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     if ( !strcmp(aero->getStringValue(), "basic") ) {
  70         copy_to_LaRCsim(); // initialize all of LaRCsim's vars
  71
  72         //this should go away someday -- formerly done in fg_init.cxx
  73         Mass = 2./32.174;
  74         I_xx   = 0.0454;
  75         I_yy   = 0.0191;
  76         I_zz   = 0.0721;
  77         I_xz   = 0;
  78 //      Mass = 8.547270E+01;
  79 //      I_xx = 1.048000E+03;
  80 //      I_yy = 3.000000E+03;
  81 //      I_zz = 3.530000E+03;
  82 //      I_xz = 0.000000E+00;
  83     }
  84
  85     ls_set_model_dt(dt);
  86
  87     // Initialize our little engine that hopefully might
  88     eng.init(dt);
  89     // dcl - in passing dt to init rather than update I am assuming
  90     // that the LaRCsim dt is fixed at one value (yes it is 120hz CLO)
  91 }
  92
  93 FGLaRCsim::~FGLaRCsim(void) {
  94     if ( lsic != NULL ) {
  95         delete lsic;
  96         lsic = NULL;
  97     }
  98 }
  99
 100 // Initialize the LaRCsim flight model, dt is the time increment for
 101 // each subsequent iteration through the EOM
 102 void FGLaRCsim::init() {
 103    //do init common to all FDM's
 104    common_init();
 105 }
 106
 107
 108 // Run an iteration of the EOM (equations of motion)
 109 void FGLaRCsim::update( double dt ) {
 110
 111     if (is_suspended())
 112       return;
 113
 114     int multiloop = _calc_multiloop(dt);
 115
 116     // if flying c172-larcsim, do the following
 117     if ( !strcmp(aero->getStringValue(), "c172") ) {
 118         // set control inputs
 119         // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
 120         eng.set_IAS( V_calibrated_kts );
 121         eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
 122                                     * 100.0 );
 123         eng.set_Propeller_Lever_Pos( 100 );
 124         eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
 125                                    * 100.0 );
 126         eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
 127         eng.setStarterFlag( globals->get_controls()->get_starter(0) );
 128         eng.set_p_amb( Static_pressure );
 129         eng.set_T_amb( Static_temperature );
 130
 131         // update engine model
 132         eng.update();
 133
 134         // Fake control-surface positions
 135         fgSetDouble("/surface-positions/flap-pos-norm",
 136                     fgGetDouble("/controls/flight/flaps"));
 137                                 // FIXME: ignoring trim
 138         fgSetDouble("/surface-positions/elevator-pos-norm",
 139                     fgGetDouble("/controls/flight/elevator"));
 140                                 // FIXME: ignoring trim
 141         fgSetDouble("/surface-positions/left-aileron-pos-norm",
 142                     fgGetDouble("/controls/flight/aileron"));
 143                                 // FIXME: ignoring trim
 144         fgSetDouble("/surface-positions/right-aileron-pos-norm",
 145                     -1 * fgGetDouble("/controls/flight/aileron"));
 146                                 // FIXME: ignoring trim
 147         fgSetDouble("/surface-positions/rudder-pos-norm",
 148                     fgGetDouble("/controls/flight/rudder"));
 149
 150         // copy engine state values onto "bus"
 151         fgSetDouble("/engines/engine/rpm", eng.get_RPM());
 152         fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
 153         fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
 154         fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
 155         fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
 156         fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
 157         fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
 158         fgSetDouble("/engines/engine/fuel-flow-gph",
 159                     eng.get_fuel_flow_gals_hr());
 160         fgSetDouble("/engines/engine/oil-temperature-degf",
 161                     eng.get_oil_temp());
 162         fgSetDouble("/engines/engine/running", eng.getRunningFlag());
 163         fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
 164
 165         static const SGPropertyNode *fuel_freeze
 166             = fgGetNode("/sim/freeze/fuel");
 167
 168         if ( ! fuel_freeze->getBoolValue() ) {
 169             //Assume we are using both tanks equally for now
 170             fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
 171                         fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
 172                         - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
 173                         * dt);
 174             fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
 175                         fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
 176                         - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
 177                         * dt);
 178         }
 179
 180         // Apparently the IO360 thrust model is not working.
 181         // F_X_engine is zero here.
