src/FDM/LaRCsim/LaRCsim.cxx

   1 // LaRCsim.cxx -- interface to the LaRCsim flight model
   2 //
   3 // Written by Curtis Olson, started October 1998.
   4 //
   5 // Copyright (C) 1998  Curtis L. Olson  - curt@me.umn.edu
   6 //
   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.
  11 //
  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.
  16 //
  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.
  20 //
  21 // $Id$
  22
  23 #include <math.h>
  24 #include <string.h>             // strcmp()
  25
  26 #include <simgear/constants.h>
  27 #include <simgear/debug/logstream.hxx>
  28 #include <simgear/scene/model/location.hxx>
  29 #include <simgear/scene/model/placement.hxx>
  30
  31 #include <Aircraft/aircraft.hxx>
  32 #include <Controls/controls.hxx>
  33 #include <FDM/flight.hxx>
  34 #include <FDM/UIUCModel/uiuc_aircraft.h>
  35 #include <Main/fg_props.hxx>
  36 #include <Model/acmodel.hxx>
  37
  38 #include "ls_cockpit.h"
  39 #include "ls_generic.h"
  40 #include "ls_interface.h"
  41 #include "ls_constants.h"
  42
  43 #include "IO360.hxx"
  44 #include "LaRCsimIC.hxx"
  45 #include "LaRCsim.hxx"
  46
  47
  48 FGLaRCsim::FGLaRCsim( double dt ) {
  49 //     set_delta_t( dt );
  50
  51     speed_up = fgGetNode("/sim/speed-up", true);
  52     aero = fgGetNode("/sim/aero", true);
  53     uiuc_type = fgGetNode("/sim/uiuc-type", true);
  54
  55     ls_toplevel_init( 0.0, (char *)(aero->getStringValue()) );
  56
  57     lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
  58     if ( !strcmp(aero->getStringValue(), "c172") ) {
  59         copy_to_LaRCsim(); // initialize all of LaRCsim's vars
  60
  61         //this should go away someday -- formerly done in fg_init.cxx
  62         Mass = 8.547270E+01;
  63         I_xx = 1.048000E+03;
  64         I_yy = 3.000000E+03;
  65         I_zz = 3.530000E+03;
  66         I_xz = 0.000000E+00;
  67     }
  68
  69     ls_set_model_dt(dt);
  70
  71     // Initialize our little engine that hopefully might
  72     eng.init(dt);
  73     // dcl - in passing dt to init rather than update I am assuming
  74     // that the LaRCsim dt is fixed at one value (yes it is 120hz CLO)
  75 }
  76
  77 FGLaRCsim::~FGLaRCsim(void) {
  78     if ( lsic != NULL ) {
  79         delete lsic;
  80         lsic = NULL;
  81     }
  82 }
  83
  84 // Initialize the LaRCsim flight model, dt is the time increment for
  85 // each subsequent iteration through the EOM
  86 void FGLaRCsim::init() {
  87    //do init common to all FDM's
  88    common_init();
  89 }
  90
  91
  92 // Run an iteration of the EOM (equations of motion)
  93 void FGLaRCsim::update( double dt ) {
  94
  95     if (is_suspended())
  96       return;
  97
  98     int multiloop = _calc_multiloop(dt);
  99
 100     // if flying c172-larcsim, do the following
 101     if ( !strcmp(aero->getStringValue(), "c172") ) {
 102         // set control inputs
 103         // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
 104         eng.set_IAS( V_calibrated_kts );
 105         eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
 106                                     * 100.0 );
 107         eng.set_Propeller_Lever_Pos( 100 );
 108         eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
 109                                    * 100.0 );
 110         eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
 111         eng.setStarterFlag( globals->get_controls()->get_starter(0) );
 112         eng.set_p_amb( Static_pressure );
 113         eng.set_T_amb( Static_temperature );
 114
 115         // update engine model
 116         eng.update();
 117
 118         // Fake control-surface positions
 119         fgSetDouble("/surface-positions/flap-pos-norm",
 120                     fgGetDouble("/controls/flight/flaps"));
 121                                 // FIXME: ignoring trim
 122         fgSetDouble("/surface-positions/elevator-pos-norm",
 123                     fgGetDouble("/controls/flight/elevator"));
 124                                 // FIXME: ignoring trim
 125         fgSetDouble("/surface-positions/left-aileron-pos-norm",
 126                     fgGetDouble("/controls/flight/aileron"));
 127                                 // FIXME: ignoring trim
 128         fgSetDouble("/surface-positions/right-aileron-pos-norm",
 129                     -1 * fgGetDouble("/controls/flight/aileron"));
 130                                 // FIXME: ignoring trim
