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 <simgear/constants.h>
25 #include <simgear/debug/logstream.hxx>
27 #include <Scenery/scenery.hxx>
29 #include <Main/fg_props.hxx>
30 #include <Aircraft/aircraft.hxx>
31 #include <Controls/controls.hxx>
32 #include <FDM/flight.hxx>
33 #include <FDM/LaRCsim/ls_cockpit.h>
34 #include <FDM/LaRCsim/ls_generic.h>
35 #include <FDM/LaRCsim/ls_interface.h>
36 #include <FDM/LaRCsimIC.hxx>
37 #include <FDM/UIUCModel/uiuc_aircraft.h>
40 #include "LaRCsim.hxx"
42 FGLaRCsim::FGLaRCsim( double dt ) {
45 speed_up = fgGetNode("/sim/speed-up", true);
46 aircraft = fgGetNode("/sim/aircraft", true);
48 ls_toplevel_init( 0.0, (char *)(aircraft->getStringValue().c_str()) );
50 lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
51 if ( aircraft->getStringValue() == "c172" ) {
52 copy_to_LaRCsim(); // initialize all of LaRCsim's vars
54 //this should go away someday -- formerly done in fg_init.cxx
62 ls_set_model_dt( get_delta_t() );
64 // Initialize our little engine that hopefully might
65 eng.init( get_delta_t() );
66 // dcl - in passing dt to init rather than update I am assuming
67 // that the LaRCsim dt is fixed at one value (yes it is 120hz CLO)
69 // update the engines interface
73 // Fill the fuel tanks
74 // Hardwired to C172 full tanks for now - need to fix this sometime
75 // Also note that this is the max quantity - the usable quantity
81 FGLaRCsim::~FGLaRCsim(void) {
88 // Initialize the LaRCsim flight model, dt is the time increment for
89 // each subsequent iteration through the EOM
90 void FGLaRCsim::init() {
91 //do init common to all FDM's
94 //now do any specific to LaRCsim
98 // Run an iteration of the EOM (equations of motion)
99 bool FGLaRCsim::update( int multiloop ) {
101 if ( aircraft->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 // copy engine state values onto "bus"
119 FGEngInterface *e = get_engine( 0 );
120 e->set_Throttle( globals->get_controls()->get_throttle(0) * 100.0 );
121 e->set_Mixture( 80 ); // ???????
122 e->set_Prop_Advance( 100 );
123 e->set_RPM( eng.get_RPM() );
124 e->set_Manifold_Pressure( eng.get_Manifold_Pressure() );
125 e->set_MaxHP( eng.get_MaxHP() );
126 e->set_Percentage_Power( eng.get_Percentage_Power() );
127 e->set_EGT( eng.get_EGT() );
128 e->set_CHT( eng.get_CHT() );
129 e->set_prop_thrust( eng.get_prop_thrust_SI() );
130 e->set_Fuel_Flow( eng.get_fuel_flow_gals_hr() );
131 e->set_Oil_Temp( eng.get_oil_temp() );
132 e->set_Running_Flag( eng.getRunningFlag() );
133 e->set_Cranking_Flag( eng.getCrankingFlag() );
135 //Assume we are using both tanks equally for now
136 reduce_Tank1Fuel( (eng.get_fuel_flow_gals_hr() / (2 * 3600))
138 reduce_Tank2Fuel( (eng.get_fuel_flow_gals_hr() / (2 * 3600))
142 SG_LOG( SG_FLIGHT, SG_INFO, "Throttle = "
143 << globals->get_controls()->get_throttle( 0 ) * 100.0);
144 SG_LOG( SG_FLIGHT, SG_INFO, " Mixture = " << 80);
145 SG_LOG( SG_FLIGHT, SG_INFO, " RPM = " << eng.get_RPM());
146 SG_LOG( SG_FLIGHT, SG_INFO, " MP = " << eng.get_Manifold_Pressure());
147 SG_LOG( SG_FLIGHT, SG_INFO, " HP = "
148 << ( eng.get_MaxHP() * eng.get_Percentage_Power()/ 100.0) );
149 SG_LOG( SG_FLIGHT, SG_INFO, " EGT = " << eng.get_EGT());
150 SG_LOG( SG_FLIGHT, SG_INFO, " Thrust (N) "
151 << eng.get_prop_thrust_SI()); // Thrust in Newtons
152 SG_LOG( SG_FLIGHT, SG_INFO, '\n');
154 F_X_engine = eng.get_prop_thrust_lbs();
155 // cout << "F_X_engine = " << F_X_engine << '\n';
158 double save_alt = 0.0;
160 // lets try to avoid really screwing up the LaRCsim model
