1 // LaRCsim.cxx -- interface to the LaRCsim flight model
3 // Written by Curtis Olson, started October 1998.
5 // Copyright (C) 1998 Curtis L. Olson - http://www.flightgear.org/~curt
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.
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.
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.
24 #include <string.h> // strcmp()
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>
31 #include <Aircraft/aircraft.hxx>
32 #include <Aircraft/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>
38 #include "ls_cockpit.h"
39 #include "ls_generic.h"
40 #include "ls_interface.h"
41 #include "ls_constants.h"
44 #include "LaRCsimIC.hxx"
45 #include "LaRCsim.hxx"
48 FGLaRCsim::FGLaRCsim( double dt ) {
51 speed_up = fgGetNode("/sim/speed-up", true);
52 aero = fgGetNode("/sim/aero", true);
53 uiuc_type = fgGetNode("/sim/uiuc-type", true);
55 ls_toplevel_init( 0.0, (char *)(aero->getStringValue()) );
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
61 //this should go away someday -- formerly done in fg_init.cxx
69 if ( !strcmp(aero->getStringValue(), "basic") ) {
70 copy_to_LaRCsim(); // initialize all of LaRCsim's vars
72 //this should go away someday -- formerly done in fg_init.cxx
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;
87 // Initialize our little engine that hopefully might
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)
93 FGLaRCsim::~FGLaRCsim(void) {
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
108 // Run an iteration of the EOM (equations of motion)
109 void FGLaRCsim::update( double dt ) {
114 int multiloop = _calc_multiloop(dt);
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 )
123 eng.set_Propeller_Lever_Pos( 100 );
124 eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 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 );
131 // update engine model
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"));
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",
162 fgSetDouble("/engines/engine/running", eng.getRunningFlag());
163 fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
165 static const SGPropertyNode *fuel_freeze
166 = fgGetNode("/sim/freeze/fuel");
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))
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))
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();
184 Flap_handle = 30.0 * globals->get_controls()->get_flaps();
186 // done with c172-larcsim if-block
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 )
194 eng.set_Propeller_Lever_Pos( 100 );
195 eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 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 );
202 // update engine model
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"));
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",
233 fgSetDouble("/engines/engine/running", eng.getRunningFlag());
234 fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
236 static const SGPropertyNode *fuel_freeze
237 = fgGetNode("/sim/freeze/fuel");
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))
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))
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();
255 Flap_handle = 30.0 * globals->get_controls()->get_flaps();
257 // done with basic-larcsim if-block
259 double save_alt = 0.0;
261 // lets try to avoid really screwing up the LaRCsim model
262 if ( get_Altitude() < -9000.0 ) {
263 save_alt = get_Altitude();
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();
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;
278 // Use_External_Engine = 0;
280 Use_External_Engine = 0;
282 Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
284 Brake_pct[0] = globals->get_controls()->get_brake_right();
285 Brake_pct[1] = globals->get_controls()->get_brake_left();
287 // Inform LaRCsim of the local terrain altitude
289 = get_groundlevel_m(Latitude, Longitude, Altitude * SG_FEET_TO_METER)
293 /* V_north_airmass = get_V_north_airmass();
294 V_east_airmass = get_V_east_airmass();
295 V_down_airmass = get_V_down_airmass(); */
298 // old -- FGInterface_2_LaRCsim() not needed except for Init()
299 // translate FG to LaRCsim structure
300 // FGInterface_2_LaRCsim(f);
301 // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
