1 /**************************************************************************
2 * ls_interface.c -- the FG interface to the LaRCsim routines
3 * This is a heavily modified version of LaRCsim.c
4 * As a result there is much old baggage left in this file.
6 * Originally Written 921230 by Bruce Jackson
7 * Modified by Curtis Olson, started May 1997.
9 * This program is free software; you can redistribute it and/or
10 * modify it under the terms of the GNU General Public License as
11 * published by the Free Software Foundation; either version 2 of the
12 * License, or (at your option) any later version.
14 * This program is distributed in the hope that it will be useful, but
15 * WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 * General Public License for more details.
19 * You should have received a copy of the GNU General Public License
20 * along with this program; if not, write to the Free Software
21 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
24 * (Log is kept at end of this file)
25 **************************************************************************/
27 /* Original headers follow: */
29 /***************************************************************************
33 ----------------------------------------------------------------------------
35 FUNCTION: Top level routine for LaRCSIM. Includes
36 global variable declarations.
38 ----------------------------------------------------------------------------
40 MODULE STATUS: Developmental
42 ----------------------------------------------------------------------------
44 GENEALOGY: Written 921230 by Bruce Jackson
46 ----------------------------------------------------------------------------
54 ----------------------------------------------------------------------------
60 930111 Added "progname" variable to keep name of invoking command.
62 931012 Removed altitude < 0. test to support gear development. EBJ
63 931214 Added various pressures (Impact, Dynamic, Static, etc.) EBJ
64 931215 Adopted new generic variable structure. EBJ
65 931218 Added command line options decoding. EBJ
66 940110 Changed file type of matrix file to ".m" EBJ
67 940513 Renamed this routine "LaRCsim.c" from "ls_main.c" EBJ
68 940513 Added time_stamp routine, t_stamp. EBJ
69 950225 Added options flag, 'i', to set I/O output rate. EBJ
70 950306 Added calls to ls_get_settings() and ls_put_settings() EBJ
71 950314 Options flag 'i' now reads IC file; 'o' is output rate EBJ
72 950406 Many changes: added definition of default value macros;
73 removed local variables term_update_hz, model_dt, endtime,
74 substituted sim_control_ globals for these; removed
75 initialization of sim_control_.tape_channels; moved optarg
76 to generic extern; added mod_end_time & mod_buf_size flags
77 and temporary buffer_time and data_rate locals to
78 ls_checkopts(); added additional command line switches '-s'
79 and '-b'; made psuedo-mandatory file names for data output
80 switches; considerable rewrite of logic for setting data
81 buffer length and interleave parameters; updated '-h' help
82 output message; added protection logic to calculations of
83 these parameters; added check of return value on first call
84 to ls_cockpit() so <esc> abort works from initial pause
85 state; added call to ls_unsync() immediately following
86 first ls_sync() call, if paused (to avoid alarm clock
87 timeout); moved call to ls_record() into non-paused
88 multiloop path (was filling buffer with identical data
89 during pause); put check of paused flag before calling sync
90 routine ls_pause(); and added call to exit() on termination.
94 $Original log: LaRCsim.c,v $
95 * Revision 1.4.1.7 1995/04/07 01:04:37 bjax
96 * Many changes made to support storage of sim options from run to run,
97 * as well as restructuring storage buffer sizing and some loop logic
98 * changes. See the modification log for details.
100 * Revision 1.4.1.6 1995/03/29 16:12:09 bjax
101 * Added argument to -o switch; changed run loop to pass dt=0
102 * if in paused mode. EBj
104 * Revision 1.4.1.5 1995/03/15 12:30:20 bjax
105 * Set paused flag to non-zero by default; moved 'i' I/O rate flag
106 * switch to 'o'; made 'i' an initial conditions file switch; added
107 * null string to ls_get_settings() call so that default settings
108 * file will be read. EBJ
110 * Revision 1.4.1.4 1995/03/08 12:31:34 bjax
111 * Added userid retrieval and proper termination of time & date strings.
113 * Revision 1.4.1.3 1995/03/08 12:00:21 bjax
114 * Moved setting of default options to ls_setdefopts from
115 * ls_checkopts; rearranged order of ls_get_settings() call
116 * to between ls_setdefopts and ls_checkopts, so command
117 * line options will override settings file options.