 182         F_X_engine = eng.get_prop_thrust_lbs();
 183
 184         Flap_handle = 30.0 * globals->get_controls()->get_flaps();
 185     }
 186     // done with c172-larcsim if-block
 187
 188     if ( !strcmp(aero->getStringValue(), "basic") ) {
 189         // set control inputs
 190         // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
 191         eng.set_IAS( V_calibrated_kts );
 192         eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
 193                                     * 100.0 );
 194         eng.set_Propeller_Lever_Pos( 100 );
 195         eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
 196                                    * 100.0 );
 197         eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
 198         eng.setStarterFlag( globals->get_controls()->get_starter(0) );
 199         eng.set_p_amb( Static_pressure );
 200         eng.set_T_amb( Static_temperature );
 201
 202         // update engine model
 203         eng.update();
 204
 205         // Fake control-surface positions
 206         fgSetDouble("/surface-positions/flap-pos-norm",
 207                     fgGetDouble("/controls/flight/flaps"));
 208                                 // FIXME: ignoring trim
 209         fgSetDouble("/surface-positions/elevator-pos-norm",
 210                     fgGetDouble("/controls/flight/elevator"));
 211                                 // FIXME: ignoring trim
 212         fgSetDouble("/surface-positions/left-aileron-pos-norm",
 213                     fgGetDouble("/controls/flight/aileron"));
 214                                 // FIXME: ignoring trim
 215         fgSetDouble("/surface-positions/right-aileron-pos-norm",
 216                     -1 * fgGetDouble("/controls/flight/aileron"));
 217                                 // FIXME: ignoring trim
 218         fgSetDouble("/surface-positions/rudder-pos-norm",
 219                     fgGetDouble("/controls/flight/rudder"));
 220
 221         // copy engine state values onto "bus"
 222         fgSetDouble("/engines/engine/rpm", eng.get_RPM());
 223         fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
 224         fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
 225         fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
 226         fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
 227         fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
 228         fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
 229         fgSetDouble("/engines/engine/fuel-flow-gph",
 230                     eng.get_fuel_flow_gals_hr());
 231         fgSetDouble("/engines/engine/oil-temperature-degf",
 232                     eng.get_oil_temp());
 233         fgSetDouble("/engines/engine/running", eng.getRunningFlag());
 234         fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
 235
 236         static const SGPropertyNode *fuel_freeze
 237             = fgGetNode("/sim/freeze/fuel");
 238
 239         if ( ! fuel_freeze->getBoolValue() ) {
 240             //Assume we are using both tanks equally for now
 241             fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
 242                         fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
 243                         - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
 244                         * dt);
 245             fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
 246                         fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
 247                         - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
 248                         * dt);
 249         }
 250
 251         // Apparently the IO360 thrust model is not working.
 252         // F_X_engine is zero here.
 253         F_X_engine = eng.get_prop_thrust_lbs();
 254
 255         Flap_handle = 30.0 * globals->get_controls()->get_flaps();
 256     }
 257     // done with basic-larcsim if-block
 258
 259     double save_alt = 0.0;
 260
 261     // lets try to avoid really screwing up the LaRCsim model
 262     if ( get_Altitude() < -9000.0 ) {
 263         save_alt = get_Altitude();
 264         set_Altitude( 0.0 );
 265     }
 266
 267     // copy control positions into the LaRCsim structure
 268     Lat_control = globals->get_controls()->get_aileron() / speed_up->getIntValue();
 269     Long_control = globals->get_controls()->get_elevator();
 270     Long_trim = globals->get_controls()->get_elevator_trim();
 271     Rudder_pedal = globals->get_controls()->get_rudder() / speed_up->getIntValue();
 272
 273     // IO360.cxx for the C172 thrust is broken (not sure why).
 274     // So force C172 to use engine model in c172_engine.c instead of the IO360.cxx.