 131         fgSetDouble("/surface-positions/rudder-pos-norm",
 132                     fgGetDouble("/controls/flight/rudder"));
 133
 134         // copy engine state values onto "bus"
 135         fgSetDouble("/engines/engine/rpm", eng.get_RPM());
 136         fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
 137         fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
 138         fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
 139         fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
 140         fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
 141         fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
 142         fgSetDouble("/engines/engine/fuel-flow-gph",
 143                     eng.get_fuel_flow_gals_hr());
 144         fgSetDouble("/engines/engine/oil-temperature-degf",
 145                     eng.get_oil_temp());
 146         fgSetDouble("/engines/engine/running", eng.getRunningFlag());
 147         fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
 148
 149         static const SGPropertyNode *fuel_freeze
 150             = fgGetNode("/sim/freeze/fuel");
 151
 152         if ( ! fuel_freeze->getBoolValue() ) {
 153             //Assume we are using both tanks equally for now
 154             fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
 155                         fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
 156                         - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
 157                         * dt);
 158             fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
 159                         fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
 160                         - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
 161                         * dt);
 162         }
 163
 164         F_X_engine = eng.get_prop_thrust_lbs();
 165         // cout << "F_X_engine = " << F_X_engine << '\n';
 166         // end c172 if block
 167
 168         Flap_handle = 30.0 * globals->get_controls()->get_flaps();
 169     }
 170     // done with c172-larcsim if-block
 171
 172     double save_alt = 0.0;
 173
 174     // lets try to avoid really screwing up the LaRCsim model
 175     if ( get_Altitude() < -9000.0 ) {
 176         save_alt = get_Altitude();
 177         set_Altitude( 0.0 );
 178     }
 179
 180     // copy control positions into the LaRCsim structure
 181     Lat_control = globals->get_controls()->get_aileron() / speed_up->getIntValue();
 182     Long_control = globals->get_controls()->get_elevator();
 183     Long_trim = globals->get_controls()->get_elevator_trim();
 184     Rudder_pedal = globals->get_controls()->get_rudder() / speed_up->getIntValue();
 185
 186     if ( !strcmp(aero->getStringValue(), "c172") ) {
 187         Use_External_Engine = 1;
 188     } else {
 189         Use_External_Engine = 0;
 190     }
 191
 192     Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
 193
 194     Brake_pct[0] = globals->get_controls()->get_brake( 1 );
 195     Brake_pct[1] = globals->get_controls()->get_brake( 0 );
 196
 197     // Inform LaRCsim of the local terrain altitude
 198     // Runway_altitude = get_Runway_altitude();
 199     Runway_altitude = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m() * SG_METER_TO_FEET;
 200     // Weather
 201     /* V_north_airmass = get_V_north_airmass();
 202        V_east_airmass =  get_V_east_airmass();
 203        V_down_airmass =  get_V_down_airmass(); */
 204
 205
 206     // old -- FGInterface_2_LaRCsim() not needed except for Init()
 207     // translate FG to LaRCsim structure
 208     // FGInterface_2_LaRCsim(f);
 209     // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
 210     // printf("Altitude = %.2f\n", Altitude * 0.3048);
 211     // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
 212
 213     // for engine functions (sounds and instruments)
 214     // drive the rpm gauge
 215     fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
 216     // manifold air pressure, which drives the sound (see *sound.xml file)
 217     fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
 218     // make the engine cranking and running sounds when fgfs starts up
 219     fgSetDouble("/engines/engine/cranking", 1);
 220     fgSetDouble("/engines/engine/running", 1);
 221
 222     // if flying uiuc, set some properties and over-ride some previous ones
 223     if ( !strcmp(aero->getStringValue(), "uiuc")) {
 224
 225       // surface positions
