1 // LaRCsim.cxx -- interface to the LaRCsim flight model
3 // Written by Curtis Olson, started October 1998.
5 // Copyright (C) 1998 Curtis L. Olson - curt@me.umn.edu
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 <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>
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
71 // Initialize our little engine that hopefully might
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)
77 FGLaRCsim::~FGLaRCsim(void) {
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
92 // Run an iteration of the EOM (equations of motion)
93 void FGLaRCsim::update( double dt ) {
98 int multiloop = _calc_multiloop(dt);
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 )
107 eng.set_Propeller_Lever_Pos( 100 );
108 eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 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 );
115 // update engine model
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"));
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",
146 fgSetDouble("/engines/engine/running", eng.getRunningFlag());
147 fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
149 static const SGPropertyNode *fuel_freeze
150 = fgGetNode("/sim/freeze/fuel");
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))
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))
164 F_X_engine = eng.get_prop_thrust_lbs();
165 // cout << "F_X_engine = " << F_X_engine << '\n';
168 Flap_handle = 30.0 * globals->get_controls()->get_flaps();
170 // done with c172-larcsim if-block
172 double save_alt = 0.0;
174 // lets try to avoid really screwing up the LaRCsim model
175 if ( get_Altitude() < -9000.0 ) {
176 save_alt = get_Altitude();
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();
186 if ( !strcmp(aero->getStringValue(), "c172") ) {
187 Use_External_Engine = 1;
189 Use_External_Engine = 0;
192 Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
194 Brake_pct[0] = globals->get_controls()->get_brake( 1 );
195 Brake_pct[1] = globals->get_controls()->get_brake( 0 );
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;
201 /* V_north_airmass = get_V_north_airmass();
202 V_east_airmass = get_V_east_airmass();
203 V_down_airmass = get_V_down_airmass(); */
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);
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);
222 // if flying uiuc, set some properties and over-ride some previous ones
223 if ( !strcmp(aero->getStringValue(), "uiuc")) {
226 fgSetDouble("/surface-positions/flight/rudder-pos-norm", fgGetDouble("/controls/flight/rudder"));
227 fgSetDouble("/surface-positions/flight/elevator-pos-norm", fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
228 fgSetDouble("/surface-positions/flight/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
229 fgSetDouble("/surface-positions/flight/left-aileron-pos-norm", fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
231 Flap_handle = flap_max * globals->get_controls()->get_flaps();
233 // flaps with transition occuring in uiuc_aerodeflections.cpp
235 fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_pct);
238 // spoilers with transition occurring in uiuc_aerodeflections.cpp
240 Spoiler_handle = spoiler_max * fgGetDouble("/controls/flight/spoilers");
242 // gear with transition occurring here in LaRCsim.cxx
244 if(fgGetBool("/controls/gear/gear-down")) {
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;
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);
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
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));
287 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
288 // uiuc sailplane, e.g. asw20
289 fgSetDouble("/engines/engine/cranking", 0);
291 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
292 // uiuc hang glider, e.g. airwave
293 fgSetDouble("/engines/engine/cranking", 0);
295 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
297 fgSetDouble("/canopy/position-norm", 0);
298 fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
299 fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
300 fgSetDouble("/wing-phase/position-one", 1);
301 fgSetDouble("/thorax/volume", 0);
302 fgSetDouble("/thorax/rpm", 0);
303 // fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
304 // fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