 275     //      if ( !strcmp(aero->getStringValue(), "c172") ) {
 276     //          Use_External_Engine = 1;
 277     //      } else {
 278     //          Use_External_Engine = 0;
 279     //      }
 280     Use_External_Engine = 0;
 281
 282     Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
 283
 284     Brake_pct[0] = globals->get_controls()->get_brake( 1 );
 285     Brake_pct[1] = globals->get_controls()->get_brake( 0 );
 286
 287     // Inform LaRCsim of the local terrain altitude
 288     // Runway_altitude = get_Runway_altitude();
 289     Runway_altitude = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m() * SG_METER_TO_FEET;
 290     // Weather
 291     /* V_north_airmass = get_V_north_airmass();
 292        V_east_airmass =  get_V_east_airmass();
 293        V_down_airmass =  get_V_down_airmass(); */
 294
 295
 296     // old -- FGInterface_2_LaRCsim() not needed except for Init()
 297     // translate FG to LaRCsim structure
 298     // FGInterface_2_LaRCsim(f);
 299     // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
 300     // printf("Altitude = %.2f\n", Altitude * 0.3048);
 301     // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
 302
 303     // for engine functions (sounds and instruments)
 304     // drive the rpm gauge
 305     fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
 306     // manifold air pressure, which drives the sound (see *sound.xml file)
 307     fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
 308     // make the engine cranking and running sounds when fgfs starts up
 309     fgSetDouble("/engines/engine/cranking", 1);
 310     fgSetDouble("/engines/engine/running", 1);
 311
 312     // if flying uiuc, set some properties and over-ride some previous ones
 313     if ( !strcmp(aero->getStringValue(), "uiuc")) {
 314
 315       // surface positions and other general properties
 316       fgSetDouble("/surface-positions/flight/rudder-pos-norm",             fgGetDouble("/controls/flight/rudder"));
 317       fgSetDouble("/surface-positions/flight/elevator-pos-norm",           fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
 318       fgSetDouble("/surface-positions/flight/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
 319       fgSetDouble("/surface-positions/flight/left-aileron-pos-norm",       fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
 320
 321       // used by Instruments/accel.xml
 322       fgSetDouble("/accelerations/pilot-g",   -N_Z_cg);
 323
 324       Flap_handle = flap_max * globals->get_controls()->get_flaps();
 325
 326       // flaps with transition occuring in uiuc_aerodeflections.cpp
 327       if (use_flaps) {
 328       fgSetDouble("/surface-positions/flight/flap-pos-norm",               flap_pos_pct);
 329       }
 330
 331       // spoilers with transition occurring in uiuc_aerodeflections.cpp
 332       if(use_spoilers) {
 333         Spoiler_handle = spoiler_max * fgGetDouble("/controls/flight/spoilers");
 334       }
 335       // gear with transition occurring here in LaRCsim.cxx
 336       if (use_gear) {
 337         if(fgGetBool("/controls/gear/gear-down")) {
 338           Gear_handle = 1.0;
 339         }
 340         else {
 341           Gear_handle = 0.;
 342         }
 343         // commanded gear is 0 or 1
 344         gear_cmd_norm = Gear_handle;
 345         // amount gear moves per time step [relative to 1]
 346         gear_increment_per_timestep = gear_rate * dt;
 347         // determine gear position with respect to gear command
 348         if (gear_pos_norm < gear_cmd_norm) {
 349           gear_pos_norm += gear_increment_per_timestep;
 350           if (gear_pos_norm > gear_cmd_norm)
 351             gear_pos_norm = gear_cmd_norm;
 352         } else if (gear_pos_norm > gear_cmd_norm) {
 353           gear_pos_norm -= gear_increment_per_timestep;
 354           if (gear_pos_norm < gear_cmd_norm)
 355             gear_pos_norm = gear_cmd_norm;
 356         }
 357         // set the gear position
 358         fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
 359         fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
 360         fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
 361       }
 362
 363
 364       // engine functions (sounds and instruments)
 365       // drive the rpm gauge
 366       fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
 367       // manifold air pressure
 368       fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
 369       // make the engine cranking and running sounds when fgfs starts up
 370       fgSetDouble("/engines/engine/cranking", 1);
 371       fgSetDouble("/engines/engine/running", 1);
 372       if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
 373         // uiuc prop driven airplane, e.g. Wright Flyer