120 * Revision 1.4.1.2 1995/03/06 18:48:49 bjax
121 * Added calles to ls_get_settings() and ls_put_settings(); added
122 * passing of dt and init flags in ls_model(). EBJ
124 * Revision 1.4.1.1 1995/03/03 02:23:08 bjax
125 * Beta version for LaRCsim, version 1.4
127 * Revision 1.3.2.7 1995/02/27 20:00:21 bjax
130 * Revision 1.3.2.6 1995/02/25 16:52:31 bjax
131 * Added 'i' option to set I/O iteration rate. EBJ
133 * Revision 1.3.2.5 1995/02/06 19:33:15 bjax
136 * Revision 1.3.2.4 1995/02/06 19:30:30 bjax
137 * Oops, should really compile these before checking in. Fixed capitailzation of
138 * Initialize in ls_loop parameter.
140 * Revision 1.3.2.3 1995/02/06 19:25:44 bjax
141 * Moved main simulation loop into subroutine ls_loop. EBJ
143 * Revision 1.3.2.2 1994/05/20 21:46:45 bjax
144 * A little better logic on checking for option arguments.
146 * Revision 1.3.2.1 1994/05/20 19:29:51 bjax
147 * Added options arguments to command line.
149 * Revision 1.3.1.16 1994/05/17 15:08:45 bjax
150 * Corrected so that full name to directyr and file is saved
151 * in new global variable "fullname"; this allows symbol table
152 * to be extracted when in another default directory.
154 * Revision 1.3.1.15 1994/05/17 14:50:24 bjax
157 * Revision 1.3.1.14 1994/05/17 14:50:23 bjax
160 * Revision 1.3.1.13 1994/05/17 14:50:21 bjax
163 * Revision 1.3.1.12 1994/05/17 14:50:20 bjax
166 * Revision 1.3.1.11 1994/05/17 13:56:24 bjax
169 * Revision 1.3.1.10 1994/05/17 13:23:03 bjax
172 * Revision 1.3.1.9 1994/05/17 13:20:03 bjax
175 * Revision 1.3.1.8 1994/05/17 13:19:23 bjax
178 * Revision 1.3.1.7 1994/05/17 13:18:29 bjax
181 * Revision 1.3.1.6 1994/05/17 13:16:30 bjax
184 * Revision 1.3.1.5 1994/05/17 13:03:44 bjax
187 * Revision 1.3.1.4 1994/05/17 13:03:38 bjax
190 * Revision 1.3.1.3 1994/05/17 12:49:08 bjax
193 * Revision 1.3.1.2 1994/05/17 12:48:45 bjax
194 * *** empty log message ***
196 * Revision 1.3.1.1 1994/05/13 20:39:17 bjax
199 * Revision 1.2 1994/05/13 19:51:50 bjax
203 ----------------------------------------------------------------------------
207 ----------------------------------------------------------------------------
211 ----------------------------------------------------------------------------
215 ----------------------------------------------------------------------------
219 ----------------------------------------------------------------------------
223 --------------------------------------------------------------------------*/
225 /* #include <sys/types.h> */
226 /* #include <sys/stat.h> */
232 #include "ls_types.h"
233 #include "ls_constants.h"
234 #include "ls_geodesy.h"
235 #include "ls_generic.h"
236 #include "ls_sim_control.h"
237 #include "ls_cockpit.h"
238 #include "ls_interface.h"
240 #include "ls_accel.h"
242 #include "ls_model.h"
245 // #include <Flight/flight.h>
246 // #include <Aircraft/aircraft.h>
247 // #include <Debug/fg_debug.h>
250 /* global variable declarations */
254 SIM_CONTROL sim_control_;
259 #define DEFAULT_TERM_UPDATE_HZ 20
260 #define DEFAULT_MODEL_HZ 120
261 #define DEFAULT_END_TIME 3600.