309 // add Gamma_horiz_deg to properties, mss 021213
310 if (use_gamma_horiz_on_speed) {
311 if (V_rel_wind > gamma_horiz_on_speed) {
312 fgSetDouble("/orientation/gamma-horiz-deg", (Gamma_horiz_rad * RAD_TO_DEG));
315 fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
319 fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
321 ls_update(multiloop);
323 // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
324 // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
326 // translate LaRCsim back to FG structure so that the
327 // autopilot (and the rest of the sim can use the updated
331 // but lets restore our original bogus altitude when we are done
332 if ( save_alt < -9000.0 ) {
333 set_Altitude( save_alt );
338 // Convert from the FGInterface struct to the LaRCsim generic_ struct
339 bool FGLaRCsim::copy_to_LaRCsim () {
345 // Dx_pilot = get_Dx_pilot();
346 // Dy_pilot = get_Dy_pilot();
347 // Dz_pilot = get_Dz_pilot();
354 // F_north = get_F_north();
355 // F_east = get_F_east();
356 // F_down = get_F_down();
357 // F_X_aero = get_F_X_aero();
358 // F_Y_aero = get_F_Y_aero();
359 // F_Z_aero = get_F_Z_aero();
360 // F_X_engine = get_F_X_engine();
361 // F_Y_engine = get_F_Y_engine();
362 // F_Z_engine = get_F_Z_engine();
363 // F_X_gear = get_F_X_gear();
364 // F_Y_gear = get_F_Y_gear();
365 // F_Z_gear = get_F_Z_gear();
366 // M_l_rp = get_M_l_rp();
367 // M_m_rp = get_M_m_rp();
368 // M_n_rp = get_M_n_rp();
369 // M_l_cg = get_M_l_cg();
370 // M_m_cg = get_M_m_cg();
371 // M_n_cg = get_M_n_cg();
372 // M_l_aero = get_M_l_aero();
373 // M_m_aero = get_M_m_aero();
374 // M_n_aero = get_M_n_aero();
375 // M_l_engine = get_M_l_engine();
376 // M_m_engine = get_M_m_engine();
377 // M_n_engine = get_M_n_engine();
378 // M_l_gear = get_M_l_gear();
379 // M_m_gear = get_M_m_gear();
380 // M_n_gear = get_M_n_gear();
381 // V_dot_north = get_V_dot_north();
382 // V_dot_east = get_V_dot_east();
383 // V_dot_down = get_V_dot_down();
384 // U_dot_body = get_U_dot_body();
385 // V_dot_body = get_V_dot_body();
386 // W_dot_body = get_W_dot_body();
387 // A_X_cg = get_A_X_cg();
388 // A_Y_cg = get_A_Y_cg();
389 // A_Z_cg = get_A_Z_cg();
390 // A_X_pilot = get_A_X_pilot();
391 // A_Y_pilot = get_A_Y_pilot();
392 // A_Z_pilot = get_A_Z_pilot();
393 // N_X_cg = get_N_X_cg();
394 // N_Y_cg = get_N_Y_cg();
395 // N_Z_cg = get_N_Z_cg();
396 // N_X_pilot = get_N_X_pilot();
397 // N_Y_pilot = get_N_Y_pilot();
398 // N_Z_pilot = get_N_Z_pilot();
399 // P_dot_body = get_P_dot_body();
400 // Q_dot_body = get_Q_dot_body();
401 // R_dot_body = get_R_dot_body();
402 // V_north = get_V_north();
403 // V_east = get_V_east();
404 // V_down = get_V_down();
405 // V_north_rel_ground = get_V_north_rel_ground();
406 // V_east_rel_ground = get_V_east_rel_ground();
407 // V_down_rel_ground = get_V_down_rel_ground();
408 // V_north_airmass = get_V_north_airmass();
409 // V_east_airmass = get_V_east_airmass();
410 // V_down_airmass = get_V_down_airmass();
411 // V_north_rel_airmass = get_V_north_rel_airmass();
412 // V_east_rel_airmass = get_V_east_rel_airmass();
413 // V_down_rel_airmass = get_V_down_rel_airmass();
414 // U_gust = get_U_gust();
415 // V_gust = get_V_gust();
416 // W_gust = get_W_gust();
417 // U_body = get_U_body();
418 // V_body = get_V_body();
419 // W_body = get_W_body();
420 // V_rel_wind = get_V_rel_wind();
421 // V_true_kts = get_V_true_kts();
422 // V_rel_ground = get_V_rel_ground();
423 // V_inertial = get_V_inertial();
424 // V_ground_speed = get_V_ground_speed();
425 // V_equiv = get_V_equiv();
426 // V_equiv_kts = get_V_equiv_kts();
427 // V_calibrated = get_V_calibrated();
428 // V_calibrated_kts = get_V_calibrated_kts();
429 // P_body = get_P_body();
430 // Q_body = get_Q_body();
431 // R_body = get_R_body();
432 // P_local = get_P_local();
433 // Q_local = get_Q_local();
434 // R_local = get_R_local();
435 // P_total = get_P_total();
436 // Q_total = get_Q_total();
437 // R_total = get_R_total();
438 // Phi_dot = get_Phi_dot();
439 // Theta_dot = get_Theta_dot();
440 // Psi_dot = get_Psi_dot();
441 // Latitude_dot = get_Latitude_dot();
442 // Longitude_dot = get_Longitude_dot();
443 // Radius_dot = get_Radius_dot();
444 // Lat_geocentric = get_Lat_geocentric();
445 // Lon_geocentric = get_Lon_geocentric();