 374       }
 375       else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
 376         // uiuc jet aircraft, e.g. a4d
 377         // used for setting the sound
 378         fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
 379         fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
 380         // used for setting the instruments
 381         fgSetDouble("/engines/engine[0]/n1", (50 + (globals->get_controls()->get_throttle( 0 ) * 50)));
 382       }
 383       else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
 384         // uiuc sailplane, e.g. asw20
 385         fgSetDouble("/engines/engine/cranking", 0);
 386       }
 387       else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
 388         // uiuc hang glider, e.g. airwave
 389         fgSetDouble("/engines/engine/cranking", 0);
 390       }
 391       else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
 392         // flapping wings
 393         fgSetDouble("/canopy/position-norm", 0);
 394         fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
 395         fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
 396         fgSetDouble("/wing-phase/position-one", 1);
 397         fgSetDouble("/thorax/volume", 0);
 398         fgSetDouble("/thorax/rpm",    0);
 399         //      fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
 400         //      fgSetDouble("/thorax/rpm",    ((1+sin(2*(flapper_phi+LS_PI)))/2));
 401       }
 402     }
 403
 404
 405     // add Gamma_horiz_deg to properties, mss 021213
 406     if (use_gamma_horiz_on_speed) {
 407       if (V_rel_wind > gamma_horiz_on_speed) {
 408         fgSetDouble("/orientation/gamma-horiz-deg", (Gamma_horiz_rad * RAD_TO_DEG));
 409       }
 410       else {
 411         fgSetDouble("/orientation/gamma-horiz-deg",  fgGetDouble("/orientation/heading-deg"));
 412       }
 413     }
 414     else {
 415       fgSetDouble("/orientation/gamma-horiz-deg",  fgGetDouble("/orientation/heading-deg"));
 416     }
 417     ls_update(multiloop);
 418
 419     // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
 420     // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
 421
 422     // translate LaRCsim back to FG structure so that the
 423     // autopilot (and the rest of the sim can use the updated
 424     // values
 425     copy_from_LaRCsim();
 426
 427     // but lets restore our original bogus altitude when we are done
 428     if ( save_alt < -9000.0 ) {
 429         set_Altitude( save_alt );
 430     }
 431 }
 432
 433
 434 // Convert from the FGInterface struct to the LaRCsim generic_ struct
 435 bool FGLaRCsim::copy_to_LaRCsim () {
 436     Mass =      get_Mass();
 437     I_xx =      get_I_xx();
 438     I_yy =      get_I_yy();
 439     I_zz =      get_I_zz();
 440     I_xz =      get_I_xz();
 441     // Dx_pilot =  get_Dx_pilot();
 442     // Dy_pilot =  get_Dy_pilot();
 443     // Dz_pilot =  get_Dz_pilot();
 444     Dx_cg =     get_Dx_cg();
 445     Dy_cg =     get_Dy_cg();
 446     Dz_cg =     get_Dz_cg();
 447     // F_X =       get_F_X();
 448     // F_Y =       get_F_Y();
 449     // F_Z =       get_F_Z();
 450     // F_north =   get_F_north();
 451     // F_east =    get_F_east();
 452     // F_down =    get_F_down();
 453     // F_X_aero =  get_F_X_aero();
 454     // F_Y_aero =  get_F_Y_aero();
 455     // F_Z_aero =  get_F_Z_aero();
 456     // F_X_engine =        get_F_X_engine();
 457     // F_Y_engine =        get_F_Y_engine();
 458     // F_Z_engine =        get_F_Z_engine();
 459     // F_X_gear =  get_F_X_gear();
 460     // F_Y_gear =  get_F_Y_gear();
 461     // F_Z_gear =  get_F_Z_gear();
 462     // M_l_rp =    get_M_l_rp();
 463     // M_m_rp =    get_M_m_rp();
 464     // M_n_rp =    get_M_n_rp();
 465     // M_l_cg =    get_M_l_cg();
 466     // M_m_cg =    get_M_m_cg();
 467     // M_n_cg =    get_M_n_cg();
 468     // M_l_aero =  get_M_l_aero();
 469     // M_m_aero =  get_M_m_aero();
 470     // M_n_aero =  get_M_n_aero();
 471     // M_l_engine =        get_M_l_engine();
 472     // M_m_engine =        get_M_m_engine();
 473     // M_n_engine =        get_M_n_engine();
 474     // M_l_gear =  get_M_l_gear();
 475     // M_m_gear =  get_M_m_gear();
 476     // M_n_gear =  get_M_n_gear();
 477     // V_dot_north =       get_V_dot_north();
 478     // V_dot_east =        get_V_dot_east();
 479     // V_dot_down =        get_V_dot_down();
 480     // U_dot_body =        get_U_dot_body();
 481     // V_dot_body =        get_V_dot_body();
 482     // W_dot_body =        get_W_dot_body();
 483     // A_X_cg =    get_A_X_cg();
 484     // A_Y_cg =    get_A_Y_cg();
 485     // A_Z_cg =    get_A_Z_cg();
 486     // A_X_pilot = get_A_X_pilot();
 487     // A_Y_pilot = get_A_Y_pilot();