161 if ( get_Altitude() < -9000.0 ) {
162 save_alt = get_Altitude();
166 // copy control positions into the LaRCsim structure
167 Lat_control = globals->get_controls()->get_aileron() /
168 speed_up->getIntValue();
169 Long_control = globals->get_controls()->get_elevator();
170 Long_trim = globals->get_controls()->get_elevator_trim();
171 Rudder_pedal = globals->get_controls()->get_rudder() /
172 speed_up->getIntValue();
173 Flap_handle = 30.0 * globals->get_controls()->get_flaps();
175 if ( aircraft->getStringValue() == "c172" ) {
176 Use_External_Engine = 1;
178 Use_External_Engine = 0;
181 Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
183 Brake_pct[0] = globals->get_controls()->get_brake( 1 );
184 Brake_pct[1] = globals->get_controls()->get_brake( 0 );
186 // Inform LaRCsim of the local terrain altitude
187 // Runway_altitude = get_Runway_altitude();
188 Runway_altitude = scenery.get_cur_elev() * SG_METER_TO_FEET;
191 /* V_north_airmass = get_V_north_airmass();
192 V_east_airmass = get_V_east_airmass();
193 V_down_airmass = get_V_down_airmass(); */
196 // old -- FGInterface_2_LaRCsim() not needed except for Init()
197 // translate FG to LaRCsim structure
198 // FGInterface_2_LaRCsim(f);
199 // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
200 // printf("Altitude = %.2f\n", Altitude * 0.3048);
201 // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
203 ls_update(multiloop);
205 // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
206 // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
208 // translate LaRCsim back to FG structure so that the
209 // autopilot (and the rest of the sim can use the updated
213 // but lets restore our original bogus altitude when we are done
214 if ( save_alt < -9000.0 ) {
215 set_Altitude( save_alt );
222 // Convert from the FGInterface struct to the LaRCsim generic_ struct
223 bool FGLaRCsim::copy_to_LaRCsim () {
229 // Dx_pilot = get_Dx_pilot();
230 // Dy_pilot = get_Dy_pilot();
231 // Dz_pilot = get_Dz_pilot();
238 // F_north = get_F_north();
239 // F_east = get_F_east();
240 // F_down = get_F_down();
241 // F_X_aero = get_F_X_aero();
242 // F_Y_aero = get_F_Y_aero();
243 // F_Z_aero = get_F_Z_aero();
244 // F_X_engine = get_F_X_engine();
245 // F_Y_engine = get_F_Y_engine();
246 // F_Z_engine = get_F_Z_engine();
247 // F_X_gear = get_F_X_gear();
248 // F_Y_gear = get_F_Y_gear();
249 // F_Z_gear = get_F_Z_gear();
250 // M_l_rp = get_M_l_rp();
251 // M_m_rp = get_M_m_rp();
252 // M_n_rp = get_M_n_rp();
253 // M_l_cg = get_M_l_cg();
254 // M_m_cg = get_M_m_cg();
255 // M_n_cg = get_M_n_cg();
256 // M_l_aero = get_M_l_aero();
257 // M_m_aero = get_M_m_aero();
258 // M_n_aero = get_M_n_aero();
259 // M_l_engine = get_M_l_engine();
260 // M_m_engine = get_M_m_engine();
261 // M_n_engine = get_M_n_engine();
262 // M_l_gear = get_M_l_gear();
263 // M_m_gear = get_M_m_gear();
264 // M_n_gear = get_M_n_gear();
265 // V_dot_north = get_V_dot_north();
266 // V_dot_east = get_V_dot_east();
267 // V_dot_down = get_V_dot_down();
268 // U_dot_body = get_U_dot_body();
269 // V_dot_body = get_V_dot_body();
270 // W_dot_body = get_W_dot_body();
271 // A_X_cg = get_A_X_cg();
272 // A_Y_cg = get_A_Y_cg();
273 // A_Z_cg = get_A_Z_cg();
274 // A_X_pilot = get_A_X_pilot();
275 // A_Y_pilot = get_A_Y_pilot();
276 // A_Z_pilot = get_A_Z_pilot();
277 // N_X_cg = get_N_X_cg();
278 // N_Y_cg = get_N_Y_cg();
279 // N_Z_cg = get_N_Z_cg();
280 // N_X_pilot = get_N_X_pilot();
281 // N_Y_pilot = get_N_Y_pilot();