446 // Radius_to_vehicle = get_Radius_to_vehicle();
447 // Latitude = get_Latitude();
448 // Longitude = get_Longitude();
449 // Altitude = get_Altitude();
451 // Theta = get_Theta();
453 // T_local_to_body_11 = get_T_local_to_body_11();
454 // T_local_to_body_12 = get_T_local_to_body_12();
455 // T_local_to_body_13 = get_T_local_to_body_13();
456 // T_local_to_body_21 = get_T_local_to_body_21();
457 // T_local_to_body_22 = get_T_local_to_body_22();
458 // T_local_to_body_23 = get_T_local_to_body_23();
459 // T_local_to_body_31 = get_T_local_to_body_31();
460 // T_local_to_body_32 = get_T_local_to_body_32();
461 // T_local_to_body_33 = get_T_local_to_body_33();
462 // Gravity = get_Gravity();
463 // Centrifugal_relief = get_Centrifugal_relief();
464 // Alpha = get_Alpha();
465 // Beta = get_Beta();
466 // Alpha_dot = get_Alpha_dot();
467 // Beta_dot = get_Beta_dot();
468 // Cos_alpha = get_Cos_alpha();
469 // Sin_alpha = get_Sin_alpha();
470 // Cos_beta = get_Cos_beta();
471 // Sin_beta = get_Sin_beta();
472 // Cos_phi = get_Cos_phi();
473 // Sin_phi = get_Sin_phi();
474 // Cos_theta = get_Cos_theta();
475 // Sin_theta = get_Sin_theta();
476 // Cos_psi = get_Cos_psi();
477 // Sin_psi = get_Sin_psi();
478 // Gamma_vert_rad = get_Gamma_vert_rad();
479 // Gamma_horiz_rad = get_Gamma_horiz_rad();
480 // Sigma = get_Sigma();
481 // Density = get_Density();
482 // V_sound = get_V_sound();
483 // Mach_number = get_Mach_number();
484 // Static_pressure = get_Static_pressure();
485 // Total_pressure = get_Total_pressure();
486 // Impact_pressure = get_Impact_pressure();
487 // Dynamic_pressure = get_Dynamic_pressure();
488 // Static_temperature = get_Static_temperature();
489 // Total_temperature = get_Total_temperature();
490 // Sea_level_radius = get_Sea_level_radius();
491 // Earth_position_angle = get_Earth_position_angle();
492 // Runway_altitude = get_Runway_altitude();
493 // Runway_latitude = get_Runway_latitude();
494 // Runway_longitude = get_Runway_longitude();
495 // Runway_heading = get_Runway_heading();
496 // Radius_to_rwy = get_Radius_to_rwy();
497 // D_cg_north_of_rwy = get_D_cg_north_of_rwy();
498 // D_cg_east_of_rwy = get_D_cg_east_of_rwy();
499 // D_cg_above_rwy = get_D_cg_above_rwy();
500 // X_cg_rwy = get_X_cg_rwy();
501 // Y_cg_rwy = get_Y_cg_rwy();
502 // H_cg_rwy = get_H_cg_rwy();
503 // D_pilot_north_of_rwy = get_D_pilot_north_of_rwy();
504 // D_pilot_east_of_rwy = get_D_pilot_east_of_rwy();
505 // D_pilot_above_rwy = get_D_pilot_above_rwy();
506 // X_pilot_rwy = get_X_pilot_rwy();
507 // Y_pilot_rwy = get_Y_pilot_rwy();
508 // H_pilot_rwy = get_H_pilot_rwy();
514 // Convert from the LaRCsim generic_ struct to the FGInterface struct
515 bool FGLaRCsim::copy_from_LaRCsim() {
517 // Mass properties and geometry values
518 _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
519 // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
520 _set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
523 // set_Forces_Body_Total( F_X, F_Y, F_Z );
524 // set_Forces_Local_Total( F_north, F_east, F_down );
525 // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
526 // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
527 // set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
530 // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
531 // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
532 // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
533 // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
534 // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
537 _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
538 _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
539 _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
540 _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
541 _set_Accels_CG_Body_N( N_X_cg, N_Y_cg, -N_Z_cg );
542 // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
543 // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
546 _set_Velocities_Local( V_north, V_east, V_down );
547 // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
548 // V_down_rel_ground );
549 _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
551 // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
552 // V_east_rel_airmass, V_down_rel_airmass );
553 // set_Velocities_Gust( U_gust, V_gust, W_gust );