262 #define DEFAULT_SAVE_SPACING 8
263 #define DEFAULT_WRITE_SPACING 1
264 #define MAX_FILE_NAME_LENGTH 80
266 /* global variables */
271 /* file variables - default simulation settings */
273 static double model_dt;
274 static double speedup;
275 static char asc1name[MAX_FILE_NAME_LENGTH] = "run.asc1";
276 static char tabname[MAX_FILE_NAME_LENGTH] = "run.dat";
277 static char fltname[MAX_FILE_NAME_LENGTH] = "run.flt";
278 static char matname[MAX_FILE_NAME_LENGTH] = "run.m";
282 void ls_stamp( void ) {
283 char rcsid[] = "$Id$";
284 char revid[] = "$Revision$";
285 char dateid[] = "$Date$";
290 /* report version of LaRCsim*/
291 printf("\nLaRCsim %s, %s\n\n", revid, dateid);
293 nowtime_t = time( 0 );
294 nowtime = localtime( &nowtime_t ); /* set fields to correct time values */
295 date = (nowtime->tm_year % 100)*10000
296 + (nowtime->tm_mon + 1)*100
297 + (nowtime->tm_mday);
298 sprintf(sim_control_.date_string, "%06ld\0", date);
299 sprintf(sim_control_.time_stamp, "%02d:%02d:%02d\0",
300 nowtime->tm_hour, nowtime->tm_min, nowtime->tm_sec);
301 #ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
302 cuserid( sim_control_.userid ); /* set up user id */
303 #endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
307 void ls_setdefopts( void ) {
308 /* set default values for most options */
310 sim_control_.debug = 0; /* change to non-zero if in dbx! */
311 sim_control_.vision = 0;
312 sim_control_.write_av = 0; /* write Agile-Vu '.flt' file */
313 sim_control_.write_mat = 0; /* write matrix-x/matlab script */
314 sim_control_.write_tab = 0; /* write tab delim. history file */
315 sim_control_.write_asc1 = 0; /* write GetData file */
316 sim_control_.save_spacing = DEFAULT_SAVE_SPACING;
317 /* interpolation on recording */
318 sim_control_.write_spacing = DEFAULT_WRITE_SPACING;
319 /* interpolation on output */
320 sim_control_.end_time = DEFAULT_END_TIME;
321 sim_control_.model_hz = DEFAULT_MODEL_HZ;
322 sim_control_.term_update_hz = DEFAULT_TERM_UPDATE_HZ;
323 sim_control_.time_slices = (long int)(DEFAULT_END_TIME * DEFAULT_MODEL_HZ /
324 DEFAULT_SAVE_SPACING);
325 sim_control_.paused = 0;
331 /* return result codes from ls_checkopts */
336 #ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
341 int ls_checkopts(argc, argv) /* check and set options flags */
347 int mod_end_time = 0;
348 int mod_buf_size = 0;
349 float buffer_time, data_rate;
351 /* set default values */
353 buffer_time = sim_control_.time_slices * sim_control_.save_spacing /
354 sim_control_.model_hz;
355 data_rate = sim_control_.model_hz / sim_control_.save_spacing;
357 while ((c = getopt(argc, argv, "Aa:b:de:f:hi:kmo:r:s:t:x:")) != EOF)
360 if (sim_control_.sim_type == GLmouse)
362 fprintf(stderr, "Cannot specify both keyboard (k) and ACES (A) cockpits option\n");
363 fprintf(stderr, "Keyboard operation assumed.\n");
366 sim_control_.sim_type = cockpit;
369 sim_control_.write_av = 1;
372 strncpy(fltname, optarg, MAX_FILE_NAME_LENGTH);
377 buffer_time = atof(optarg);
378 if (buffer_time <= 0.) opt_err = -1;
382 sim_control_.debug = 1;
385 sim_control_.end_time = atof(optarg);
389 sim_control_.model_hz = atof(optarg);
395 /* ls_get_settings( optarg ); */
398 sim_control_.sim_type = GLmouse;
401 sim_control_.vision = 1;
404 sim_control_.term_update_hz = atof(optarg);
405 if (sim_control_.term_update_hz <= 0.) opt_err = 1;
408 sim_control_.write_mat = 1;
411 strncpy(matname, optarg, MAX_FILE_NAME_LENGTH);
416 data_rate = atof(optarg);
417 if (data_rate <= 0.) opt_err = -1;
420 sim_control_.write_tab = 1;
423 strncpy(tabname, optarg, MAX_FILE_NAME_LENGTH);
428 sim_control_.write_asc1 = 1;
431 strncpy(asc1name, optarg, MAX_FILE_NAME_LENGTH);
442 fprintf(stderr, "Usage: %s [-options]\n", progname);
443 fprintf(stderr, "\n");
444 fprintf(stderr, " where [-options] is zero or more of the following:\n");
445 fprintf(stderr, "\n");