282 // N_Z_pilot = get_N_Z_pilot();
283 // P_dot_body = get_P_dot_body();
284 // Q_dot_body = get_Q_dot_body();
285 // R_dot_body = get_R_dot_body();
286 // V_north = get_V_north();
287 // V_east = get_V_east();
288 // V_down = get_V_down();
289 // V_north_rel_ground = get_V_north_rel_ground();
290 // V_east_rel_ground = get_V_east_rel_ground();
291 // V_down_rel_ground = get_V_down_rel_ground();
292 // V_north_airmass = get_V_north_airmass();
293 // V_east_airmass = get_V_east_airmass();
294 // V_down_airmass = get_V_down_airmass();
295 // V_north_rel_airmass = get_V_north_rel_airmass();
296 // V_east_rel_airmass = get_V_east_rel_airmass();
297 // V_down_rel_airmass = get_V_down_rel_airmass();
298 // U_gust = get_U_gust();
299 // V_gust = get_V_gust();
300 // W_gust = get_W_gust();
301 // U_body = get_U_body();
302 // V_body = get_V_body();
303 // W_body = get_W_body();
304 // V_rel_wind = get_V_rel_wind();
305 // V_true_kts = get_V_true_kts();
306 // V_rel_ground = get_V_rel_ground();
307 // V_inertial = get_V_inertial();
308 // V_ground_speed = get_V_ground_speed();
309 // V_equiv = get_V_equiv();
310 // V_equiv_kts = get_V_equiv_kts();
311 // V_calibrated = get_V_calibrated();
312 // V_calibrated_kts = get_V_calibrated_kts();
313 // P_body = get_P_body();
314 // Q_body = get_Q_body();
315 // R_body = get_R_body();
316 // P_local = get_P_local();
317 // Q_local = get_Q_local();
318 // R_local = get_R_local();
319 // P_total = get_P_total();
320 // Q_total = get_Q_total();
321 // R_total = get_R_total();
322 // Phi_dot = get_Phi_dot();
323 // Theta_dot = get_Theta_dot();
324 // Psi_dot = get_Psi_dot();
325 // Latitude_dot = get_Latitude_dot();
326 // Longitude_dot = get_Longitude_dot();
327 // Radius_dot = get_Radius_dot();
328 // Lat_geocentric = get_Lat_geocentric();
329 // Lon_geocentric = get_Lon_geocentric();
330 // Radius_to_vehicle = get_Radius_to_vehicle();
331 // Latitude = get_Latitude();
332 // Longitude = get_Longitude();
333 // Altitude = get_Altitude();
335 // Theta = get_Theta();
337 // T_local_to_body_11 = get_T_local_to_body_11();
338 // T_local_to_body_12 = get_T_local_to_body_12();
339 // T_local_to_body_13 = get_T_local_to_body_13();
340 // T_local_to_body_21 = get_T_local_to_body_21();
341 // T_local_to_body_22 = get_T_local_to_body_22();
342 // T_local_to_body_23 = get_T_local_to_body_23();
343 // T_local_to_body_31 = get_T_local_to_body_31();
344 // T_local_to_body_32 = get_T_local_to_body_32();
345 // T_local_to_body_33 = get_T_local_to_body_33();
346 // Gravity = get_Gravity();
347 // Centrifugal_relief = get_Centrifugal_relief();
348 // Alpha = get_Alpha();
349 // Beta = get_Beta();
350 // Alpha_dot = get_Alpha_dot();
351 // Beta_dot = get_Beta_dot();
352 // Cos_alpha = get_Cos_alpha();
353 // Sin_alpha = get_Sin_alpha();
354 // Cos_beta = get_Cos_beta();
355 // Sin_beta = get_Sin_beta();
356 // Cos_phi = get_Cos_phi();
357 // Sin_phi = get_Sin_phi();
358 // Cos_theta = get_Cos_theta();
359 // Sin_theta = get_Sin_theta();
360 // Cos_psi = get_Cos_psi();
361 // Sin_psi = get_Sin_psi();
362 // Gamma_vert_rad = get_Gamma_vert_rad();
363 // Gamma_horiz_rad = get_Gamma_horiz_rad();
364 // Sigma = get_Sigma();
365 // Density = get_Density();
366 // V_sound = get_V_sound();
367 // Mach_number = get_Mach_number();
368 // Static_pressure = get_Static_pressure();
369 // Total_pressure = get_Total_pressure();
370 // Impact_pressure = get_Impact_pressure();
371 // Dynamic_pressure = get_Dynamic_pressure();
372 // Static_temperature = get_Static_temperature();