 226       fgSetDouble("/surface-positions/rudder-pos-norm",             fgGetDouble("/controls/flight/rudder"));
 227       fgSetDouble("/surface-positions/elevator-pos-norm",           fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
 228       fgSetDouble("/surface-positions/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
 229       fgSetDouble("/surface-positions/left-aileron-pos-norm",       fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
 230
 231       Flap_handle = flap_max * globals->get_controls()->get_flaps();
 232
 233       // flaps with transition occuring in uiuc_aerodeflections.cpp
 234       if (use_flaps) {
 235       fgSetDouble("/surface-positions/flight/flap-pos-norm",               flap_pos_pct);
 236       }
 237
 238       // spoilers with transition occurring in uiuc_aerodeflections.cpp
 239       if(use_spoilers) {
 240         Spoiler_handle = spoiler_max * fgGetDouble("/controls/spoilers");
 241       }
 242       // gear with transition occurring here in LaRCsim.cxx
 243       if (use_gear) {
 244         if(fgGetBool("/controls/gear-down")) {
 245           Gear_handle = 1.0;
 246         }
 247         else {
 248           Gear_handle = 0.;
 249         }
 250         // commanded gear is 0 or 1
 251         gear_cmd_norm = Gear_handle;
 252         // amount gear moves per time step [relative to 1]
 253         gear_increment_per_timestep = gear_rate * dt;
 254         // determine gear position with respect to gear command
 255         if (gear_pos_norm < gear_cmd_norm) {
 256           gear_pos_norm += gear_increment_per_timestep;
 257           if (gear_pos_norm > gear_cmd_norm)
 258             gear_pos_norm = gear_cmd_norm;
 259         } else if (gear_pos_norm > gear_cmd_norm) {
 260           gear_pos_norm -= gear_increment_per_timestep;
 261           if (gear_pos_norm < gear_cmd_norm)
 262             gear_pos_norm = gear_cmd_norm;
 263         }
 264         // set the gear position
 265         fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
 266         fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
 267         fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
 268       }
 269
 270
 271       // engine functions (sounds and instruments)
 272       // drive the rpm gauge
 273       fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
 274       // manifold air pressure
 275       fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
 276       // make the engine cranking and running sounds when fgfs starts up
 277       fgSetDouble("/engines/engine/cranking", 1);
 278       fgSetDouble("/engines/engine/running", 1);
 279       if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
 280         // uiuc prop driven airplane, e.g. Wright Flyer
 281       }
 282       else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
 283         // uiuc jet aircraft, e.g. a4d
 284         fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
 285         fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
 286       }
 287       else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
 288         // uiuc sailplane, e.g. asw20
 289         fgSetDouble("/engines/engine/cranking", 0);
 290         // set the wind speed for use in setting wind sound level
 291         fgSetDouble("/velocities/V_rel_wind_kts", (V_rel_wind * 1.274));
 292       }
 293       else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
 294         // uiuc sailplane, e.g. asw20
 295         fgSetDouble("/engines/engine/cranking", 0);
 296       }
 297       else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
 298         // mechanical flapping wings
 299         // flapping wings (using seahawk for now)
 300         fgSetDouble("/canopy/position-norm", 0);
 301         fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
 302         //      fgSetDouble("/wing-phase/position-norm", fgGetDouble("/controls/rudder"));
 303         fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
 304         fgSetDouble("/wing-phase/position-one", 1);
 305         fgSetDouble("/thorax/volume", 0);
 306         fgSetDouble("/thorax/rpm",    0);
 307         //      fgSetDouble("/wing-phase/position-norm", ((1+cos(flapper_phi - LS_PI/2))/2 -.36 ));
 308         //      fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
 309         //      fgSetDouble("/thorax/rpm",    ((1+sin(2*(flapper_phi+LS_PI)))/2));
 310       }
 311     }
 312
 313