446 fprintf(stderr, " [A|k] Run mode: [A]CES cockpit [default]\n");
447 fprintf(stderr, " or [k]eyboard\n");
448 fprintf(stderr, "\n");
449 fprintf(stderr, " [i <filename>] [i]nitial conditions filename\n");
450 fprintf(stderr, "\n");
451 fprintf(stderr, " [f <value>] Iteration rate [f]requency, Hz (default is %5.2f Hz)\n",
452 sim_control_.model_hz);
453 fprintf(stderr, "\n");
454 fprintf(stderr, " [o <value>] Display [o]utput frequency, Hz (default is %5.2f Hz)\n",
455 sim_control_.term_update_hz);
456 fprintf(stderr, "\n");
457 fprintf(stderr, " [s <value>] Data storage frequency, Hz (default is %5.2f Hz)\n",
459 fprintf(stderr, "\n");
460 fprintf(stderr, " [e <value>] [e]nd time in seconds (default %5.1f seconds)\n",
461 sim_control_.end_time);
462 fprintf(stderr, "\n");
463 fprintf(stderr, " [b <value>] circular time history storage [b]uffer size, in seconds \n");
464 fprintf(stderr, " (default %5.1f seconds) (normally same as end time)\n",
465 sim_control_.time_slices*sim_control_.save_spacing/
466 sim_control_.model_hz);
467 fprintf(stderr, "\n");
468 fprintf(stderr, " [atxr [<filename>]] Output: [a]gile-vu (default name: %s )\n", fltname);
469 fprintf(stderr, " and/or [t]ab delimited ( '' name: %s )\n", tabname);
470 fprintf(stderr, " and/or [x]plot (default name: %s)\n", asc1name);
471 fprintf(stderr, " and/or mat[r]ix script ( '' name: %s )\n", matname);
472 fprintf(stderr, "\n");
476 /* calculate additional controls */
478 sim_control_.save_spacing = (int) (0.5 + sim_control_.model_hz / data_rate);
479 if (sim_control_.save_spacing < 1) sim_control_.save_spacing = 1;
481 sim_control_.time_slices = buffer_time * sim_control_.model_hz /
482 sim_control_.save_spacing;
483 if (sim_control_.time_slices < 2) sim_control_.time_slices = 2;
487 #endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
489 void ls_set_model_dt(double dt) {
493 void ls_loop( SCALAR dt, int initialize ) {
494 /* printf (" In ls_loop()\n"); */
495 ls_step( dt, initialize );
496 /* if (sim_control_.sim_type == cockpit ) ls_ACES(); */
498 ls_model( dt, initialize );
504 int ls_cockpit( void ) {
507 sim_control_.paused = 0;
509 // c = current_aircraft.controls;
511 // Lat_control = FG_Aileron;
512 // Long_control = FG_Elevator;
513 // Long_trim = FG_Elev_Trim;
514 // Rudder_pedal = FG_Rudder;
515 // Throttle_pct = FG_Throttle[0];
517 /* printf("Mach = %.2f ", Mach_number);
518 printf("%.4f,%.4f,%.2f ", Latitude, Longitude, Altitude);
519 printf("%.2f,%.2f,%.2f\n", Phi, Theta, Psi); */
525 /* Initialize the LaRCsim flight model, dt is the time increment for
526 each subsequent iteration through the EOM */
527 int ls_toplevel_init(double dt, char * aircraft) {
530 ls_setdefopts(); /* set default options */
532 ls_stamp(); /* ID stamp; record time and date of run */
534 if (speedup == 0.0) {
535 fprintf(stderr, "%s: Cannot run with speedup of 0.\n", progname);
539 /* printf("LS pre Init pos = %.2f\n", Latitude); */
543 /* printf("LS post Init pos = %.2f\n", Latitude); */
546 /* Initialize (get) cockpit (controls) settings */
554 /* Run an iteration of the EOM (equations of motion) */
555 int ls_update(int multiloop) {
562 for ( i = 0; i < multiloop; i++ ) {
563 ls_loop( model_dt, 0);
570 /* Set the altitude (force) */
571 int ls_ForceAltitude(double alt_feet) {
573 ls_geod_to_geoc( Latitude, Altitude, &Sea_level_radius, &Lat_geocentric);
574 Radius_to_vehicle = Altitude + Sea_level_radius;
580 /* Flight Gear Modification Log
583 * Revision 1.3 2007/03/01 17:53:24 mfranz
584 * Hans Ulrich NIEDERMANN:
587 * Fix Y2K bug triggering string overflow
589 * sim_control_.date_string is a char[7], so it can contain "yymmdd" and
590 * the terminating '\0'. However, nowtime->tm_year is 107 for the year 2007,
591 * so you'll end up with a 7 digit number and the string written to
592 * sim_control_.date_string is longer than sim_control_.date_string is.