302 // printf("Altitude = %.2f\n", Altitude * 0.3048);
303 // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
305 // for engine functions (sounds and instruments)
306 // drive the rpm gauge
307 fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
308 // manifold air pressure, which drives the sound (see *sound.xml file)
309 fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
310 // make the engine cranking and running sounds when fgfs starts up
311 fgSetDouble("/engines/engine/cranking", 1);
312 fgSetDouble("/engines/engine/running", 1);
314 // if flying uiuc, set some properties and over-ride some previous ones
315 if ( !strcmp(aero->getStringValue(), "uiuc")) {
317 // surface positions and other general properties
318 fgSetDouble("/surface-positions/flight/rudder-pos-norm", fgGetDouble("/controls/flight/rudder"));
319 fgSetDouble("/surface-positions/flight/elevator-pos-norm", fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
320 fgSetDouble("/surface-positions/flight/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
321 fgSetDouble("/surface-positions/flight/left-aileron-pos-norm", fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
323 // used by Instruments/accel.xml
324 fgSetDouble("/accelerations/pilot-g", -N_Z_cg);
326 Flap_handle = flap_max * globals->get_controls()->get_flaps();
328 // flaps with transition occuring in uiuc_aerodeflections.cpp
330 fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_norm);
333 // spoilers with transition occurring in uiuc_aerodeflections.cpp
335 Spoiler_handle = spoiler_max * fgGetDouble("/controls/flight/spoilers");
337 // gear with transition occurring here in LaRCsim.cxx
339 if(fgGetBool("/controls/gear/gear-down")) {
345 // commanded gear is 0 or 1
346 gear_cmd_norm = Gear_handle;
347 // amount gear moves per time step [relative to 1]
348 gear_increment_per_timestep = gear_rate * dt;
349 // determine gear position with respect to gear command
350 if (gear_pos_norm < gear_cmd_norm) {
351 gear_pos_norm += gear_increment_per_timestep;
352 if (gear_pos_norm > gear_cmd_norm)
353 gear_pos_norm = gear_cmd_norm;
354 } else if (gear_pos_norm > gear_cmd_norm) {
355 gear_pos_norm -= gear_increment_per_timestep;
356 if (gear_pos_norm < gear_cmd_norm)
357 gear_pos_norm = gear_cmd_norm;
359 // set the gear position
360 fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
361 fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
362 fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
366 // engine functions (sounds and instruments)
367 // drive the rpm gauge
368 fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
369 // manifold air pressure
370 fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
371 // make the engine cranking and running sounds when fgfs starts up
372 fgSetDouble("/engines/engine/cranking", 1);
373 fgSetDouble("/engines/engine/running", 1);
374 if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
375 // uiuc prop driven airplane, e.g. Wright Flyer
377 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
378 // uiuc jet aircraft, e.g. a4d
379 // used for setting the sound
380 fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
381 fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
382 // used for setting the instruments
383 fgSetDouble("/engines/engine[0]/n1", (50 + (globals->get_controls()->get_throttle( 0 ) * 50)));
385 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
386 // uiuc sailplane, e.g. asw20
387 fgSetDouble("/engines/engine/cranking", 0);
389 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
390 // uiuc hang glider, e.g. airwave
391 fgSetDouble("/engines/engine/cranking", 0);
393 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
395 fgSetDouble("/canopy/position-norm", 0);
396 fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
397 fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
398 fgSetDouble("/wing-phase/position-one", 1);
399 fgSetDouble("/thorax/volume", 0);
400 fgSetDouble("/thorax/rpm", 0);
401 // fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
402 // fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
407 // add Gamma_horiz_deg to properties, mss 021213
408 if (use_gamma_horiz_on_speed) {
409 if (V_rel_wind > gamma_horiz_on_speed) {