 488     // A_Z_pilot = get_A_Z_pilot();
 489     // N_X_cg =    get_N_X_cg();
 490     // N_Y_cg =    get_N_Y_cg();
 491     // N_Z_cg =    get_N_Z_cg();
 492     // N_X_pilot = get_N_X_pilot();
 493     // N_Y_pilot = get_N_Y_pilot();
 494     // N_Z_pilot = get_N_Z_pilot();
 495     // P_dot_body =        get_P_dot_body();
 496     // Q_dot_body =        get_Q_dot_body();
 497     // R_dot_body =        get_R_dot_body();
 498     // V_north =   get_V_north();
 499     // V_east =    get_V_east();
 500     // V_down =    get_V_down();
 501     // V_north_rel_ground =        get_V_north_rel_ground();
 502     // V_east_rel_ground = get_V_east_rel_ground();
 503     // V_down_rel_ground = get_V_down_rel_ground();
 504     // V_north_airmass =   get_V_north_airmass();
 505     // V_east_airmass =    get_V_east_airmass();
 506     // V_down_airmass =    get_V_down_airmass();
 507     // V_north_rel_airmass =       get_V_north_rel_airmass();
 508     // V_east_rel_airmass =        get_V_east_rel_airmass();
 509     // V_down_rel_airmass =        get_V_down_rel_airmass();
 510     // U_gust =    get_U_gust();
 511     // V_gust =    get_V_gust();
 512     // W_gust =    get_W_gust();
 513     // U_body =    get_U_body();
 514     // V_body =    get_V_body();
 515     // W_body =    get_W_body();
 516     // V_rel_wind =        get_V_rel_wind();
 517     // V_true_kts =        get_V_true_kts();
 518     // V_rel_ground =      get_V_rel_ground();
 519     // V_inertial =        get_V_inertial();
 520     // V_ground_speed =    get_V_ground_speed();
 521     // V_equiv =   get_V_equiv();
 522     // V_equiv_kts =       get_V_equiv_kts();
 523     // V_calibrated =      get_V_calibrated();
 524     // V_calibrated_kts =  get_V_calibrated_kts();
 525     // P_body =    get_P_body();
 526     // Q_body =    get_Q_body();
 527     // R_body =    get_R_body();
 528     // P_local =   get_P_local();
 529     // Q_local =   get_Q_local();
 530     // R_local =   get_R_local();
 531     // P_total =   get_P_total();
 532     // Q_total =   get_Q_total();
 533     // R_total =   get_R_total();
 534     // Phi_dot =   get_Phi_dot();
 535     // Theta_dot = get_Theta_dot();
 536     // Psi_dot =   get_Psi_dot();
 537     // Latitude_dot =      get_Latitude_dot();
 538     // Longitude_dot =     get_Longitude_dot();
 539     // Radius_dot =        get_Radius_dot();
 540     // Lat_geocentric =    get_Lat_geocentric();
 541     // Lon_geocentric =    get_Lon_geocentric();
 542     // Radius_to_vehicle = get_Radius_to_vehicle();
 543     // Latitude =  get_Latitude();
 544     // Longitude = get_Longitude();
 545     // Altitude =  get_Altitude();
 546     // Phi =       get_Phi();
 547     // Theta =     get_Theta();
 548     // Psi =       get_Psi();
 549     // T_local_to_body_11 =        get_T_local_to_body_11();
 550     // T_local_to_body_12 =        get_T_local_to_body_12();
 551     // T_local_to_body_13 =        get_T_local_to_body_13();
 552     // T_local_to_body_21 =        get_T_local_to_body_21();
 553     // T_local_to_body_22 =        get_T_local_to_body_22();
 554     // T_local_to_body_23 =        get_T_local_to_body_23();
 555     // T_local_to_body_31 =        get_T_local_to_body_31();
 556     // T_local_to_body_32 =        get_T_local_to_body_32();
 557     // T_local_to_body_33 =        get_T_local_to_body_33();
 558     // Gravity =   get_Gravity();
 559     // Centrifugal_relief =        get_Centrifugal_relief();
 560     // Alpha =     get_Alpha();
 561     // Beta =      get_Beta();
 562     // Alpha_dot = get_Alpha_dot();
 563     // Beta_dot =  get_Beta_dot();
 564     // Cos_alpha = get_Cos_alpha();
 565     // Sin_alpha = get_Sin_alpha();
 566     // Cos_beta =  get_Cos_beta();
 567     // Sin_beta =  get_Sin_beta();
 568     // Cos_phi =   get_Cos_phi();
 569     // Sin_phi =   get_Sin_phi();
 570     // Cos_theta = get_Cos_theta();
 571     // Sin_theta = get_Sin_theta();
 572     // Cos_psi =   get_Cos_psi();
 573     // Sin_psi =   get_Sin_psi();
 574     // Gamma_vert_rad =    get_Gamma_vert_rad();
 575     // Gamma_horiz_rad =   get_Gamma_horiz_rad();
 576     // Sigma =     get_Sigma();
 577     // Density =   get_Density();
 578     // V_sound =   get_V_sound();
 579     // Mach_number =       get_Mach_number();
 580     // Static_pressure =   get_Static_pressure();
 581     // Total_pressure =    get_Total_pressure();
 582     // Impact_pressure =   get_Impact_pressure();
 583     // Dynamic_pressure =  get_Dynamic_pressure();
 584     // Static_temperature =        get_Static_temperature();
 585     // Total_temperature = get_Total_temperature();
 586     // Sea_level_radius =  get_Sea_level_radius();
 587     // Earth_position_angle =      get_Earth_position_angle();