596 * mf: ... and sim_control_.date_string isn't even used.
598 * Revision 1.2 2006-02-21 17:45:03 mfranz
599 * new FSF address (see http://www.gnu.org/licenses/gpl.html)
601 * Revision 1.1.1.1 2002-09-10 01:14:02 curt
602 * Initial revision of FlightGear-0.9.0
604 * Revision 1.6 2002/01/30 15:17:27 david
605 * Fixes from Cameron Moore:
607 * I've attached 3 diffs against files in FlightGear to fix some printf
608 * format strings. The changes are pretty straight forward. Let me know
609 * if you have any questions. (BTW, I'm using gcc 2.95.4)
611 * Revision 1.5 2001/05/21 18:44:59 curt
615 * Revision 1.4 2001/03/24 05:03:12 curt
616 * SG-ified logstream.
618 * Revision 1.3 2000/10/23 22:34:54 curt
620 * LaRCsim c172 on-ground and in-air starts, reset: all work
621 * UIUC Cessna172 on-ground and in-air starts work as expected, reset
622 * results in an aircraft that is upside down but does not crash FG. I
623 * don't know what it was like before, so it may well be no change.
624 * JSBSim c172 and X15 in-air starts work fine, resets now work (and are
625 * trimmed), on-ground starts do not -- the c172 ends up on its back. I
626 * suspect this is no worse than before.
629 * Balloon (the weather code returns nan's for the atmosphere data --this
630 * is in the weather module and apparently is a linux only bug)
631 * ADA (don't know how)
632 * MagicCarpet (needs work yet)
633 * External (don't know how)
635 * known to be broken:
636 * LaRCsim c172 on-ground starts with a negative terrain altitude (this
637 * happens at KPAO when the scenery is not present). The FDM inits to
638 * about 50 feet AGL and the model falls to the ground. It does stay
639 * upright, however, and seems to be fine once it settles out, FWIW.
642 * --implement set_Model on the bus
643 * --bring Christian's weather data into JSBSim
644 * -- add default method to bus for updating things like the sin and cos of
645 * latitude (for Balloon, MagicCarpet)
651 * -- all data members now declared protected instead of private.
652 * -- eliminated all but a small set of 'setters', no change to getters.
653 * -- that small set is declared virtual, the default implementation
654 * provided preserves the old behavior
655 * -- all of the vector data members are now initialized.
656 * -- added busdump() method -- SG_LOG's all the bus data when called,
657 * useful for diagnostics.
660 * -- bus data members now directly assigned to
662 * src/FDM/Balloon.cxx
663 * -- bus data members now directly assigned to
664 * -- changed V_equiv_kts to V_calibrated_kts
668 * -- bus data members now directly assigned to
669 * -- implemented the FGInterface virtual setters with JSBSim specific
671 * -- changed the static FDMExec to a dynamic fdmex (needed so that the
672 * JSBSim object can be deleted when a model change is called for)
673 * -- implemented constructor and destructor, moved some of the logic
674 * formerly in init() to constructor
675 * -- added logic to bring up FGEngInterface objects and set the RPM and
678 * src/FDM/LaRCsim.cxx
679 * src/FDM/LaRCsim.hxx
680 * -- bus data members now directly assigned to
681 * -- implemented the FGInterface virtual setters with LaRCsim specific
682 * logic, uses LaRCsimIC
683 * -- implemented constructor and destructor, moved some of the logic
684 * formerly in init() to constructor
685 * -- moved default inertias to here from fg_init.cxx
686 * -- eliminated the climb rate calculation. The equivalent, climb_rate =
687 * -1*vdown, is now in copy_from_LaRCsim().
