1 // ADA.cxx -- interface to the "External"-ly driven ADA flight model
3 // This program is free software; you can redistribute it and/or
4 // modify it under the terms of the GNU General Public License as
5 // published by the Free Software Foundation; either version 2 of the
6 // License, or (at your option) any later version.
8 // This program is distributed in the hope that it will be useful, but
9 // WITHOUT ANY WARRANTY; without even the implied warranty of
10 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 // General Public License for more details.
13 // You should have received a copy of the GNU General Public License
14 // along with this program; if not, write to the Free Software
15 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
19 // Modified by Cdr. VS Renganthan <vsranga@ada.ernet.in>, 12 Oct 2K
21 #include <simgear/io/iochannel.hxx>
22 #include <simgear/constants.h>
24 #include <Controls/controls.hxx>
25 #include <Main/globals.hxx>
27 #include <Main/fg_props.hxx> //to get ID of window (left/right or center)
28 #include <Scenery/scenery.hxx> //to pass ground elevation to FDM
32 #define numberofbytes 472 // from FDM to visuals
33 #define nbytes 8 //from visuals to FDM
36 double number_of_bytes;
43 double earth_posn_angle;
44 double radius_to_vehicle;
45 double sea_level_radius;
60 double Gamma_vert_rad;
61 double Runway_altitude;
108 double view_offset; //if this zero, means center window
111 double ground_elevation;
114 #define ground_elevation visuals_to_sixdof.ground_elevation
116 #define number_of_bytes sixdof_to_visuals.number_of_bytes
117 #define U_dot_local sixdof_to_visuals.U_dot_local
118 #define V_dot_local sixdof_to_visuals.V_dot_local
119 #define W_dot_local sixdof_to_visuals.W_dot_local
120 #define U_local sixdof_to_visuals.U_local
121 #define V_local sixdof_to_visuals.V_local
122 #define W_local sixdof_to_visuals.W_local
123 #define throttle sixdof_to_visuals.throttle
124 #define pstick sixdof_to_visuals.pstick
125 #define rstick sixdof_to_visuals.rstick
126 #define rpedal sixdof_to_visuals.rpedal
127 #define V_north sixdof_to_visuals.Vnorth
128 #define V_east sixdof_to_visuals.Veast
129 #define V_down sixdof_to_visuals.Vdown
130 #define V_calibrated_kts sixdof_to_visuals.Vcas_kts
131 #define P_body sixdof_to_visuals.prad
132 #define Q_body sixdof_to_visuals.qrad
133 #define R_body sixdof_to_visuals.rrad
134 #define Latitude_dot sixdof_to_visuals.latitude_dot
135 #define Longitude_dot sixdof_to_visuals.longitude_dot
136 #define Radius_dot sixdof_to_visuals.radius_dot
137 #define Latitude sixdof_to_visuals.latitude
138 #define Longitude sixdof_to_visuals.longitude
139 #define Lat_geocentric sixdof_to_visuals.lat_geoc
140 #define Lon_geocentric sixdof_to_visuals.lon_geoc
141 #define Radius_to_vehicle sixdof_to_visuals.radius_to_vehicle
142 #define Altitude sixdof_to_visuals.altitude
143 #define Phi sixdof_to_visuals.phirad
144 #define Theta sixdof_to_visuals.thetrad
145 #define Psi sixdof_to_visuals.psirad
146 #define Alpha sixdof_to_visuals.alpharad
147 #define Beta sixdof_to_visuals.betarad
148 #define Sea_level_radius sixdof_to_visuals.sea_level_radius
149 #define Earth_position_angle sixdof_to_visuals.earth_posn_angle
150 #define Runway_altitude sixdof_to_visuals.Runway_altitude
151 #define Gamma_vert_rad sixdof_to_visuals.Gamma_vert_rad
152 #define Machno sixdof_to_visuals.Machno
153 #define anxg sixdof_to_visuals.anxg
154 #define anyg sixdof_to_visuals.anyg
155 #define anzg sixdof_to_visuals.anzg
158 FGADA::FGADA( double dt ) {
167 // Initialize the ADA flight model, dt is the time increment
168 // for each subsequent iteration through the EOM
171 //do init common to all FDM"s
174 //now do ADA-specific init.