 588     // Runway_altitude =   get_Runway_altitude();
 589     // Runway_latitude =   get_Runway_latitude();
 590     // Runway_longitude =  get_Runway_longitude();
 591     // Runway_heading =    get_Runway_heading();
 592     // Radius_to_rwy =     get_Radius_to_rwy();
 593     // D_cg_north_of_rwy = get_D_cg_north_of_rwy();
 594     // D_cg_east_of_rwy =  get_D_cg_east_of_rwy();
 595     // D_cg_above_rwy =    get_D_cg_above_rwy();
 596     // X_cg_rwy =  get_X_cg_rwy();
 597     // Y_cg_rwy =  get_Y_cg_rwy();
 598     // H_cg_rwy =  get_H_cg_rwy();
 599     // D_pilot_north_of_rwy =      get_D_pilot_north_of_rwy();
 600     // D_pilot_east_of_rwy =       get_D_pilot_east_of_rwy();
 601     // D_pilot_above_rwy = get_D_pilot_above_rwy();
 602     // X_pilot_rwy =       get_X_pilot_rwy();
 603     // Y_pilot_rwy =       get_Y_pilot_rwy();
 604     // H_pilot_rwy =       get_H_pilot_rwy();
 605
 606     return true;
 607 }
 608
 609
 610 // Convert from the LaRCsim generic_ struct to the FGInterface struct
 611 bool FGLaRCsim::copy_from_LaRCsim() {
 612
 613     // Mass properties and geometry values
 614     _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
 615     // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
 616     _set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
 617
 618     // Forces
 619     // set_Forces_Body_Total( F_X, F_Y, F_Z );
 620     // set_Forces_Local_Total( F_north, F_east, F_down );
 621     // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
 622     // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
 623     // set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
 624
 625     // Moments
 626     // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
 627     // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
 628     // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
 629     // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
 630     // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
 631
 632     // Accelerations
 633     _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
 634     _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
 635     _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
 636     _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
 637     _set_Accels_CG_Body_N( N_X_cg, N_Y_cg, -N_Z_cg );
 638     // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
 639     // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
 640
 641     // Velocities
 642     _set_Velocities_Local( V_north, V_east, V_down );
 643     // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
 644     //               V_down_rel_ground );
 645     _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
 646                                    V_down_airmass );
 647     // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
 648     //                          V_east_rel_airmass, V_down_rel_airmass );
 649     // set_Velocities_Gust( U_gust, V_gust, W_gust );
 650     _set_Velocities_Wind_Body( U_body, V_body, W_body );
 651
 652     _set_V_rel_wind( V_rel_wind );
 653     // set_V_true_kts( V_true_kts );
 654     // set_V_rel_ground( V_rel_ground );
 655     // set_V_inertial( V_inertial );
 656     _set_V_ground_speed( V_ground_speed );
 657     // set_V_equiv( V_equiv );
 658     _set_V_equiv_kts( V_equiv_kts );
 659     // set_V_calibrated( V_calibrated );
 660     _set_V_calibrated_kts( V_calibrated_kts );
 661
 662     _set_Omega_Body( P_body, Q_body, R_body );
 663     // set_Omega_Local( P_local, Q_local, R_local );
 664     // set_Omega_Total( P_total, Q_total, R_total );
 665
 666     _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
 667     _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
 668
 669     _set_Mach_number( Mach_number );
 670
 671     SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
 672             << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
 673             << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
 674             << " radius_to_vehicle = " << Radius_to_vehicle );
 675
 676     double tmp_lon_geoc = Lon_geocentric;
 677     while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
 678     while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
 679
 680     double tmp_lon = Longitude;
 681     while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
 682     while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
 683
 684     // Positions
 685     _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
 686                               Radius_to_vehicle );
 687     _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
 688     _set_Euler_Angles( Phi, Theta, Psi );
 689
 690     _set_Altitude_AGL( Altitude - Runway_altitude );
 691
 692     // Miscellaneous quantities