554 _set_Velocities_Wind_Body( U_body, V_body, W_body );
556 _set_V_rel_wind( V_rel_wind );
557 // set_V_true_kts( V_true_kts );
558 // set_V_rel_ground( V_rel_ground );
559 // set_V_inertial( V_inertial );
560 _set_V_ground_speed( V_ground_speed );
561 // set_V_equiv( V_equiv );
562 _set_V_equiv_kts( V_equiv_kts );
563 // set_V_calibrated( V_calibrated );
564 _set_V_calibrated_kts( V_calibrated_kts );
566 _set_Omega_Body( P_body, Q_body, R_body );
567 // set_Omega_Local( P_local, Q_local, R_local );
568 // set_Omega_Total( P_total, Q_total, R_total );
570 _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
571 _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
573 _set_Mach_number( Mach_number );
575 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
576 << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
577 << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
578 << " radius_to_vehicle = " << Radius_to_vehicle );
580 double tmp_lon_geoc = Lon_geocentric;
581 while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
582 while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
584 double tmp_lon = Longitude;
585 while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
586 while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
589 _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
591 _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
592 _set_Euler_Angles( Phi, Theta, Psi );
594 _set_Altitude_AGL( Altitude - Runway_altitude );
596 // Miscellaneous quantities
597 _set_T_Local_to_Body(T_local_to_body_m);
598 // set_Gravity( Gravity );
599 // set_Centrifugal_relief( Centrifugal_relief );
603 // set_Alpha_dot( Alpha_dot );
604 // set_Beta_dot( Beta_dot );
606 // set_Cos_alpha( Cos_alpha );
607 // set_Sin_alpha( Sin_alpha );
608 // set_Cos_beta( Cos_beta );
609 // set_Sin_beta( Sin_beta );
611 _set_Cos_phi( Cos_phi );
612 // set_Sin_phi( Sin_phi );
613 _set_Cos_theta( Cos_theta );
614 // set_Sin_theta( Sin_theta );
615 // set_Cos_psi( Cos_psi );
616 // set_Sin_psi( Sin_psi );
618 _set_Gamma_vert_rad( Gamma_vert_rad );
619 // set_Gamma_horiz_rad( Gamma_horiz_rad );
621 // set_Sigma( Sigma );
622 _set_Density( Density );
623 // set_V_sound( V_sound );
624 // set_Mach_number( Mach_number );
626 _set_Static_pressure( Static_pressure );
627 // set_Total_pressure( Total_pressure );
628 // set_Impact_pressure( Impact_pressure );
629 // set_Dynamic_pressure( Dynamic_pressure );
631 _set_Static_temperature( Static_temperature );
632 // set_Total_temperature( Total_temperature );
634 _set_Sea_level_radius( Sea_level_radius );
635 _set_Earth_position_angle( Earth_position_angle );
637 _set_Runway_altitude( Runway_altitude );
638 // set_Runway_latitude( Runway_latitude );
639 // set_Runway_longitude( Runway_longitude );
640 // set_Runway_heading( Runway_heading );
641 // set_Radius_to_rwy( Radius_to_rwy );
643 // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
644 // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
645 // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
646 // D_pilot_above_rwy );
647 // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
649 _set_sin_lat_geocentric(Lat_geocentric);
650 _set_cos_lat_geocentric(Lat_geocentric);
651 _set_sin_cos_longitude(Longitude);
652 _set_sin_cos_latitude(Latitude);
654 // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
655 // printf("sin_lat %f cos_lat %f\n",
656 // get_sin_latitude(), get_cos_latitude());
657 // printf("sin_lon %f cos_lon %f\n",
658 // get_sin_longitude(), get_cos_longitude());
660 _set_Climb_Rate( -1 * V_down );
661 // cout << "climb rate = " << -V_down * 60 << endl;
663 if ( !strcmp(aero->getStringValue(), "uiuc") ) {
665 globals->get_controls()->set_elevator(Long_control);
666 globals->get_controls()->set_elevator_trim(Long_trim);
667 // controls.set_elevator(Long_control);
668 // controls.set_elevator_trim(Long_trim);
671 globals->get_controls()->set_aileron(Lat_control);
672 // controls.set_aileron(Lat_control);
675 globals->get_controls()->set_rudder(Rudder_pedal);
676 // controls.set_rudder(Rudder_pedal);
678 if (pilot_throttle_no) {
679 globals->get_controls()->set_throttle(0,Throttle_pct);
680 // controls.set_throttle(0,Throttle_pct);
688 void FGLaRCsim::set_ls(void) {
689 Phi=lsic->GetRollAngleRadIC();
