;
800 FG_M_n_aero = M_n_aero;
801 FG_M_l_engine = M_l_engine;
802 FG_M_m_engine = M_m_engine;
803 FG_M_n_engine = M_n_engine;
804 FG_M_l_gear = M_l_gear;
805 FG_M_m_gear = M_m_gear;
806 FG_M_n_gear = M_n_gear;
807 FG_V_dot_north = V_dot_north;
808 FG_V_dot_east = V_dot_east;
809 FG_V_dot_down = V_dot_down;
810 FG_U_dot_body = U_dot_body;
811 FG_V_dot_body = V_dot_body;
812 FG_W_dot_body = W_dot_body;
816 FG_A_X_pilot = A_X_pilot;
817 FG_A_Y_pilot = A_Y_pilot;
818 FG_A_Z_pilot = A_Z_pilot;
822 FG_N_X_pilot = N_X_pilot;
823 FG_N_Y_pilot = N_Y_pilot;
824 FG_N_Z_pilot = N_Z_pilot;
825 FG_P_dot_body = P_dot_body;
826 FG_Q_dot_body = Q_dot_body;
827 FG_R_dot_body = R_dot_body;
828 FG_V_north = V_north;
831 FG_V_north_rel_ground = V_north_rel_ground;
832 FG_V_east_rel_ground = V_east_rel_ground;
833 FG_V_down_rel_ground = V_down_rel_ground;
834 FG_V_north_airmass = V_north_airmass;
835 FG_V_east_airmass = V_east_airmass;
836 FG_V_down_airmass = V_down_airmass;
837 FG_V_north_rel_airmass = V_north_rel_airmass;
838 FG_V_east_rel_airmass = V_east_rel_airmass;
839 FG_V_down_rel_airmass = V_down_rel_airmass;
846 FG_V_rel_wind = V_rel_wind;
847 FG_V_true_kts = V_true_kts;
848 FG_V_rel_ground = V_rel_ground;
849 FG_V_inertial = V_inertial;
850 FG_V_ground_speed = V_ground_speed;
851 FG_V_equiv = V_equiv;
852 FG_V_equiv_kts = V_equiv_kts;
853 FG_V_calibrated = V_calibrated;
854 FG_V_calibrated_kts = V_calibrated_kts;
858 FG_P_local = P_local;
859 FG_Q_local = Q_local;
860 FG_R_local = R_local;
861 FG_P_total = P_total;
862 FG_Q_total = Q_total;
863 FG_R_total = R_total;
864 FG_Phi_dot = Phi_dot;
865 FG_Theta_dot = Theta_dot;
866 FG_Psi_dot = Psi_dot;
867 FG_Latitude_dot = Latitude_dot;
868 FG_Longitude_dot = Longitude_dot;
869 FG_Radius_dot = Radius_dot;
870 FG_Lat_geocentric = Lat_geocentric;
871 FG_Lon_geocentric = Lon_geocentric;
872 FG_Radius_to_vehicle = Radius_to_vehicle;
873 FG_Latitude = Latitude;
874 FG_Longitude = Longitude;
875 FG_Altitude = Altitude;
879 FG_T_local_to_body_11 = T_local_to_body_11;
880 FG_T_local_to_body_12 = T_local_to_body_12;
881 FG_T_local_to_body_13 = T_local_to_body_13;
882 FG_T_local_to_body_21 = T_local_to_body_21;
883 FG_T_local_to_body_22 = T_local_to_body_22;
884 FG_T_local_to_body_23 = T_local_to_body_23;
885 FG_T_local_to_body_31 = T_local_to_body_31;
886 FG_T_local_to_body_32 = T_local_to_body_32;
887 FG_T_local_to_body_33 = T_local_to_body_33;
888 FG_Gravity = Gravity;
889 FG_Centrifugal_relief = Centrifugal_relief;
892 FG_Alpha_dot = Alpha_dot;
893 FG_Beta_dot = Beta_dot;
894 FG_Cos_alpha = Cos_alpha;
895 FG_Sin_alpha = Sin_alpha;
896 FG_Cos_beta = Cos_beta;
897 FG_Sin_beta = Sin_beta;
898 FG_Cos_phi = Cos_phi;
899 FG_Sin_phi = Sin_phi;
900 FG_Cos_theta = Cos_theta;
901 FG_Sin_theta = Sin_theta;
902 FG_Cos_psi = Cos_psi;
903 FG_Sin_psi = Sin_psi;
904 FG_Gamma_vert_rad = Gamma_vert_rad;
905 FG_Gamma_horiz_rad = Gamma_horiz_rad;
907 FG_Density = Density;
908 FG_V_sound = V_sound;
909 FG_Mach_number = Mach_number;
910 FG_Static_pressure = Static_pressure;
911 FG_Total_pressure = Total_pressure;
912 FG_Impact_pressure = Impact_pressure;
913 FG_Dynamic_pressure = Dynamic_pressure;
914 FG_Static_temperature = Static_temperature;
915 FG_Total_temperature = Total_temperature;
916 FG_Sea_level_radius = Sea_level_radius;
917 FG_Earth_position_angle = Earth_position_angle;
918 FG_Runway_altitude = Runway_altitude;
919 FG_Runway_latitude = Runway_latitude;
920 FG_Runway_longitude = Runway_longitude;