410 fgSetDouble("/orientation/gamma-horiz-deg", (Gamma_horiz_rad * RAD_TO_DEG));
413 fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
417 fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
419 ls_update(multiloop);
421 // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
422 // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
424 // translate LaRCsim back to FG structure so that the
425 // autopilot (and the rest of the sim can use the updated
429 // but lets restore our original bogus altitude when we are done
430 if ( save_alt < -9000.0 ) {
431 set_Altitude( save_alt );
436 // Convert from the FGInterface struct to the LaRCsim generic_ struct
437 bool FGLaRCsim::copy_to_LaRCsim () {
443 // Dx_pilot = get_Dx_pilot();
444 // Dy_pilot = get_Dy_pilot();
445 // Dz_pilot = get_Dz_pilot();
452 // F_north = get_F_north();
453 // F_east = get_F_east();
454 // F_down = get_F_down();
455 // F_X_aero = get_F_X_aero();
456 // F_Y_aero = get_F_Y_aero();
457 // F_Z_aero = get_F_Z_aero();
458 // F_X_engine = get_F_X_engine();
459 // F_Y_engine = get_F_Y_engine();
460 // F_Z_engine = get_F_Z_engine();
461 // F_X_gear = get_F_X_gear();
462 // F_Y_gear = get_F_Y_gear();
463 // F_Z_gear = get_F_Z_gear();
464 // M_l_rp = get_M_l_rp();
465 // M_m_rp = get_M_m_rp();
466 // M_n_rp = get_M_n_rp();
467 // M_l_cg = get_M_l_cg();
468 // M_m_cg = get_M_m_cg();
469 // M_n_cg = get_M_n_cg();
470 // M_l_aero = get_M_l_aero();
471 // M_m_aero = get_M_m_aero();
472 // M_n_aero = get_M_n_aero();
473 // M_l_engine = get_M_l_engine();
474 // M_m_engine = get_M_m_engine();
475 // M_n_engine = get_M_n_engine();
476 // M_l_gear = get_M_l_gear();
477 // M_m_gear = get_M_m_gear();
478 // M_n_gear = get_M_n_gear();
479 // V_dot_north = get_V_dot_north();
480 // V_dot_east = get_V_dot_east();
481 // V_dot_down = get_V_dot_down();
482 // U_dot_body = get_U_dot_body();
483 // V_dot_body = get_V_dot_body();
484 // W_dot_body = get_W_dot_body();
485 // A_X_cg = get_A_X_cg();
486 // A_Y_cg = get_A_Y_cg();
487 // A_Z_cg = get_A_Z_cg();
488 // A_X_pilot = get_A_X_pilot();
489 // A_Y_pilot = get_A_Y_pilot();
490 // A_Z_pilot = get_A_Z_pilot();
491 // N_X_cg = get_N_X_cg();
492 // N_Y_cg = get_N_Y_cg();
493 // N_Z_cg = get_N_Z_cg();
494 // N_X_pilot = get_N_X_pilot();
495 // N_Y_pilot = get_N_Y_pilot();
496 // N_Z_pilot = get_N_Z_pilot();
497 // P_dot_body = get_P_dot_body();
498 // Q_dot_body = get_Q_dot_body();
499 // R_dot_body = get_R_dot_body();
500 // V_north = get_V_north();
501 // V_east = get_V_east();
502 // V_down = get_V_down();
503 // V_north_rel_ground = get_V_north_rel_ground();
504 // V_east_rel_ground = get_V_east_rel_ground();
505 // V_down_rel_ground = get_V_down_rel_ground();
506 // V_north_airmass = get_V_north_airmass();
507 // V_east_airmass = get_V_east_airmass();
508 // V_down_airmass = get_V_down_airmass();
509 // V_north_rel_airmass = get_V_north_rel_airmass();
510 // V_east_rel_airmass = get_V_east_rel_airmass();
511 // V_down_rel_airmass = get_V_down_rel_airmass();
512 // U_gust = get_U_gust();
513 // V_gust = get_V_gust();
514 // W_gust = get_W_gust();
515 // U_body = get_U_body();
516 // V_body = get_V_body();
517 // W_body = get_W_body();
518 // V_rel_wind = get_V_rel_wind();
519 // V_true_kts = get_V_true_kts();
520 // V_rel_ground = get_V_rel_ground();
521 // V_inertial = get_V_inertial();
522 // V_ground_speed = get_V_ground_speed();
523 // V_equiv = get_V_equiv();
524 // V_equiv_kts = get_V_equiv_kts();
525 // V_calibrated = get_V_calibrated();
526 // V_calibrated_kts = get_V_calibrated_kts();
527 // P_body = get_P_body();
528 // Q_body = get_Q_body();
529 // R_body = get_R_body();
530 // P_local = get_P_local();
531 // Q_local = get_Q_local();
532 // R_local = get_R_local();
533 // P_total = get_P_total();
534 // Q_total = get_Q_total();
535 // R_total = get_R_total();
536 // Phi_dot = get_Phi_dot();
537 // Theta_dot = get_Theta_dot();
538 // Psi_dot = get_Psi_dot();
539 // Latitude_dot = get_Latitude_dot();
540 // Longitude_dot = get_Longitude_dot();
541 // Radius_dot = get_Radius_dot();
542 // Lat_geocentric = get_Lat_geocentric();
543 // Lon_geocentric = get_Lon_geocentric();
544 // Radius_to_vehicle = get_Radius_to_vehicle();
545 // Latitude = get_Latitude();
546 // Longitude = get_Longitude();
547 // Altitude = get_Altitude();