 693     _set_T_Local_to_Body(T_local_to_body_m);
 694     // set_Gravity( Gravity );
 695     // set_Centrifugal_relief( Centrifugal_relief );
 696
 697     _set_Alpha( Std_Alpha );
 698     _set_Beta( Std_Beta );
 699     // set_Alpha_dot( Std_Alpha_dot );
 700     // set_Beta_dot( Std_Beta_dot );
 701
 702     // set_Cos_alpha( Cos_alpha );
 703     // set_Sin_alpha( Sin_alpha );
 704     // set_Cos_beta( Cos_beta );
 705     // set_Sin_beta( Sin_beta );
 706
 707     _set_Cos_phi( Cos_phi );
 708     // set_Sin_phi( Sin_phi );
 709     _set_Cos_theta( Cos_theta );
 710     // set_Sin_theta( Sin_theta );
 711     // set_Cos_psi( Cos_psi );
 712     // set_Sin_psi( Sin_psi );
 713
 714     _set_Gamma_vert_rad( Gamma_vert_rad );
 715     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 716
 717     // set_Sigma( Sigma );
 718     _set_Density( Density );
 719     // set_V_sound( V_sound );
 720     // set_Mach_number( Mach_number );
 721
 722     _set_Static_pressure( Static_pressure );
 723     // set_Total_pressure( Total_pressure );
 724     // set_Impact_pressure( Impact_pressure );
 725     // set_Dynamic_pressure( Dynamic_pressure );
 726
 727     _set_Static_temperature( Static_temperature );
 728     // set_Total_temperature( Total_temperature );
 729
 730     _set_Sea_level_radius( Sea_level_radius );
 731     _set_Earth_position_angle( Earth_position_angle );
 732
 733     _set_Runway_altitude( Runway_altitude );
 734     // set_Runway_latitude( Runway_latitude );
 735     // set_Runway_longitude( Runway_longitude );
 736     // set_Runway_heading( Runway_heading );
 737     // set_Radius_to_rwy( Radius_to_rwy );
 738
 739     // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
 740     // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
 741     // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
 742     //                        D_pilot_above_rwy );
 743     // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
 744
 745     _set_sin_lat_geocentric(Lat_geocentric);
 746     _set_cos_lat_geocentric(Lat_geocentric);
 747     _set_sin_cos_longitude(Longitude);
 748     _set_sin_cos_latitude(Latitude);
 749
 750     // printf("sin_lat_geo %f  cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
 751     // printf("sin_lat     %f  cos_lat     %f\n",
 752     //        get_sin_latitude(), get_cos_latitude());
 753     // printf("sin_lon     %f  cos_lon     %f\n",
 754     //        get_sin_longitude(), get_cos_longitude());
 755
 756     _set_Climb_Rate( -1 * V_down );
 757     // cout << "climb rate = " << -V_down * 60 << endl;
 758
 759     if ( !strcmp(aero->getStringValue(), "uiuc") ) {
 760         if (pilot_elev_no) {
 761             globals->get_controls()->set_elevator(Long_control);
 762             globals->get_controls()->set_elevator_trim(Long_trim);
 763             //      controls.set_elevator(Long_control);
 764             //      controls.set_elevator_trim(Long_trim);
 765         }
 766         if (pilot_ail_no) {
 767             globals->get_controls()->set_aileron(Lat_control);
 768             //    controls.set_aileron(Lat_control);
 769         }
 770         if (pilot_rud_no) {
 771             globals->get_controls()->set_rudder(Rudder_pedal);
 772             //    controls.set_rudder(Rudder_pedal);
 773         }
 774         if (pilot_throttle_no) {
 775             globals->get_controls()->set_throttle(0,Throttle_pct);
 776             //    controls.set_throttle(0,Throttle_pct);
 777         }
 778     }
 779
 780     return true;
 781 }
 782
 783
 784 void FGLaRCsim::set_ls(void) {
 785     Phi=lsic->GetRollAngleRadIC();
 786     Theta=lsic->GetPitchAngleRadIC();
 787     Psi=lsic->GetHeadingRadIC();
 788     V_north=lsic->GetVnorthFpsIC();
 789     V_east=lsic->GetVeastFpsIC();
 790     V_down=lsic->GetVdownFpsIC();
 791     Altitude=lsic->GetAltitudeFtIC();
 792     Latitude=lsic->GetLatitudeGDRadIC();
 793     Longitude=lsic->GetLongitudeRadIC();
 794     Runway_altitude=lsic->GetRunwayAltitudeFtIC();
 795     V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1;
 796     V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1;
 797     V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1;
 798     ls_loop(0.0,-1);
 799     copy_from_LaRCsim();
 800 }
 801
 802 void FGLaRCsim::snap_shot(void) {
 803     lsic->SetLatitudeGDRadIC( get_Latitude() );
 804     lsic->SetLongitudeRadIC( get_Longitude() );
 805     lsic->SetAltitudeFtIC( get_Altitude() );
 806     lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
 807     lsic->SetVtrueFpsIC( get_V_rel_wind() );
 808     lsic->SetPitchAngleRadIC( get_Theta() );
 809     lsic->SetRollAngleRadIC( get_Phi() );
 810     lsic->SetHeadingRadIC( get_Psi() );