 314     // add Gamma_horiz_deg to properties, mss 021213
 315     if (use_gamma_horiz_on_speed) {
 316       if (V_rel_wind > gamma_horiz_on_speed) {
 317         fgSetDouble("/orientation/Gamma_horiz_deg", (Gamma_horiz_rad * RAD_TO_DEG));
 318       }
 319       else {
 320         fgSetDouble("/orientation/Gamma_horiz_deg",  fgGetDouble("/orientation/heading-deg"));
 321       }
 322     }
 323     else {
 324       fgSetDouble("/orientation/Gamma_horiz_deg",  fgGetDouble("/orientation/heading-deg"));
 325     }
 326     ls_update(multiloop);
 327
 328     // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
 329     // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
 330
 331     // translate LaRCsim back to FG structure so that the
 332     // autopilot (and the rest of the sim can use the updated
 333     // values
 334     copy_from_LaRCsim();
 335
 336     // but lets restore our original bogus altitude when we are done
 337     if ( save_alt < -9000.0 ) {
 338         set_Altitude( save_alt );
 339     }
 340 }
 341
 342
 343 // Convert from the FGInterface struct to the LaRCsim generic_ struct
 344 bool FGLaRCsim::copy_to_LaRCsim () {
 345     Mass =      get_Mass();
 346     I_xx =      get_I_xx();
 347     I_yy =      get_I_yy();
 348     I_zz =      get_I_zz();
 349     I_xz =      get_I_xz();
 350     // Dx_pilot =  get_Dx_pilot();
 351     // Dy_pilot =  get_Dy_pilot();
 352     // Dz_pilot =  get_Dz_pilot();
 353     Dx_cg =     get_Dx_cg();
 354     Dy_cg =     get_Dy_cg();
 355     Dz_cg =     get_Dz_cg();
 356     // F_X =       get_F_X();
 357     // F_Y =       get_F_Y();
 358     // F_Z =       get_F_Z();
 359     // F_north =   get_F_north();
 360     // F_east =    get_F_east();
 361     // F_down =    get_F_down();
 362     // F_X_aero =  get_F_X_aero();
 363     // F_Y_aero =  get_F_Y_aero();
 364     // F_Z_aero =  get_F_Z_aero();
 365     // F_X_engine =        get_F_X_engine();
 366     // F_Y_engine =        get_F_Y_engine();
 367     // F_Z_engine =        get_F_Z_engine();
 368     // F_X_gear =  get_F_X_gear();
 369     // F_Y_gear =  get_F_Y_gear();
 370     // F_Z_gear =  get_F_Z_gear();
 371     // M_l_rp =    get_M_l_rp();
 372     // M_m_rp =    get_M_m_rp();
 373     // M_n_rp =    get_M_n_rp();
 374     // M_l_cg =    get_M_l_cg();
 375     // M_m_cg =    get_M_m_cg();
 376     // M_n_cg =    get_M_n_cg();
 377     // M_l_aero =  get_M_l_aero();
 378     // M_m_aero =  get_M_m_aero();
 379     // M_n_aero =  get_M_n_aero();
 380     // M_l_engine =        get_M_l_engine();
 381     // M_m_engine =        get_M_m_engine();
 382     // M_n_engine =        get_M_n_engine();
 383     // M_l_gear =  get_M_l_gear();
 384     // M_m_gear =  get_M_m_gear();
 385     // M_n_gear =  get_M_n_gear();
 386     // V_dot_north =       get_V_dot_north();
 387     // V_dot_east =        get_V_dot_east();
 388     // V_dot_down =        get_V_dot_down();
 389     // U_dot_body =        get_U_dot_body();
 390     // V_dot_body =        get_V_dot_body();
 391     // W_dot_body =        get_W_dot_body();
 392     // A_X_cg =    get_A_X_cg();
 393     // A_Y_cg =    get_A_Y_cg();
 394     // A_Z_cg =    get_A_Z_cg();
 395     // A_X_pilot = get_A_X_pilot();
 396     // A_Y_pilot = get_A_Y_pilot();
 397     // A_Z_pilot = get_A_Z_pilot();
 398     // N_X_cg =    get_N_X_cg();
 399     // N_Y_cg =    get_N_Y_cg();
 400     // N_Z_cg =    get_N_Z_cg();
 401     // N_X_pilot = get_N_X_pilot();
 402     // N_Y_pilot = get_N_Y_pilot();
 403     // N_Z_pilot = get_N_Z_pilot();
 404     // P_dot_body =        get_P_dot_body();
 405     // Q_dot_body =        get_Q_dot_body();
 406     // R_dot_body =        get_R_dot_body();
 407     // V_north =   get_V_north();
 408     // V_east =    get_V_east();
 409     // V_down =    get_V_down();
 410     // V_north_rel_ground =        get_V_north_rel_ground();
 411     // V_east_rel_ground = get_V_east_rel_ground();
 412     // V_down_rel_ground = get_V_down_rel_ground();
 413     // V_north_airmass =   get_V_north_airmass();
 414     // V_east_airmass =    get_V_east_airmass();
 415     // V_down_airmass =    get_V_down_airmass();
 416     // V_north_rel_airmass =       get_V_north_rel_airmass();
 417     // V_east_rel_airmass =        get_V_east_rel_airmass();
 418     // V_down_rel_airmass =        get_V_down_rel_airmass();
 419     // U_gust =    get_U_gust();
 420     // V_gust =    get_V_gust();
 421     // W_gust =    get_W_gust();