921 FG_Runway_heading = Runway_heading;
922 FG_Radius_to_rwy = Radius_to_rwy;
923 FG_D_cg_north_of_rwy = D_cg_north_of_rwy;
924 FG_D_cg_east_of_rwy = D_cg_east_of_rwy;
925 FG_D_cg_above_rwy = D_cg_above_rwy;
926 FG_X_cg_rwy = X_cg_rwy;
927 FG_Y_cg_rwy = Y_cg_rwy;
928 FG_H_cg_rwy = H_cg_rwy;
929 FG_D_pilot_north_of_rwy = D_pilot_north_of_rwy;
930 FG_D_pilot_east_of_rwy = D_pilot_east_of_rwy;
931 FG_D_pilot_above_rwy = D_pilot_above_rwy;
932 FG_X_pilot_rwy = X_pilot_rwy;
933 FG_Y_pilot_rwy = Y_pilot_rwy;
934 FG_H_pilot_rwy = H_pilot_rwy;
940 /* Set the altitude (force) */
941 int ls_ForceAltitude(double alt_feet) {
943 ls_geod_to_geoc( Latitude, Altitude, &Sea_level_radius, &Lat_geocentric);
944 Radius_to_vehicle = Altitude + Sea_level_radius;
948 /* Flight Gear Modification Log
951 * Revision 1.20 1998/07/12 03:11:03 curt
952 * Removed some printf()'s.
953 * Fixed the autopilot integration so it should be able to update it's control
954 * positions every time the internal flight model loop is run, and not just
955 * once per rendered frame.
956 * Added a routine to do the necessary stuff to force an arbitrary altitude
958 * Gave the Navion engine just a tad more power.
960 * Revision 1.19 1998/05/11 18:17:28 curt
961 * Output message tweaking.
963 * Revision 1.18 1998/04/21 16:59:38 curt
964 * Integrated autopilot.
965 * Prepairing for C++ integration.
967 * Revision 1.17 1998/02/23 19:07:58 curt
968 * Incorporated Durk's Astro/ tweaks. Includes unifying the sun position
969 * calculation code between sun display, and other FG sections that use this
970 * for things like lighting.
972 * Revision 1.16 1998/02/07 15:29:38 curt
973 * Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
974 * <chotchkiss@namg.us.anritsu.com>
976 * Revision 1.15 1998/01/22 22:03:47 curt
977 * Removed #include <sys/stat.h>
979 * Revision 1.14 1998/01/19 19:27:04 curt
980 * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
981 * This should simplify things tremendously.
983 * Revision 1.13 1998/01/19 18:40:26 curt
984 * Tons of little changes to clean up the code and to remove fatal errors
985 * when building with the c++ compiler.
987 * Revision 1.12 1998/01/06 01:20:16 curt
988 * Tweaks to help building with MSVC++
990 * Revision 1.11 1998/01/05 22:19:26 curt
991 * #ifdef'd out some unused code that was problematic for MSVC++ to compile.
993 * Revision 1.10 1997/12/10 22:37:43 curt
994 * Prepended "fg" on the name of all global structures that didn't have it yet.
995 * i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
997 * Revision 1.9 1997/08/27 03:30:08 curt
998 * Changed naming scheme of basic shared structures.
1000 * Revision 1.8 1997/06/21 17:12:50 curt
1001 * Capitalized subdirectory names.
1003 * Revision 1.7 1997/05/31 19:16:28 curt
1004 * Elevator trim added.
1006 * Revision 1.6 1997/05/31 04:13:53 curt
1009 * Continuing work on the LaRCsim flight model integration.
1010 * Added some MSFS-like keyboard input handling.
1012 * Revision 1.5 1997/05/30 23:26:25 curt
1013 * Added elevator/aileron controls.
1015 * Revision 1.4 1997/05/30 19:30:15 curt
1016 * The LaRCsim flight model is starting to look like it is working.
1018 * Revision 1.3 1997/05/30 03:54:12 curt
1019 * Made a bit more progress towards integrating the LaRCsim flight model.
1021 * Revision 1.2 1997/05/29 22:39:59 curt
1022 * Working on incorporating the LaRCsim flight model.
1024 * Revision 1.1 1997/05/29 00:09:57 curt
1025 * Initial Flight Gear revision.