1 /**************************************************************************
2 * ls_interface.h -- interface to the "LaRCsim" flight model
4 * Written by Curtis Olson, started May 1997.
6 * Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
8 * This program is free software; you can redistribute it and/or
9 * modify it under the terms of the GNU General Public License as
10 * published by the Free Software Foundation; either version 2 of the
11 * License, or (at your option) any later version.
13 * This program is distributed in the hope that it will be useful, but
14 * WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 * General Public License for more details.
18 * You should have received a copy of the GNU General Public License
19 * along with this program; if not, write to the Free Software
20 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
23 * (Log is kept at end of this file)
24 **************************************************************************/
27 #ifndef _LS_INTERFACE_H
28 #define _LS_INTERFACE_H
39 /* reset flight params to a specific position */
40 int ls_toplevel_init(double dt, char * aircraft);
42 /* update position based on inputs, positions, velocities, etc. */
43 int ls_update(int multiloop);
45 void ls_set_model_dt(double dt);
48 /* Convert from the fgFLIGHT struct to the LaRCsim generic_ struct */
49 int fgFlight_2_LaRCsim (fgFLIGHT *f);
51 /* Convert from the LaRCsim generic_ struct to the fgFLIGHT struct */
52 int fgLaRCsim_2_Flight (fgFLIGHT *f);
55 void ls_loop( SCALAR dt, int initialize );
57 /* Set the altitude (force) */
58 int ls_ForceAltitude(double alt_feet);
65 #endif /* _LS_INTERFACE_H */
69 // Revision 1.4 2000/10/23 22:34:54 curt
71 // LaRCsim c172 on-ground and in-air starts, reset: all work
72 // UIUC Cessna172 on-ground and in-air starts work as expected, reset
73 // results in an aircraft that is upside down but does not crash FG. I
74 // don't know what it was like before, so it may well be no change.
75 // JSBSim c172 and X15 in-air starts work fine, resets now work (and are
76 // trimmed), on-ground starts do not -- the c172 ends up on its back. I
77 // suspect this is no worse than before.
80 // Balloon (the weather code returns nan's for the atmosphere data --this
81 // is in the weather module and apparently is a linux only bug)
82 // ADA (don't know how)
83 // MagicCarpet (needs work yet)
84 // External (don't know how)
86 // known to be broken:
87 // LaRCsim c172 on-ground starts with a negative terrain altitude (this
88 // happens at KPAO when the scenery is not present). The FDM inits to
89 // about 50 feet AGL and the model falls to the ground. It does stay
90 // upright, however, and seems to be fine once it settles out, FWIW.
93 // --implement set_Model on the bus
94 // --bring Christian's weather data into JSBSim
95 // -- add default method to bus for updating things like the sin and cos of
96 // latitude (for Balloon, MagicCarpet)
100 // src/FDM/flight.cxx
101 // src/FDM/flight.hxx
102 // -- all data members now declared protected instead of private.
103 // -- eliminated all but a small set of 'setters', no change to getters.
104 // -- that small set is declared virtual, the default implementation
105 // provided preserves the old behavior
106 // -- all of the vector data members are now initialized.
107 // -- added busdump() method -- FG_LOG's all the bus data when called,
108 // useful for diagnostics.
111 // -- bus data members now directly assigned to
113 // src/FDM/Balloon.cxx
114 // -- bus data members now directly assigned to
115 // -- changed V_equiv_kts to V_calibrated_kts
117 // src/FDM/JSBSim.cxx
118 // src/FDM/JSBSim.hxx
119 // -- bus data members now directly assigned to
120 // -- implemented the FGInterface virtual setters with JSBSim specific
122 // -- changed the static FDMExec to a dynamic fdmex (needed so that the
123 // JSBSim object can be deleted when a model change is called for)
124 // -- implemented constructor and destructor, moved some of the logic
125 // formerly in init() to constructor
126 // -- added logic to bring up FGEngInterface objects and set the RPM and
129 // src/FDM/LaRCsim.cxx
130 // src/FDM/LaRCsim.hxx
131 // -- bus data members now directly assigned to
132 // -- implemented the FGInterface virtual setters with LaRCsim specific
133 // logic, uses LaRCsimIC
134 // -- implemented constructor and destructor, moved some of the logic
135 // formerly in init() to constructor
136 // -- moved default inertias to here from fg_init.cxx
137 // -- eliminated the climb rate calculation. The equivalent, climb_rate =
138 // -1*vdown, is now in copy_from_LaRCsim().
140 // src/FDM/LaRCsimIC.cxx
141 // src/FDM/LaRCsimIC.hxx
142 // -- similar to FGInitialCondition, this class has all the logic needed to
143 // turn data like Vc and Mach into the more fundamental quantities LaRCsim
144 // needs to initialize.