689 * src/FDM/LaRCsimIC.cxx
690 * src/FDM/LaRCsimIC.hxx
691 * -- similar to FGInitialCondition, this class has all the logic needed to
692 * turn data like Vc and Mach into the more fundamental quantities LaRCsim
693 * needs to initialize.
694 * -- put it in src/FDM since it is a class
696 * src/FDM/MagicCarpet.cxx
697 * -- bus data members now directly assigned to
699 * src/FDM/Makefile.am
700 * -- adds LaRCsimIC.hxx and cxx
702 * src/FDM/JSBSim/FGAtmosphere.h
703 * src/FDM/JSBSim/FGDefs.h
704 * src/FDM/JSBSim/FGInitialCondition.cpp
705 * src/FDM/JSBSim/FGInitialCondition.h
706 * src/FDM/JSBSim/JSBSim.cpp
707 * -- changes to accomodate the new bus
709 * src/FDM/LaRCsim/atmos_62.h
710 * src/FDM/LaRCsim/ls_geodesy.h
711 * -- surrounded prototypes with #ifdef __cplusplus ... #endif , functions
712 * here are needed in LaRCsimIC
714 * src/FDM/LaRCsim/c172_main.c
715 * src/FDM/LaRCsim/cherokee_aero.c
716 * src/FDM/LaRCsim/ls_aux.c
717 * src/FDM/LaRCsim/ls_constants.h
718 * src/FDM/LaRCsim/ls_geodesy.c
719 * src/FDM/LaRCsim/ls_geodesy.h
720 * src/FDM/LaRCsim/ls_step.c
721 * src/FDM/UIUCModel/uiuc_betaprobe.cpp
722 * -- changed PI to LS_PI, eliminates preprocessor naming conflict with
725 * src/FDM/LaRCsim/ls_interface.c
726 * src/FDM/LaRCsim/ls_interface.h
727 * -- added function ls_set_model_dt()
730 * -- eliminated calls that set the NED speeds to body components. They
731 * are no longer needed and confuse the new bus.
733 * src/Main/fg_init.cxx
734 * -- eliminated calls that just brought the bus data up-to-date (e.g.
735 * set_sin_cos_latitude). or set default values. The bus now handles the
736 * defaults and updates itself when the setters are called (for LaRCsim and
737 * JSBSim). A default method for doing this needs to be added to the bus.
738 * -- added fgVelocityInit() to set the speed the user asked for. Both
739 * JSBSim and LaRCsim can now be initialized using any of:
740 * vc,mach, NED components, UVW components.
743 * --eliminated call to fgFDMSetGroundElevation, this data is now 'pulled'
744 * onto the bus every update()
746 * src/Main/options.cxx
747 * src/Main/options.hxx
748 * -- added enum to keep track of the speed requested by the user
749 * -- eliminated calls to set NED velocity properties to body speeds, they
750 * are no longer needed.
751 * -- added options for the NED components.
753 * src/Network/garmin.cxx
754 * src/Network/nmea.cxx
755 * --eliminated calls that just brought the bus data up-to-date (e.g.
756 * set_sin_cos_latitude). The bus now updates itself when the setters are
757 * called (for LaRCsim and JSBSim). A default method for doing this needs
758 * to be added to the bus.
759 * -- changed set_V_equiv_kts to set_V_calibrated_kts. set_V_equiv_kts no
760 * longer exists ( get_V_equiv_kts still does, though)
762 * src/WeatherCM/FGLocalWeatherDatabase.cpp
763 * -- commented out the code to put the weather data on the bus, a
764 * different scheme for this is needed.
766 * Revision 1.2 2000/04/10 18:09:41 curt
767 * David Megginson made a few (mostly minor) mods to the LaRCsim files, and
768 * it's now possible to choose the LaRCsim model at runtime, as in
770 * fgfs --aircraft=c172
774 * fgfs --aircraft=uiuc --aircraft-dir=Aircraft-uiuc/Boeing747
776 * I did this so that I could play with the UIUC stuff without losing
777 * Tony's C172 with its flaps, etc. I did my best to respect the design
778 * of the LaRCsim code by staying in C, making only minimal changes, and
779 * not introducing any dependencies on the rest of FlightGear. The
780 * modified files are attached.