 422     // U_body =    get_U_body();
 423     // V_body =    get_V_body();
 424     // W_body =    get_W_body();
 425     // V_rel_wind =        get_V_rel_wind();
 426     // V_true_kts =        get_V_true_kts();
 427     // V_rel_ground =      get_V_rel_ground();
 428     // V_inertial =        get_V_inertial();
 429     // V_ground_speed =    get_V_ground_speed();
 430     // V_equiv =   get_V_equiv();
 431     // V_equiv_kts =       get_V_equiv_kts();
 432     // V_calibrated =      get_V_calibrated();
 433     // V_calibrated_kts =  get_V_calibrated_kts();
 434     // P_body =    get_P_body();
 435     // Q_body =    get_Q_body();
 436     // R_body =    get_R_body();
 437     // P_local =   get_P_local();
 438     // Q_local =   get_Q_local();
 439     // R_local =   get_R_local();
 440     // P_total =   get_P_total();
 441     // Q_total =   get_Q_total();
 442     // R_total =   get_R_total();
 443     // Phi_dot =   get_Phi_dot();
 444     // Theta_dot = get_Theta_dot();
 445     // Psi_dot =   get_Psi_dot();
 446     // Latitude_dot =      get_Latitude_dot();
 447     // Longitude_dot =     get_Longitude_dot();
 448     // Radius_dot =        get_Radius_dot();
 449     // Lat_geocentric =    get_Lat_geocentric();
 450     // Lon_geocentric =    get_Lon_geocentric();
 451     // Radius_to_vehicle = get_Radius_to_vehicle();
 452     // Latitude =  get_Latitude();
 453     // Longitude = get_Longitude();
 454     // Altitude =  get_Altitude();
 455     // Phi =       get_Phi();
 456     // Theta =     get_Theta();
 457     // Psi =       get_Psi();
 458     // T_local_to_body_11 =        get_T_local_to_body_11();
 459     // T_local_to_body_12 =        get_T_local_to_body_12();
 460     // T_local_to_body_13 =        get_T_local_to_body_13();
 461     // T_local_to_body_21 =        get_T_local_to_body_21();
 462     // T_local_to_body_22 =        get_T_local_to_body_22();
 463     // T_local_to_body_23 =        get_T_local_to_body_23();
 464     // T_local_to_body_31 =        get_T_local_to_body_31();
 465     // T_local_to_body_32 =        get_T_local_to_body_32();
 466     // T_local_to_body_33 =        get_T_local_to_body_33();
 467     // Gravity =   get_Gravity();
 468     // Centrifugal_relief =        get_Centrifugal_relief();
 469     // Alpha =     get_Alpha();
 470     // Beta =      get_Beta();
 471     // Alpha_dot = get_Alpha_dot();
 472     // Beta_dot =  get_Beta_dot();
 473     // Cos_alpha = get_Cos_alpha();
 474     // Sin_alpha = get_Sin_alpha();
 475     // Cos_beta =  get_Cos_beta();
 476     // Sin_beta =  get_Sin_beta();
 477     // Cos_phi =   get_Cos_phi();
 478     // Sin_phi =   get_Sin_phi();
 479     // Cos_theta = get_Cos_theta();
 480     // Sin_theta = get_Sin_theta();
 481     // Cos_psi =   get_Cos_psi();
 482     // Sin_psi =   get_Sin_psi();
 483     // Gamma_vert_rad =    get_Gamma_vert_rad();
 484     // Gamma_horiz_rad =   get_Gamma_horiz_rad();
 485     // Sigma =     get_Sigma();
 486     // Density =   get_Density();
 487     // V_sound =   get_V_sound();
 488     // Mach_number =       get_Mach_number();
 489     // Static_pressure =   get_Static_pressure();
 490     // Total_pressure =    get_Total_pressure();
 491     // Impact_pressure =   get_Impact_pressure();
 492     // Dynamic_pressure =  get_Dynamic_pressure();
 493     // Static_temperature =        get_Static_temperature();
 494     // Total_temperature = get_Total_temperature();
 495     // Sea_level_radius =  get_Sea_level_radius();
 496     // Earth_position_angle =      get_Earth_position_angle();
 497     // Runway_altitude =   get_Runway_altitude();
 498     // Runway_latitude =   get_Runway_latitude();
 499     // Runway_longitude =  get_Runway_longitude();
 500     // Runway_heading =    get_Runway_heading();
 501     // Radius_to_rwy =     get_Radius_to_rwy();
 502     // D_cg_north_of_rwy = get_D_cg_north_of_rwy();
 503     // D_cg_east_of_rwy =  get_D_cg_east_of_rwy();
 504     // D_cg_above_rwy =    get_D_cg_above_rwy();
 505     // X_cg_rwy =  get_X_cg_rwy();
 506     // Y_cg_rwy =  get_Y_cg_rwy();
 507     // H_cg_rwy =  get_H_cg_rwy();
 508     // D_pilot_north_of_rwy =      get_D_pilot_north_of_rwy();
 509     // D_pilot_east_of_rwy =       get_D_pilot_east_of_rwy();
 510     // D_pilot_above_rwy = get_D_pilot_above_rwy();
 511     // X_pilot_rwy =       get_X_pilot_rwy();
 512     // Y_pilot_rwy =       get_Y_pilot_rwy();
 513     // H_pilot_rwy =       get_H_pilot_rwy();
 514
 515     return true;