 811     lsic->SetClimbRateFpsIC( get_Climb_Rate() );
 812     lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
 813                                get_V_east_airmass(),
 814                                get_V_down_airmass() );
 815 }
 816
 817 //Positions
 818 void FGLaRCsim::set_Latitude(double lat) {
 819     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat  );
 820     snap_shot();
 821     lsic->SetLatitudeGDRadIC(lat);
 822     set_ls();
 823     copy_from_LaRCsim(); //update the bus
 824 }
 825
 826 void FGLaRCsim::set_Longitude(double lon) {
 827     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon  );
 828     snap_shot();
 829     lsic->SetLongitudeRadIC(lon);
 830     set_ls();
 831     copy_from_LaRCsim(); //update the bus
 832 }
 833
 834 void FGLaRCsim::set_Altitude(double alt) {
 835     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt  );
 836     snap_shot();
 837     lsic->SetAltitudeFtIC(alt);
 838     set_ls();
 839     copy_from_LaRCsim(); //update the bus
 840 }
 841
 842 void FGLaRCsim::set_V_calibrated_kts(double vc) {
 843     SG_LOG( SG_FLIGHT, SG_INFO,
 844             "FGLaRCsim::set_V_calibrated_kts: " << vc  );
 845     snap_shot();
 846     lsic->SetVcalibratedKtsIC(vc);
 847     set_ls();
 848     copy_from_LaRCsim(); //update the bus
 849 }
 850
 851 void FGLaRCsim::set_Mach_number(double mach) {
 852     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach  );
 853     snap_shot();
 854     lsic->SetMachIC(mach);
 855     set_ls();
 856     copy_from_LaRCsim(); //update the bus
 857 }
 858
 859 void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
 860     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
 861             << north << "  " << east << "  " << down   );
 862     snap_shot();
 863     lsic->SetVNEDFpsIC(north, east, down);
 864     set_ls();
 865     copy_from_LaRCsim(); //update the bus
 866 }
 867
 868 void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
 869     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
 870             << u << "  " << v << "  " << w   );
 871     snap_shot();
 872     lsic->SetUVWFpsIC(u,v,w);
 873     set_ls();
 874     copy_from_LaRCsim(); //update the bus
 875 }
 876
 877 //Euler angles
 878 void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
 879     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
 880             << phi << "  " << theta << "  " << psi   );
 881
 882     snap_shot();
 883     lsic->SetPitchAngleRadIC(theta);
 884     lsic->SetRollAngleRadIC(phi);
 885     lsic->SetHeadingRadIC(psi);
 886     set_ls();
 887     copy_from_LaRCsim(); //update the bus
 888 }
 889
 890 //Flight Path
 891 void FGLaRCsim::set_Climb_Rate( double roc) {
 892     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc  );
 893     snap_shot();
 894     lsic->SetClimbRateFpsIC(roc);
 895     set_ls();
 896     copy_from_LaRCsim(); //update the bus
 897 }
 898
 899 void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
 900     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma  );
 901     snap_shot();
 902     lsic->SetFlightPathAngleRadIC(gamma);
 903     set_ls();
 904     copy_from_LaRCsim(); //update the bus
 905 }
 906
 907 void FGLaRCsim::set_AltitudeAGL(double altagl) {
 908     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl  );
 909     snap_shot();
 910     lsic->SetAltitudeAGLFtIC(altagl);
 911     set_ls();
 912     copy_from_LaRCsim();
 913 }
 914
 915 /*  getting a namespace conflict...
 916 void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
 917                                               double weast,
 918                                               double wdown ) {
 919     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
 920             << wnorth << "  " << weast << "  " << wdown );
 921     snap_shot();
 922     lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
 923     set_ls();
 924     copy_from_LaRCsim();
 925 }
 926 */
 927
 928 void FGLaRCsim::set_Static_pressure(double p) {
 929     SG_LOG( SG_FLIGHT, SG_INFO,
 930             "FGLaRCsim::set_Static_pressure: " << p  );
 931     SG_LOG( SG_FLIGHT, SG_INFO,
 932             "LaRCsim does not support externally supplied atmospheric data" );
 933 }
 934
 935 void FGLaRCsim::set_Static_temperature(double T) {
 936     SG_LOG( SG_FLIGHT, SG_INFO,
 937             "FGLaRCsim::set_Static_temperature: " << T  );
 938     SG_LOG( SG_FLIGHT, SG_INFO,
 939             "LaRCsim does not support externally supplied atmospheric data" );
 940
 941 }
 942
 943 void FGLaRCsim::set_Density(double rho) {
 944     SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho  );
 945     SG_LOG( SG_FLIGHT, SG_INFO,
 946             "LaRCsim does not support externally supplied atmospheric data" );
 947
 948 }
 949