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 - http://www.flightgear.org/~curt
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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 1.3 2006/02/21 17:45:03 mfranz
70 // new FSF address (see http://www.gnu.org/licenses/gpl.html)
72 // Revision 1.2 2004-11-19 22:10:42 curt
73 // Fix my mailing address by replacing it with my web page.
75 // Revision 1.1.1.1 2002/09/10 01:14:02 curt
76 // Initial revision of FlightGear-0.9.0
78 // Revision 1.5 2001/03/24 05:03:12 curt
79 // SG-ified logstream.
81 // Revision 1.4 2000/10/23 22:34:54 curt
83 // LaRCsim c172 on-ground and in-air starts, reset: all work
84 // UIUC Cessna172 on-ground and in-air starts work as expected, reset
85 // results in an aircraft that is upside down but does not crash FG. I
86 // don't know what it was like before, so it may well be no change.
87 // JSBSim c172 and X15 in-air starts work fine, resets now work (and are
88 // trimmed), on-ground starts do not -- the c172 ends up on its back. I
89 // suspect this is no worse than before.
92 // Balloon (the weather code returns nan's for the atmosphere data --this
93 // is in the weather module and apparently is a linux only bug)
94 // ADA (don't know how)
95 // MagicCarpet (needs work yet)
96 // External (don't know how)
98 // known to be broken:
99 // LaRCsim c172 on-ground starts with a negative terrain altitude (this
100 // happens at KPAO when the scenery is not present). The FDM inits to
101 // about 50 feet AGL and the model falls to the ground. It does stay
102 // upright, however, and seems to be fine once it settles out, FWIW.
105 // --implement set_Model on the bus
106 // --bring Christian's weather data into JSBSim
107 // -- add default method to bus for updating things like the sin and cos of
108 // latitude (for Balloon, MagicCarpet)
109 // -- lots of cleanup
112 // src/FDM/flight.cxx
113 // src/FDM/flight.hxx
114 // -- all data members now declared protected instead of private.
115 // -- eliminated all but a small set of 'setters', no change to getters.
116 // -- that small set is declared virtual, the default implementation
117 // provided preserves the old behavior
118 // -- all of the vector data members are now initialized.
119 // -- added busdump() method -- SG_LOG's all the bus data when called,
120 // useful for diagnostics.
123 // -- bus data members now directly assigned to
125 // src/FDM/Balloon.cxx
126 // -- bus data members now directly assigned to
127 // -- changed V_equiv_kts to V_calibrated_kts
129 // src/FDM/JSBSim.cxx
130 // src/FDM/JSBSim.hxx
131 // -- bus data members now directly assigned to
132 // -- implemented the FGInterface virtual setters with JSBSim specific
134 // -- changed the static FDMExec to a dynamic fdmex (needed so that the
135 // JSBSim object can be deleted when a model change is called for)
136 // -- implemented constructor and destructor, moved some of the logic
137 // formerly in init() to constructor
138 // -- added logic to bring up FGEngInterface objects and set the RPM and
141 // src/FDM/LaRCsim.cxx
142 // src/FDM/LaRCsim.hxx
143 // -- bus data members now directly assigned to
144 // -- implemented the FGInterface virtual setters with LaRCsim specific
145 // logic, uses LaRCsimIC
146 // -- implemented constructor and destructor, moved some of the logic
147 // formerly in init() to constructor
148 // -- moved default inertias to here from fg_init.cxx
149 // -- eliminated the climb rate calculation. The equivalent, climb_rate =
150 // -1*vdown, is now in copy_from_LaRCsim().
152 // src/FDM/LaRCsimIC.cxx
153 // src/FDM/LaRCsimIC.hxx
154 // -- similar to FGInitialCondition, this class has all the logic needed to
155 // turn data like Vc and Mach into the more fundamental quantities LaRCsim
156 // needs to initialize.
157 // -- put it in src/FDM since it is a class
159 // src/FDM/MagicCarpet.cxx
160 // -- bus data members now directly assigned to
162 // src/FDM/Makefile.am
163 // -- adds LaRCsimIC.hxx and cxx
165 // src/FDM/JSBSim/FGAtmosphere.h
166 // src/FDM/JSBSim/FGDefs.h
167 // src/FDM/JSBSim/FGInitialCondition.cpp
168 // src/FDM/JSBSim/FGInitialCondition.h
169 // src/FDM/JSBSim/JSBSim.cpp
170 // -- changes to accomodate the new bus
172 // src/FDM/LaRCsim/atmos_62.h
173 // src/FDM/LaRCsim/ls_geodesy.h
174 // -- surrounded prototypes with #ifdef __cplusplus ... #endif , functions
175 // here are needed in LaRCsimIC
177 // src/FDM/LaRCsim/c172_main.c
178 // src/FDM/LaRCsim/cherokee_aero.c
179 // src/FDM/LaRCsim/ls_aux.c
180 // src/FDM/LaRCsim/ls_constants.h
181 // src/FDM/LaRCsim/ls_geodesy.c
182 // src/FDM/LaRCsim/ls_geodesy.h
183 // src/FDM/LaRCsim/ls_step.c
184 // src/FDM/UIUCModel/uiuc_betaprobe.cpp
185 // -- changed PI to LS_PI, eliminates preprocessor naming conflict with
188 // src/FDM/LaRCsim/ls_interface.c
189 // src/FDM/LaRCsim/ls_interface.h
190 // -- added function ls_set_model_dt()
193 // -- eliminated calls that set the NED speeds to body components. They
194 // are no longer needed and confuse the new bus.