373 // Total_temperature = get_Total_temperature();
374 // Sea_level_radius = get_Sea_level_radius();
375 // Earth_position_angle = get_Earth_position_angle();
376 // Runway_altitude = get_Runway_altitude();
377 // Runway_latitude = get_Runway_latitude();
378 // Runway_longitude = get_Runway_longitude();
379 // Runway_heading = get_Runway_heading();
380 // Radius_to_rwy = get_Radius_to_rwy();
381 // D_cg_north_of_rwy = get_D_cg_north_of_rwy();
382 // D_cg_east_of_rwy = get_D_cg_east_of_rwy();
383 // D_cg_above_rwy = get_D_cg_above_rwy();
384 // X_cg_rwy = get_X_cg_rwy();
385 // Y_cg_rwy = get_Y_cg_rwy();
386 // H_cg_rwy = get_H_cg_rwy();
387 // D_pilot_north_of_rwy = get_D_pilot_north_of_rwy();
388 // D_pilot_east_of_rwy = get_D_pilot_east_of_rwy();
389 // D_pilot_above_rwy = get_D_pilot_above_rwy();
390 // X_pilot_rwy = get_X_pilot_rwy();
391 // Y_pilot_rwy = get_Y_pilot_rwy();
392 // H_pilot_rwy = get_H_pilot_rwy();
398 // Convert from the LaRCsim generic_ struct to the FGInterface struct
399 bool FGLaRCsim::copy_from_LaRCsim() {
401 // Mass properties and geometry values
402 _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
403 // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
404 _set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
407 // set_Forces_Body_Total( F_X, F_Y, F_Z );
408 // set_Forces_Local_Total( F_north, F_east, F_down );
409 // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
410 // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
411 // set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
414 // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
415 // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
416 // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
417 // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
418 // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
421 _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
422 _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
423 _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
424 _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
425 // set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
426 // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
427 // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
430 _set_Velocities_Local( V_north, V_east, V_down );
431 // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
432 // V_down_rel_ground );
433 _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
435 // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
436 // V_east_rel_airmass, V_down_rel_airmass );
437 // set_Velocities_Gust( U_gust, V_gust, W_gust );
438 _set_Velocities_Wind_Body( U_body, V_body, W_body );
440 _set_V_rel_wind( V_rel_wind );
441 // set_V_true_kts( V_true_kts );
442 // set_V_rel_ground( V_rel_ground );
443 // set_V_inertial( V_inertial );
444 _set_V_ground_speed( V_ground_speed );
445 // set_V_equiv( V_equiv );
446 _set_V_equiv_kts( V_equiv_kts );
447 // set_V_calibrated( V_calibrated );
448 _set_V_calibrated_kts( V_calibrated_kts );
450 _set_Omega_Body( P_body, Q_body, R_body );
451 // set_Omega_Local( P_local, Q_local, R_local );
452 // set_Omega_Total( P_total, Q_total, R_total );
454 _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
455 _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
457 _set_Mach_number( Mach_number );
459 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
460 << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