549 // Theta = get_Theta();
551 // T_local_to_body_11 = get_T_local_to_body_11();
552 // T_local_to_body_12 = get_T_local_to_body_12();
553 // T_local_to_body_13 = get_T_local_to_body_13();
554 // T_local_to_body_21 = get_T_local_to_body_21();
555 // T_local_to_body_22 = get_T_local_to_body_22();
556 // T_local_to_body_23 = get_T_local_to_body_23();
557 // T_local_to_body_31 = get_T_local_to_body_31();
558 // T_local_to_body_32 = get_T_local_to_body_32();
559 // T_local_to_body_33 = get_T_local_to_body_33();
560 // Gravity = get_Gravity();
561 // Centrifugal_relief = get_Centrifugal_relief();
562 // Alpha = get_Alpha();
563 // Beta = get_Beta();
564 // Alpha_dot = get_Alpha_dot();
565 // Beta_dot = get_Beta_dot();
566 // Cos_alpha = get_Cos_alpha();
567 // Sin_alpha = get_Sin_alpha();
568 // Cos_beta = get_Cos_beta();
569 // Sin_beta = get_Sin_beta();
570 // Cos_phi = get_Cos_phi();
571 // Sin_phi = get_Sin_phi();
572 // Cos_theta = get_Cos_theta();
573 // Sin_theta = get_Sin_theta();
574 // Cos_psi = get_Cos_psi();
575 // Sin_psi = get_Sin_psi();
576 // Gamma_vert_rad = get_Gamma_vert_rad();
577 // Gamma_horiz_rad = get_Gamma_horiz_rad();
578 // Sigma = get_Sigma();
579 // Density = get_Density();
580 // V_sound = get_V_sound();
581 // Mach_number = get_Mach_number();
582 // Static_pressure = get_Static_pressure();
583 // Total_pressure = get_Total_pressure();
584 // Impact_pressure = get_Impact_pressure();
585 // Dynamic_pressure = get_Dynamic_pressure();
586 // Static_temperature = get_Static_temperature();
587 // Total_temperature = get_Total_temperature();
588 // Sea_level_radius = get_Sea_level_radius();
589 // Earth_position_angle = get_Earth_position_angle();
590 // Runway_altitude = get_Runway_altitude();
591 // Runway_latitude = get_Runway_latitude();
592 // Runway_longitude = get_Runway_longitude();
593 // Runway_heading = get_Runway_heading();
594 // Radius_to_rwy = get_Radius_to_rwy();
595 // D_cg_north_of_rwy = get_D_cg_north_of_rwy();
596 // D_cg_east_of_rwy = get_D_cg_east_of_rwy();
597 // D_cg_above_rwy = get_D_cg_above_rwy();
598 // X_cg_rwy = get_X_cg_rwy();
599 // Y_cg_rwy = get_Y_cg_rwy();
600 // H_cg_rwy = get_H_cg_rwy();
601 // D_pilot_north_of_rwy = get_D_pilot_north_of_rwy();
602 // D_pilot_east_of_rwy = get_D_pilot_east_of_rwy();
603 // D_pilot_above_rwy = get_D_pilot_above_rwy();
604 // X_pilot_rwy = get_X_pilot_rwy();
605 // Y_pilot_rwy = get_Y_pilot_rwy();
606 // H_pilot_rwy = get_H_pilot_rwy();
612 // Convert from the LaRCsim generic_ struct to the FGInterface struct
613 bool FGLaRCsim::copy_from_LaRCsim() {
615 // Mass properties and geometry values
616 _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
617 // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
618 _set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
621 // set_Forces_Body_Total( F_X, F_Y, F_Z );
622 // set_Forces_Local_Total( F_north, F_east, F_down );
623 // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
624 // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
625 // set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
628 // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
629 // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
630 // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
631 // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
632 // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
635 _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
636 _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
637 _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
638 _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
639 _set_Accels_CG_Body_N( N_X_cg, N_Y_cg, -N_Z_cg );
640 // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
641 // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
644 _set_Velocities_Local( V_north, V_east, V_down );
645 // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
646 // V_down_rel_ground );
647 _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
649 // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
650 // V_east_rel_airmass, V_down_rel_airmass );
651 // set_Velocities_Gust( U_gust, V_gust, W_gust );
652 _set_Velocities_Wind_Body( U_body, V_body, W_body );
654 _set_V_rel_wind( V_rel_wind );