196 // src/Main/fg_init.cxx
197 // -- eliminated calls that just brought the bus data up-to-date (e.g.
198 // set_sin_cos_latitude). or set default values. The bus now handles the
199 // defaults and updates itself when the setters are called (for LaRCsim and
200 // JSBSim). A default method for doing this needs to be added to the bus.
201 // -- added fgVelocityInit() to set the speed the user asked for. Both
202 // JSBSim and LaRCsim can now be initialized using any of:
203 // vc,mach, NED components, UVW components.
206 // --eliminated call to fgFDMSetGroundElevation, this data is now 'pulled'
207 // onto the bus every update()
209 // src/Main/options.cxx
210 // src/Main/options.hxx
211 // -- added enum to keep track of the speed requested by the user
212 // -- eliminated calls to set NED velocity properties to body speeds, they
213 // are no longer needed.
214 // -- added options for the NED components.
216 // src/Network/garmin.cxx
217 // src/Network/nmea.cxx
218 // --eliminated calls that just brought the bus data up-to-date (e.g.
219 // set_sin_cos_latitude). The bus now updates itself when the setters are
220 // called (for LaRCsim and JSBSim). A default method for doing this needs
221 // to be added to the bus.
222 // -- changed set_V_equiv_kts to set_V_calibrated_kts. set_V_equiv_kts no
223 // longer exists ( get_V_equiv_kts still does, though)
225 // src/WeatherCM/FGLocalWeatherDatabase.cpp
226 // -- commented out the code to put the weather data on the bus, a
227 // different scheme for this is needed.
229 // Revision 1.3 2000/04/27 19:57:08 curt
230 // MacOS build updates.
232 // Revision 1.2 2000/04/10 18:09:41 curt
233 // David Megginson made a few (mostly minor) mods to the LaRCsim files, and
234 // it's now possible to choose the LaRCsim model at runtime, as in
236 // fgfs --aircraft=c172
240 // fgfs --aircraft=uiuc --aircraft-dir=Aircraft-uiuc/Boeing747
242 // I did this so that I could play with the UIUC stuff without losing
243 // Tony's C172 with its flaps, etc. I did my best to respect the design
244 // of the LaRCsim code by staying in C, making only minimal changes, and
245 // not introducing any dependencies on the rest of FlightGear. The
246 // modified files are attached.
248 // Revision 1.1.1.1 1999/06/17 18:07:33 curt
249 // Start of 0.7.x branch
251 // Revision 1.1.1.1 1999/04/05 21:32:45 curt
252 // Start of 0.6.x branch.
254 // Revision 1.11 1998/10/17 01:34:15 curt
257 // Revision 1.10 1998/10/16 23:27:45 curt
260 // Revision 1.9 1998/07/12 03:11:04 curt
261 // Removed some printf()'s.
262 // Fixed the autopilot integration so it should be able to update it's control
263 // positions every time the internal flight model loop is run, and not just
264 // once per rendered frame.
265 // Added a routine to do the necessary stuff to force an arbitrary altitude
267 // Gave the Navion engine just a tad more power.
269 // Revision 1.8 1998/04/21 16:59:39 curt
270 // Integrated autopilot.
271 // Prepairing for C++ integration.
273 // Revision 1.7 1998/02/07 15:29:39 curt
274 // Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
275 // <chotchkiss@namg.us.anritsu.com>
277 // Revision 1.6 1998/02/03 23:20:17 curt
278 // Lots of little tweaks to fix various consistency problems discovered by
279 // Solaris' CC. Fixed a bug in fg_debug.c with how the fgPrintf() wrapper
280 // passed arguments along to the real printf(). Also incorporated HUD changes
281 // by Michele America.
283 // Revision 1.5 1998/01/19 19:27:05 curt
284 // Merged in make system changes from Bob Kuehne <rpk@sgi.com>
285 // This should simplify things tremendously.
287 // Revision 1.4 1998/01/19 18:40:27 curt
288 // Tons of little changes to clean up the code and to remove fatal errors
289 // when building with the c++ compiler.
291 // Revision 1.3 1997/07/23 21:52:20 curt
292 // Put comments around the text after an #endif for increased portability.
294 // Revision 1.2 1997/05/29 22:39:59 curt
295 // Working on incorporating the LaRCsim flight model.
297 // Revision 1.1 1997/05/29 00:09:58 curt
298 // Initial Flight Gear revision.