 516 }
 517
 518
 519 // Convert from the LaRCsim generic_ struct to the FGInterface struct
 520 bool FGLaRCsim::copy_from_LaRCsim() {
 521
 522     // Mass properties and geometry values
 523     _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
 524     // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
 525     _set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
 526
 527     // Forces
 528     // set_Forces_Body_Total( F_X, F_Y, F_Z );
 529     // set_Forces_Local_Total( F_north, F_east, F_down );
 530     // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
 531     // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
 532     // set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
 533
 534     // Moments
 535     // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
 536     // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
 537     // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
 538     // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
 539     // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
 540
 541     // Accelerations
 542     _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
 543     _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
 544     _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
 545     _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
 546     _set_Accels_CG_Body_N( N_X_cg, N_Y_cg, -N_Z_cg );
 547     // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
 548     // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
 549
 550     // Velocities
 551     _set_Velocities_Local( V_north, V_east, V_down );
 552     // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
 553     //               V_down_rel_ground );
 554     _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
 555                                    V_down_airmass );
 556     // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
 557     //                          V_east_rel_airmass, V_down_rel_airmass );
 558     // set_Velocities_Gust( U_gust, V_gust, W_gust );
 559     _set_Velocities_Wind_Body( U_body, V_body, W_body );
 560
 561     _set_V_rel_wind( V_rel_wind );
 562     // set_V_true_kts( V_true_kts );
 563     // set_V_rel_ground( V_rel_ground );
 564     // set_V_inertial( V_inertial );
 565     _set_V_ground_speed( V_ground_speed );
 566     // set_V_equiv( V_equiv );
 567     _set_V_equiv_kts( V_equiv_kts );
 568     // set_V_calibrated( V_calibrated );
 569     _set_V_calibrated_kts( V_calibrated_kts );
 570
 571     _set_Omega_Body( P_body, Q_body, R_body );
 572     // set_Omega_Local( P_local, Q_local, R_local );
 573     // set_Omega_Total( P_total, Q_total, R_total );
 574
 575     _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
 576     _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
 577
 578     _set_Mach_number( Mach_number );
 579
 580     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
 581             << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
 582             << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
 583             << " radius_to_vehicle = " << Radius_to_vehicle );
 584
 585     double tmp_lon_geoc = Lon_geocentric;
 586     while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
 587     while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
 588
 589     double tmp_lon = Longitude;
 590     while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
 591     while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
 592
 593     // Positions
 594     _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
 595                               Radius_to_vehicle );
 596     _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
 597     _set_Euler_Angles( Phi, Theta, Psi );
 598
 599     _set_Altitude_AGL( Altitude - Runway_altitude );
 600
 601     // Miscellaneous quantities
 602     _set_T_Local_to_Body(T_local_to_body_m);
 603     // set_Gravity( Gravity );
 604     // set_Centrifugal_relief( Centrifugal_relief );
 605
 606     _set_Alpha( Alpha );
 607     _set_Beta( Beta );
 608     // set_Alpha_dot( Alpha_dot );
 609     // set_Beta_dot( Beta_dot );
 610
 611     // set_Cos_alpha( Cos_alpha );
 612     // set_Sin_alpha( Sin_alpha );
 613     // set_Cos_beta( Cos_beta );
 614     // set_Sin_beta( Sin_beta );
 615
 616     _set_Cos_phi( Cos_phi );
 617     // set_Sin_phi( Sin_phi );
 618     _set_Cos_theta( Cos_theta );
 619     // set_Sin_theta( Sin_theta );