176 // cout << "FGADA::init()" << endl;
178 char OutBuffer[nbytes];
181 printf("\nInitialising UDP sockets\n");
182 // initialise a "udp" socket
183 fdmsock = new SGSocket( "fdm_pc", "5001", "udp" );
186 bool result = fdmsock->open(SG_IO_OUT);
187 if (result == false) {
188 printf ("Socket Open Error\n");
191 // Write FGExternal structure from socket to establish connection
192 int result = fdmsock->write(OutBuffer, nbytes);
193 printf("Connection established.\n");
198 // Run an iteration of the EOM. This is essentially a NOP here
199 // because these values are getting filled in elsewhere based on
201 void FGADA::update( int multiloop ) {
202 // cout << "FGADA::update()" << endl;
204 char Buffer[numberofbytes];
205 char OutBuffer[nbytes];
207 // Read FGExternal structure from socket
209 int result = fdmsock->read(Buffer, numberofbytes);
210 if (result == numberofbytes) {
211 // Copy buffer into FGExternal structure
212 memcpy (&sixdof_to_visuals, &Buffer, sizeof (Buffer));
213 // Convert from the FGExternal struct to the FGInterface struct (input)
221 fgGetDouble("/sim/view/offset",view_offset);
222 if ( view_offset == 0.0) {
223 memcpy (&OutBuffer, &visuals_to_sixdof, sizeof (OutBuffer));
224 int result = fdmsock->write(OutBuffer, nbytes);
228 // Convert from the FGInterface struct to the FGADA struct (output)
229 bool FGADA::copy_to_FGADA () {
230 ground_elevation = scenery.get_cur_elev();
235 // Convert from the FGADA struct to the FGInterface struct (input)
236 bool FGADA::copy_from_FGADA() {
238 //Positions and attitudes for The Rendering engine
239 _set_Geodetic_Position( Latitude, Longitude, Altitude );
240 _set_Euler_Angles( Phi, Theta, Psi );
241 _set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
243 _set_Sea_level_radius( Sea_level_radius );
245 _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
246 _set_Earth_position_angle( Earth_position_angle );
247 _set_sin_lat_geocentric(Lat_geocentric);
248 _set_cos_lat_geocentric(Lat_geocentric);
249 _set_sin_cos_longitude(Longitude);
250 _set_sin_cos_latitude(Latitude);
252 // Velocities and accelerations for the pitch ladder and velocity vector
253 _set_Accels_Local( U_dot_local, V_dot_local, W_dot_local );
254 _set_Velocities_Ground( U_local, V_local, W_local );//same as V_NED in mps
255 _set_Velocities_Local( V_north, V_east, V_down ); //same as UVW_local in fps
257 //Positions and attitude for ship
258 _set_daux(1,sixdof_to_visuals.aux1);//ship lat
259 _set_daux(2,sixdof_to_visuals.aux2);//ship lon
260 _set_daux(3,sixdof_to_visuals.aux3);//ship alt+heave
261 _set_daux(4,sixdof_to_visuals.aux4);//distance of a/c from ski-jump exit
262 _set_faux(1,sixdof_to_visuals.aux9);//ship pitch
263 _set_faux(2,sixdof_to_visuals.aux10);//ship roll
264 _set_faux(3,sixdof_to_visuals.aux11);//ship yaw
265 _set_iaux(1,sixdof_to_visuals.iaux1);//flag for drawing ship
268 globals->get_controls()->set_throttle(0,throttle/131.0);
269 globals->get_controls()->set_elevator(pstick);
270 globals->get_controls()->set_aileron(rstick);
271 globals->get_controls()->set_rudder(rpedal);
273 // auxilliary parameters for HUD
274 _set_V_calibrated_kts( V_calibrated_kts );
277 _set_Accels_CG_Body_N( anxg,anyg,anzg);
278 _set_Mach_number( Machno);
279 _set_Climb_Rate( W_local*SG_METER_TO_FEET ); //pressure alt in feet for lca(navy)
281 _set_iaux(2,sixdof_to_visuals.iaux2);//control law mode switch posn
282 _set_iaux(3,sixdof_to_visuals.iaux3);//ldg gear posn
283 _set_iaux(4,sixdof_to_visuals.iaux4);// wow nose status
284 _set_iaux(5,sixdof_to_visuals.iaux5);// wow main status
285 _set_iaux(6,sixdof_to_visuals.iaux6);// arrester hook posn
286 _set_iaux(7,sixdof_to_visuals.iaux7);
287 _set_iaux(8,sixdof_to_visuals.iaux8);
288 _set_iaux(9,sixdof_to_visuals.iaux9);
289 _set_iaux(10,sixdof_to_visuals.iaux10);
290 _set_iaux(11,sixdof_to_visuals.iaux11);
291 _set_iaux(12,sixdof_to_visuals.iaux12);
293 _set_daux(5,sixdof_to_visuals.aux5);
294 _set_daux(6,sixdof_to_visuals.aux6);
295 _set_daux(7,sixdof_to_visuals.aux7);
296 _set_daux(8,sixdof_to_visuals.aux8);
298 _set_faux(4,sixdof_to_visuals.aux12);
299 _set_faux(5,sixdof_to_visuals.aux13);
300 _set_faux(6,sixdof_to_visuals.aux14);
301 _set_faux(7,sixdof_to_visuals.aux15);
302 _set_faux(8,sixdof_to_visuals.aux16);
303 _set_faux(9,sixdof_to_visuals.aux17);
304 _set_faux(10,sixdof_to_visuals.aux18);
307 _set_Omega_Body( P_body, Q_body, R_body );
309 // Miscellaneous quantities
310 _set_Gamma_vert_rad( Gamma_vert_rad );
311 _set_Runway_altitude( Runway_altitude );
313 // SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
314 // << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
315 // << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
316 // << " radius_to_vehicle = " << Radius_to_vehicle );
319 // printf("sr=%f\n",Sea_level_radius);
320 // printf("psi = %f %f\n",Psi,Psi*SGD_RADIANS_TO_DEGREES);