655 // set_V_true_kts( V_true_kts );
656 // set_V_rel_ground( V_rel_ground );
657 // set_V_inertial( V_inertial );
658 _set_V_ground_speed( V_ground_speed );
659 // set_V_equiv( V_equiv );
660 _set_V_equiv_kts( V_equiv_kts );
661 // set_V_calibrated( V_calibrated );
662 _set_V_calibrated_kts( V_calibrated_kts );
664 _set_Omega_Body( P_body, Q_body, R_body );
665 // set_Omega_Local( P_local, Q_local, R_local );
666 // set_Omega_Total( P_total, Q_total, R_total );
668 _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
669 _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
671 _set_Mach_number( Mach_number );
673 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
674 << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
675 << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
676 << " radius_to_vehicle = " << Radius_to_vehicle );
678 double tmp_lon_geoc = Lon_geocentric;
679 while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
680 while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
682 double tmp_lon = Longitude;
683 while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
684 while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
687 _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
689 _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
690 _set_Euler_Angles( Phi, Theta, Psi );
692 _set_Altitude_AGL( Altitude - Runway_altitude );
694 // Miscellaneous quantities
695 _set_T_Local_to_Body(T_local_to_body_m);
696 // set_Gravity( Gravity );
697 // set_Centrifugal_relief( Centrifugal_relief );
699 _set_Alpha( Std_Alpha );
700 _set_Beta( Std_Beta );
701 // set_Alpha_dot( Std_Alpha_dot );
702 // set_Beta_dot( Std_Beta_dot );
704 // set_Cos_alpha( Cos_alpha );
705 // set_Sin_alpha( Sin_alpha );
706 // set_Cos_beta( Cos_beta );
707 // set_Sin_beta( Sin_beta );
709 _set_Cos_phi( Cos_phi );
710 // set_Sin_phi( Sin_phi );
711 _set_Cos_theta( Cos_theta );
712 // set_Sin_theta( Sin_theta );
713 // set_Cos_psi( Cos_psi );
714 // set_Sin_psi( Sin_psi );
716 _set_Gamma_vert_rad( Gamma_vert_rad );
717 // set_Gamma_horiz_rad( Gamma_horiz_rad );
719 // set_Sigma( Sigma );
720 _set_Density( Density );
721 // set_V_sound( V_sound );
722 // set_Mach_number( Mach_number );
724 _set_Static_pressure( Static_pressure );
725 // set_Total_pressure( Total_pressure );
726 // set_Impact_pressure( Impact_pressure );
727 // set_Dynamic_pressure( Dynamic_pressure );
729 _set_Static_temperature( Static_temperature );
730 // set_Total_temperature( Total_temperature );
732 _set_Sea_level_radius( Sea_level_radius );
733 _set_Earth_position_angle( Earth_position_angle );
735 _set_Runway_altitude( Runway_altitude );
736 // set_Runway_latitude( Runway_latitude );
737 // set_Runway_longitude( Runway_longitude );
738 // set_Runway_heading( Runway_heading );
739 // set_Radius_to_rwy( Radius_to_rwy );
741 // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
742 // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
743 // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
744 // D_pilot_above_rwy );
745 // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
747 _set_sin_lat_geocentric(Lat_geocentric);
748 _set_cos_lat_geocentric(Lat_geocentric);
749 _set_sin_cos_longitude(Longitude);
750 _set_sin_cos_latitude(Latitude);
752 // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
753 // printf("sin_lat %f cos_lat %f\n",
754 // get_sin_latitude(), get_cos_latitude());
755 // printf("sin_lon %f cos_lon %f\n",
756 // get_sin_longitude(), get_cos_longitude());
758 _set_Climb_Rate( -1 * V_down );
759 // cout << "climb rate = " << -V_down * 60 << endl;
761 if ( !strcmp(aero->getStringValue(), "uiuc") ) {
763 globals->get_controls()->set_elevator(Long_control);
764 globals->get_controls()->set_elevator_trim(Long_trim);
765 // controls.set_elevator(Long_control);
766 // controls.set_elevator_trim(Long_trim);
769 globals->get_controls()->set_aileron(Lat_control);
770 // controls.set_aileron(Lat_control);
773 globals->get_controls()->set_rudder(Rudder_pedal);
774 // controls.set_rudder(Rudder_pedal);
776 if (pilot_throttle_no) {
777 globals->get_controls()->set_throttle(0,Throttle_pct);
778 // controls.set_throttle(0,Throttle_pct);
786 void FGLaRCsim::set_ls(void) {
787 Phi=lsic->GetRollAngleRadIC();
788 Theta=lsic->GetPitchAngleRadIC();