782 * Revision 1.1.1.1 1999/06/17 18:07:33 curt
783 * Start of 0.7.x branch
785 * Revision 1.2 1999/04/27 19:28:04 curt
786 * Changes for the MacOS port contributed by Darrell Walisser.
788 * Revision 1.1.1.1 1999/04/05 21:32:45 curt
789 * Start of 0.6.x branch.
791 * Revision 1.25 1999/01/19 20:57:02 curt
792 * MacOS portability changes contributed by "Robert Puyol" <puyol@abvent.fr>
794 * Revision 1.24 1998/12/14 13:27:47 curt
795 * Removed some old, outdated, no longer needed code.
797 * Revision 1.23 1998/10/16 23:27:44 curt
800 * Revision 1.22 1998/09/29 02:02:59 curt
801 * Added a brake + autopilot mods.
803 * Revision 1.21 1998/08/22 14:49:56 curt
804 * Attempting to iron out seg faults and crashes.
805 * Did some shuffling to fix a initialization order problem between view
806 * position, scenery elevation.
808 * Revision 1.20 1998/07/12 03:11:03 curt
809 * Removed some printf()'s.
810 * Fixed the autopilot integration so it should be able to update it's control
811 * positions every time the internal flight model loop is run, and not just
812 * once per rendered frame.
813 * Added a routine to do the necessary stuff to force an arbitrary altitude
815 * Gave the Navion engine just a tad more power.
817 * Revision 1.19 1998/05/11 18:17:28 curt
818 * Output message tweaking.
820 * Revision 1.18 1998/04/21 16:59:38 curt
821 * Integrated autopilot.
822 * Prepairing for C++ integration.
824 * Revision 1.17 1998/02/23 19:07:58 curt
825 * Incorporated Durk's Astro/ tweaks. Includes unifying the sun position
826 * calculation code between sun display, and other FG sections that use this
827 * for things like lighting.
829 * Revision 1.16 1998/02/07 15:29:38 curt
830 * Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
831 * <chotchkiss@namg.us.anritsu.com>
833 * Revision 1.15 1998/01/22 22:03:47 curt
834 * Removed #include <sys/stat.h>
836 * Revision 1.14 1998/01/19 19:27:04 curt
837 * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
838 * This should simplify things tremendously.
840 * Revision 1.13 1998/01/19 18:40:26 curt
841 * Tons of little changes to clean up the code and to remove fatal errors
842 * when building with the c++ compiler.
844 * Revision 1.12 1998/01/06 01:20:16 curt
845 * Tweaks to help building with MSVC++
847 * Revision 1.11 1998/01/05 22:19:26 curt
848 * #ifdef'd out some unused code that was problematic for MSVC++ to compile.
850 * Revision 1.10 1997/12/10 22:37:43 curt
851 * Prepended "fg" on the name of all global structures that didn't have it yet.
852 * i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
854 * Revision 1.9 1997/08/27 03:30:08 curt
855 * Changed naming scheme of basic shared structures.
857 * Revision 1.8 1997/06/21 17:12:50 curt
858 * Capitalized subdirectory names.
860 * Revision 1.7 1997/05/31 19:16:28 curt
861 * Elevator trim added.
863 * Revision 1.6 1997/05/31 04:13:53 curt
866 * Continuing work on the LaRCsim flight model integration.
867 * Added some MSFS-like keyboard input handling.
869 * Revision 1.5 1997/05/30 23:26:25 curt
870 * Added elevator/aileron controls.
872 * Revision 1.4 1997/05/30 19:30:15 curt
873 * The LaRCsim flight model is starting to look like it is working.
875 * Revision 1.3 1997/05/30 03:54:12 curt
876 * Made a bit more progress towards integrating the LaRCsim flight model.
878 * Revision 1.2 1997/05/29 22:39:59 curt
879 * Working on incorporating the LaRCsim flight model.
881 * Revision 1.1 1997/05/29 00:09:57 curt
882 * Initial Flight Gear revision.