145 // -- put it in src/FDM since it is a class
147 // src/FDM/MagicCarpet.cxx
148 // -- bus data members now directly assigned to
150 // src/FDM/Makefile.am
151 // -- adds LaRCsimIC.hxx and cxx
153 // src/FDM/JSBSim/FGAtmosphere.h
154 // src/FDM/JSBSim/FGDefs.h
155 // src/FDM/JSBSim/FGInitialCondition.cpp
156 // src/FDM/JSBSim/FGInitialCondition.h
157 // src/FDM/JSBSim/JSBSim.cpp
158 // -- changes to accomodate the new bus
160 // src/FDM/LaRCsim/atmos_62.h
161 // src/FDM/LaRCsim/ls_geodesy.h
162 // -- surrounded prototypes with #ifdef __cplusplus ... #endif , functions
163 // here are needed in LaRCsimIC
165 // src/FDM/LaRCsim/c172_main.c
166 // src/FDM/LaRCsim/cherokee_aero.c
167 // src/FDM/LaRCsim/ls_aux.c
168 // src/FDM/LaRCsim/ls_constants.h
169 // src/FDM/LaRCsim/ls_geodesy.c
170 // src/FDM/LaRCsim/ls_geodesy.h
171 // src/FDM/LaRCsim/ls_step.c
172 // src/FDM/UIUCModel/uiuc_betaprobe.cpp
173 // -- changed PI to LS_PI, eliminates preprocessor naming conflict with
176 // src/FDM/LaRCsim/ls_interface.c
177 // src/FDM/LaRCsim/ls_interface.h
178 // -- added function ls_set_model_dt()
181 // -- eliminated calls that set the NED speeds to body components. They
182 // are no longer needed and confuse the new bus.
184 // src/Main/fg_init.cxx
185 // -- eliminated calls that just brought the bus data up-to-date (e.g.
186 // set_sin_cos_latitude). or set default values. The bus now handles the
187 // defaults and updates itself when the setters are called (for LaRCsim and
188 // JSBSim). A default method for doing this needs to be added to the bus.
189 // -- added fgVelocityInit() to set the speed the user asked for. Both
190 // JSBSim and LaRCsim can now be initialized using any of:
191 // vc,mach, NED components, UVW components.
194 // --eliminated call to fgFDMSetGroundElevation, this data is now 'pulled'
195 // onto the bus every update()
197 // src/Main/options.cxx
198 // src/Main/options.hxx
199 // -- added enum to keep track of the speed requested by the user
200 // -- eliminated calls to set NED velocity properties to body speeds, they
201 // are no longer needed.
202 // -- added options for the NED components.
204 // src/Network/garmin.cxx
205 // src/Network/nmea.cxx
206 // --eliminated calls that just brought the bus data up-to-date (e.g.
207 // set_sin_cos_latitude). The bus now updates itself when the setters are
208 // called (for LaRCsim and JSBSim). A default method for doing this needs
209 // to be added to the bus.
210 // -- changed set_V_equiv_kts to set_V_calibrated_kts. set_V_equiv_kts no
211 // longer exists ( get_V_equiv_kts still does, though)
213 // src/WeatherCM/FGLocalWeatherDatabase.cpp
214 // -- commented out the code to put the weather data on the bus, a
215 // different scheme for this is needed.
217 // Revision 1.3 2000/04/27 19:57:08 curt
218 // MacOS build updates.
220 // Revision 1.2 2000/04/10 18:09:41 curt
221 // David Megginson made a few (mostly minor) mods to the LaRCsim files, and
222 // it's now possible to choose the LaRCsim model at runtime, as in
224 // fgfs --aircraft=c172
228 // fgfs --aircraft=uiuc --aircraft-dir=Aircraft-uiuc/Boeing747
230 // I did this so that I could play with the UIUC stuff without losing
231 // Tony's C172 with its flaps, etc. I did my best to respect the design
232 // of the LaRCsim code by staying in C, making only minimal changes, and
233 // not introducing any dependencies on the rest of FlightGear. The
234 // modified files are attached.
236 // Revision 1.1.1.1 1999/06/17 18:07:33 curt
237 // Start of 0.7.x branch
239 // Revision 1.1.1.1 1999/04/05 21:32:45 curt
240 // Start of 0.6.x branch.
242 // Revision 1.11 1998/10/17 01:34:15 curt
245 // Revision 1.10 1998/10/16 23:27:45 curt
248 // Revision 1.9 1998/07/12 03:11:04 curt
249 // Removed some printf()'s.
250 // Fixed the autopilot integration so it should be able to update it's control
251 // positions every time the internal flight model loop is run, and not just
252 // once per rendered frame.
253 // Added a routine to do the necessary stuff to force an arbitrary altitude
255 // Gave the Navion engine just a tad more power.
257 // Revision 1.8 1998/04/21 16:59:39 curt
258 // Integrated autopilot.
259 // Prepairing for C++ integration.
261 // Revision 1.7 1998/02/07 15:29:39 curt
262 // Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
263 // <chotchkiss@namg.us.anritsu.com>
265 // Revision 1.6 1998/02/03 23:20:17 curt
266 // Lots of little tweaks to fix various consistency problems discovered by
267 // Solaris' CC. Fixed a bug in fg_debug.c with how the fgPrintf() wrapper
268 // passed arguments along to the real printf(). Also incorporated HUD changes
269 // by Michele America.
271 // Revision 1.5 1998/01/19 19:27:05 curt
272 // Merged in make system changes from Bob Kuehne <rpk@sgi.com>
273 // This should simplify things tremendously.
275 // Revision 1.4 1998/01/19 18:40:27 curt
276 // Tons of little changes to clean up the code and to remove fatal errors
277 // when building with the c++ compiler.
279 // Revision 1.3 1997/07/23 21:52:20 curt
280 // Put comments around the text after an #endif for increased portability.
282 // Revision 1.2 1997/05/29 22:39:59 curt
283 // Working on incorporating the LaRCsim flight model.
285 // Revision 1.1 1997/05/29 00:09:58 curt
286 // Initial Flight Gear revision.