789 Psi=lsic->GetHeadingRadIC();
790 V_north=lsic->GetVnorthFpsIC();
791 V_east=lsic->GetVeastFpsIC();
792 V_down=lsic->GetVdownFpsIC();
793 Altitude=lsic->GetAltitudeFtIC();
794 Latitude=lsic->GetLatitudeGDRadIC();
795 Longitude=lsic->GetLongitudeRadIC();
796 Runway_altitude=lsic->GetRunwayAltitudeFtIC();
797 V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1;
798 V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1;
799 V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1;
804 void FGLaRCsim::snap_shot(void) {
805 lsic->SetLatitudeGDRadIC( get_Latitude() );
806 lsic->SetLongitudeRadIC( get_Longitude() );
807 lsic->SetAltitudeFtIC( get_Altitude() );
808 lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
809 lsic->SetVtrueFpsIC( get_V_rel_wind() );
810 lsic->SetPitchAngleRadIC( get_Theta() );
811 lsic->SetRollAngleRadIC( get_Phi() );
812 lsic->SetHeadingRadIC( get_Psi() );
813 lsic->SetClimbRateFpsIC( get_Climb_Rate() );
814 lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
815 get_V_east_airmass(),
816 get_V_down_airmass() );
820 void FGLaRCsim::set_Latitude(double lat) {
821 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
823 lsic->SetLatitudeGDRadIC(lat);
825 copy_from_LaRCsim(); //update the bus
828 void FGLaRCsim::set_Longitude(double lon) {
829 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon );
831 lsic->SetLongitudeRadIC(lon);
833 copy_from_LaRCsim(); //update the bus
836 void FGLaRCsim::set_Altitude(double alt) {
837 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
839 lsic->SetAltitudeFtIC(alt);
841 copy_from_LaRCsim(); //update the bus
844 void FGLaRCsim::set_V_calibrated_kts(double vc) {
845 SG_LOG( SG_FLIGHT, SG_INFO,
846 "FGLaRCsim::set_V_calibrated_kts: " << vc );
848 lsic->SetVcalibratedKtsIC(vc);
850 copy_from_LaRCsim(); //update the bus
853 void FGLaRCsim::set_Mach_number(double mach) {
854 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
856 lsic->SetMachIC(mach);
858 copy_from_LaRCsim(); //update the bus
861 void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
862 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
863 << north << " " << east << " " << down );
865 lsic->SetVNEDFpsIC(north, east, down);
867 copy_from_LaRCsim(); //update the bus
870 void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
871 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
872 << u << " " << v << " " << w );
874 lsic->SetUVWFpsIC(u,v,w);
876 copy_from_LaRCsim(); //update the bus
880 void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
881 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
882 << phi << " " << theta << " " << psi );
885 lsic->SetPitchAngleRadIC(theta);
886 lsic->SetRollAngleRadIC(phi);
887 lsic->SetHeadingRadIC(psi);
889 copy_from_LaRCsim(); //update the bus
893 void FGLaRCsim::set_Climb_Rate( double roc) {
894 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
896 lsic->SetClimbRateFpsIC(roc);
898 copy_from_LaRCsim(); //update the bus
901 void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
902 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
904 lsic->SetFlightPathAngleRadIC(gamma);
906 copy_from_LaRCsim(); //update the bus
909 void FGLaRCsim::set_AltitudeAGL(double altagl) {
910 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
912 lsic->SetAltitudeAGLFtIC(altagl);
917 /* getting a namespace conflict...
918 void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
921 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
922 << wnorth << " " << weast << " " << wdown );
924 lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
930 void FGLaRCsim::set_Static_pressure(double p) {
931 SG_LOG( SG_FLIGHT, SG_INFO,
932 "FGLaRCsim::set_Static_pressure: " << p );
933 SG_LOG( SG_FLIGHT, SG_INFO,
934 "LaRCsim does not support externally supplied atmospheric data" );
937 void FGLaRCsim::set_Static_temperature(double T) {
938 SG_LOG( SG_FLIGHT, SG_INFO,
939 "FGLaRCsim::set_Static_temperature: " << T );
940 SG_LOG( SG_FLIGHT, SG_INFO,
941 "LaRCsim does not support externally supplied atmospheric data" );
945 void FGLaRCsim::set_Density(double rho) {
946 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
947 SG_LOG( SG_FLIGHT, SG_INFO,
948 "LaRCsim does not support externally supplied atmospheric data" );