 620     // set_Cos_psi( Cos_psi );
 621     // set_Sin_psi( Sin_psi );
 622
 623     _set_Gamma_vert_rad( Gamma_vert_rad );
 624     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 625
 626     // set_Sigma( Sigma );
 627     _set_Density( Density );
 628     // set_V_sound( V_sound );
 629     // set_Mach_number( Mach_number );
 630
 631     _set_Static_pressure( Static_pressure );
 632     // set_Total_pressure( Total_pressure );
 633     // set_Impact_pressure( Impact_pressure );
 634     // set_Dynamic_pressure( Dynamic_pressure );
 635
 636     _set_Static_temperature( Static_temperature );
 637     // set_Total_temperature( Total_temperature );
 638
 639     _set_Sea_level_radius( Sea_level_radius );
 640     _set_Earth_position_angle( Earth_position_angle );
 641
 642     _set_Runway_altitude( Runway_altitude );
 643     // set_Runway_latitude( Runway_latitude );
 644     // set_Runway_longitude( Runway_longitude );
 645     // set_Runway_heading( Runway_heading );
 646     // set_Radius_to_rwy( Radius_to_rwy );
 647
 648     // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
 649     // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
 650     // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
 651     //                        D_pilot_above_rwy );
 652     // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
 653
 654     _set_sin_lat_geocentric(Lat_geocentric);
 655     _set_cos_lat_geocentric(Lat_geocentric);
 656     _set_sin_cos_longitude(Longitude);
 657     _set_sin_cos_latitude(Latitude);
 658
 659     // printf("sin_lat_geo %f  cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
 660     // printf("sin_lat     %f  cos_lat     %f\n",
 661     //        get_sin_latitude(), get_cos_latitude());
 662     // printf("sin_lon     %f  cos_lon     %f\n",
 663     //        get_sin_longitude(), get_cos_longitude());
 664
 665     _set_Climb_Rate( -1 * V_down );
 666     // cout << "climb rate = " << -V_down * 60 << endl;
 667
 668     if ( !strcmp(aero->getStringValue(), "uiuc") ) {
 669         if (pilot_elev_no) {
 670             globals->get_controls()->set_elevator(Long_control);
 671             globals->get_controls()->set_elevator_trim(Long_trim);
 672             //      controls.set_elevator(Long_control);
 673             //      controls.set_elevator_trim(Long_trim);
 674         }
 675         if (pilot_ail_no) {
 676             globals->get_controls()->set_aileron(Lat_control);
 677             //    controls.set_aileron(Lat_control);
 678         }
 679         if (pilot_rud_no) {
 680             globals->get_controls()->set_rudder(Rudder_pedal);
 681             //    controls.set_rudder(Rudder_pedal);
 682         }
 683         if (pilot_throttle_no) {
 684             globals->get_controls()->set_throttle(0,Throttle_pct);
 685             //    controls.set_throttle(0,Throttle_pct);
 686         }
 687     }
 688
 689     return true;
 690 }
 691
 692
 693 void FGLaRCsim::set_ls(void) {
 694     Phi=lsic->GetRollAngleRadIC();
 695     Theta=lsic->GetPitchAngleRadIC();
 696     Psi=lsic->GetHeadingRadIC();
 697     V_north=lsic->GetVnorthFpsIC();
 698     V_east=lsic->GetVeastFpsIC();
 699     V_down=lsic->GetVdownFpsIC();
 700     Altitude=lsic->GetAltitudeFtIC();
 701     Latitude=lsic->GetLatitudeGDRadIC();
 702     Longitude=lsic->GetLongitudeRadIC();
 703     Runway_altitude=lsic->GetRunwayAltitudeFtIC();
 704     V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1;
 705     V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1;
 706     V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1;
 707     ls_loop(0.0,-1);
 708     copy_from_LaRCsim();
 709 }
 710
 711 void FGLaRCsim::snap_shot(void) {
 712     lsic->SetLatitudeGDRadIC( get_Latitude() );
 713     lsic->SetLongitudeRadIC( get_Longitude() );
 714     lsic->SetAltitudeFtIC( get_Altitude() );
 715     lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
 716     lsic->SetVtrueFpsIC( get_V_rel_wind() );
 717     lsic->SetPitchAngleRadIC( get_Theta() );
 718     lsic->SetRollAngleRadIC( get_Phi() );
 719     lsic->SetHeadingRadIC( get_Psi() );
 720     lsic->SetClimbRateFpsIC( get_Climb_Rate() );
 721     lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
 722                                get_V_east_airmass(),
 723                                get_V_down_airmass() );
 724 }
 725
 726 //Positions
 727 void FGLaRCsim::set_Latitude(double lat) {