690 Theta=lsic->GetPitchAngleRadIC();
691 Psi=lsic->GetHeadingRadIC();
692 V_north=lsic->GetVnorthFpsIC();
693 V_east=lsic->GetVeastFpsIC();
694 V_down=lsic->GetVdownFpsIC();
695 Altitude=lsic->GetAltitudeFtIC();
696 Latitude=lsic->GetLatitudeGDRadIC();
697 Longitude=lsic->GetLongitudeRadIC();
698 Runway_altitude=lsic->GetRunwayAltitudeFtIC();
699 V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1;
700 V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1;
701 V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1;
706 void FGLaRCsim::snap_shot(void) {
707 lsic->SetLatitudeGDRadIC( get_Latitude() );
708 lsic->SetLongitudeRadIC( get_Longitude() );
709 lsic->SetAltitudeFtIC( get_Altitude() );
710 lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
711 lsic->SetVtrueFpsIC( get_V_rel_wind() );
712 lsic->SetPitchAngleRadIC( get_Theta() );
713 lsic->SetRollAngleRadIC( get_Phi() );
714 lsic->SetHeadingRadIC( get_Psi() );
715 lsic->SetClimbRateFpsIC( get_Climb_Rate() );
716 lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
717 get_V_east_airmass(),
718 get_V_down_airmass() );
722 void FGLaRCsim::set_Latitude(double lat) {
723 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
725 lsic->SetLatitudeGDRadIC(lat);
727 copy_from_LaRCsim(); //update the bus
730 void FGLaRCsim::set_Longitude(double lon) {
731 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon );
733 lsic->SetLongitudeRadIC(lon);
735 copy_from_LaRCsim(); //update the bus
738 void FGLaRCsim::set_Altitude(double alt) {
739 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
741 lsic->SetAltitudeFtIC(alt);
743 copy_from_LaRCsim(); //update the bus
746 void FGLaRCsim::set_V_calibrated_kts(double vc) {
747 SG_LOG( SG_FLIGHT, SG_INFO,
748 "FGLaRCsim::set_V_calibrated_kts: " << vc );
750 lsic->SetVcalibratedKtsIC(vc);
752 copy_from_LaRCsim(); //update the bus
755 void FGLaRCsim::set_Mach_number(double mach) {
756 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
758 lsic->SetMachIC(mach);
760 copy_from_LaRCsim(); //update the bus
763 void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
764 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
765 << north << " " << east << " " << down );
767 lsic->SetVNEDFpsIC(north, east, down);
769 copy_from_LaRCsim(); //update the bus
772 void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
773 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
774 << u << " " << v << " " << w );
776 lsic->SetUVWFpsIC(u,v,w);
778 copy_from_LaRCsim(); //update the bus
782 void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
783 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
784 << phi << " " << theta << " " << psi );
787 lsic->SetPitchAngleRadIC(theta);
788 lsic->SetRollAngleRadIC(phi);
789 lsic->SetHeadingRadIC(psi);
791 copy_from_LaRCsim(); //update the bus
795 void FGLaRCsim::set_Climb_Rate( double roc) {
796 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
798 lsic->SetClimbRateFpsIC(roc);
800 copy_from_LaRCsim(); //update the bus
803 void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
804 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
806 lsic->SetFlightPathAngleRadIC(gamma);
808 copy_from_LaRCsim(); //update the bus
811 void FGLaRCsim::set_AltitudeAGL(double altagl) {
812 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
814 lsic->SetAltitudeAGLFtIC(altagl);
819 /* getting a namespace conflict...
820 void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
823 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
824 << wnorth << " " << weast << " " << wdown );
826 lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
832 void FGLaRCsim::set_Static_pressure(double p) {
833 SG_LOG( SG_FLIGHT, SG_INFO,
834 "FGLaRCsim::set_Static_pressure: " << p );
835 SG_LOG( SG_FLIGHT, SG_INFO,
836 "LaRCsim does not support externally supplied atmospheric data" );
839 void FGLaRCsim::set_Static_temperature(double T) {
840 SG_LOG( SG_FLIGHT, SG_INFO,
841 "FGLaRCsim::set_Static_temperature: " << T );
842 SG_LOG( SG_FLIGHT, SG_INFO,
843 "LaRCsim does not support externally supplied atmospheric data" );
847 void FGLaRCsim::set_Density(double rho) {
848 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
849 SG_LOG( SG_FLIGHT, SG_INFO,
850 "LaRCsim does not support externally supplied atmospheric data" );