 728     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat  );
 729     snap_shot();
 730     lsic->SetLatitudeGDRadIC(lat);
 731     set_ls();
 732     copy_from_LaRCsim(); //update the bus
 733 }
 734
 735 void FGLaRCsim::set_Longitude(double lon) {
 736     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon  );
 737     snap_shot();
 738     lsic->SetLongitudeRadIC(lon);
 739     set_ls();
 740     copy_from_LaRCsim(); //update the bus
 741 }
 742
 743 void FGLaRCsim::set_Altitude(double alt) {
 744     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt  );
 745     snap_shot();
 746     lsic->SetAltitudeFtIC(alt);
 747     set_ls();
 748     copy_from_LaRCsim(); //update the bus
 749 }
 750
 751 void FGLaRCsim::set_V_calibrated_kts(double vc) {
 752     SG_LOG( SG_FLIGHT, SG_INFO,
 753             "FGLaRCsim::set_V_calibrated_kts: " << vc  );
 754     snap_shot();
 755     lsic->SetVcalibratedKtsIC(vc);
 756     set_ls();
 757     copy_from_LaRCsim(); //update the bus
 758 }
 759
 760 void FGLaRCsim::set_Mach_number(double mach) {
 761     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach  );
 762     snap_shot();
 763     lsic->SetMachIC(mach);
 764     set_ls();
 765     copy_from_LaRCsim(); //update the bus
 766 }
 767
 768 void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
 769     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
 770             << north << "  " << east << "  " << down   );
 771     snap_shot();
 772     lsic->SetVNEDFpsIC(north, east, down);
 773     set_ls();
 774     copy_from_LaRCsim(); //update the bus
 775 }
 776
 777 void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
 778     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
 779             << u << "  " << v << "  " << w   );
 780     snap_shot();
 781     lsic->SetUVWFpsIC(u,v,w);
 782     set_ls();
 783     copy_from_LaRCsim(); //update the bus
 784 }
 785
 786 //Euler angles
 787 void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
 788     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
 789             << phi << "  " << theta << "  " << psi   );
 790
 791     snap_shot();
 792     lsic->SetPitchAngleRadIC(theta);
 793     lsic->SetRollAngleRadIC(phi);
 794     lsic->SetHeadingRadIC(psi);
 795     set_ls();
 796     copy_from_LaRCsim(); //update the bus
 797 }
 798
 799 //Flight Path
 800 void FGLaRCsim::set_Climb_Rate( double roc) {
 801     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc  );
 802     snap_shot();
 803     lsic->SetClimbRateFpsIC(roc);
 804     set_ls();
 805     copy_from_LaRCsim(); //update the bus
 806 }
 807
 808 void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
 809     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma  );
 810     snap_shot();
 811     lsic->SetFlightPathAngleRadIC(gamma);
 812     set_ls();
 813     copy_from_LaRCsim(); //update the bus
 814 }
 815
 816 void FGLaRCsim::set_AltitudeAGL(double altagl) {
 817     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl  );
 818     snap_shot();
 819     lsic->SetAltitudeAGLFtIC(altagl);
 820     set_ls();
 821     copy_from_LaRCsim();
 822 }
 823
 824 /*  getting a namespace conflict...
 825 void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
 826                                               double weast,
 827                                               double wdown ) {
 828     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
 829             << wnorth << "  " << weast << "  " << wdown );
 830     snap_shot();
 831     lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
 832     set_ls();
 833     copy_from_LaRCsim();
 834 }
 835 */
 836
 837 void FGLaRCsim::set_Static_pressure(double p) {
 838     SG_LOG( SG_FLIGHT, SG_INFO,
 839             "FGLaRCsim::set_Static_pressure: " << p  );
 840     SG_LOG( SG_FLIGHT, SG_INFO,
 841             "LaRCsim does not support externally supplied atmospheric data" );
 842 }
 843
 844 void FGLaRCsim::set_Static_temperature(double T) {
 845     SG_LOG( SG_FLIGHT, SG_INFO,
 846             "FGLaRCsim::set_Static_temperature: " << T  );
 847     SG_LOG( SG_FLIGHT, SG_INFO,
 848             "LaRCsim does not support externally supplied atmospheric data" );
 849
 850 }
 851
 852 void FGLaRCsim::set_Density(double rho) {
 853     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho  );
 854     SG_LOG( SG_FLIGHT, SG_INFO,
 855             "LaRCsim does not support externally supplied atmospheric data" );
 856
 857 }
 858