461 << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
462 << " radius_to_vehicle = " << Radius_to_vehicle );
464 double tmp_lon_geoc = Lon_geocentric;
465 while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
466 while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
468 double tmp_lon = Longitude;
469 while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
470 while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
473 _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
475 _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
476 _set_Euler_Angles( Phi, Theta, Psi );
478 _set_Altitude_AGL( Altitude - Runway_altitude );
480 // Miscellaneous quantities
481 _set_T_Local_to_Body(T_local_to_body_m);
482 // set_Gravity( Gravity );
483 // set_Centrifugal_relief( Centrifugal_relief );
487 // set_Alpha_dot( Alpha_dot );
488 // set_Beta_dot( Beta_dot );
490 // set_Cos_alpha( Cos_alpha );
491 // set_Sin_alpha( Sin_alpha );
492 // set_Cos_beta( Cos_beta );
493 // set_Sin_beta( Sin_beta );
495 _set_Cos_phi( Cos_phi );
496 // set_Sin_phi( Sin_phi );
497 _set_Cos_theta( Cos_theta );
498 // set_Sin_theta( Sin_theta );
499 // set_Cos_psi( Cos_psi );
500 // set_Sin_psi( Sin_psi );
502 _set_Gamma_vert_rad( Gamma_vert_rad );
503 // set_Gamma_horiz_rad( Gamma_horiz_rad );
505 // set_Sigma( Sigma );
506 _set_Density( Density );
507 // set_V_sound( V_sound );
508 // set_Mach_number( Mach_number );
510 _set_Static_pressure( Static_pressure );
511 // set_Total_pressure( Total_pressure );
512 // set_Impact_pressure( Impact_pressure );
513 // set_Dynamic_pressure( Dynamic_pressure );
515 _set_Static_temperature( Static_temperature );
516 // set_Total_temperature( Total_temperature );
518 _set_Sea_level_radius( Sea_level_radius );
519 _set_Earth_position_angle( Earth_position_angle );
521 _set_Runway_altitude( Runway_altitude );
522 // set_Runway_latitude( Runway_latitude );
523 // set_Runway_longitude( Runway_longitude );
524 // set_Runway_heading( Runway_heading );
525 // set_Radius_to_rwy( Radius_to_rwy );
527 // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
528 // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
529 // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
530 // D_pilot_above_rwy );
531 // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
533 _set_sin_lat_geocentric(Lat_geocentric);
534 _set_cos_lat_geocentric(Lat_geocentric);
535 _set_sin_cos_longitude(Longitude);
536 _set_sin_cos_latitude(Latitude);
538 // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
539 // printf("sin_lat %f cos_lat %f\n",
540 // get_sin_latitude(), get_cos_latitude());
541 // printf("sin_lon %f cos_lon %f\n",
542 // get_sin_longitude(), get_cos_longitude());
544 _set_Climb_Rate( -1 * V_down );
545 // cout << "climb rate = " << -V_down * 60 << endl;
547 if ( aircraft->getStringValue() == "uiuc" ) {
549 globals->get_controls()->set_elevator(Long_control);
550 globals->get_controls()->set_elevator_trim(Long_trim);
551 // controls.set_elevator(Long_control);
552 // controls.set_elevator_trim(Long_trim);
555 globals->get_controls()->set_aileron(Lat_control);
556 // controls.set_aileron(Lat_control);
559 globals->get_controls()->set_rudder(Rudder_pedal);
560 // controls.set_rudder(Rudder_pedal);
562 if (Throttle_pct_input) {
563 globals->get_controls()->set_throttle(0,Throttle_pct);
564 // controls.set_throttle(0,Throttle_pct);
572 void FGLaRCsim::set_ls(void) {
573 Phi=lsic->GetRollAngleRadIC();
574 Theta=lsic->GetPitchAngleRadIC();
575 Psi=lsic->GetHeadingRadIC();
576 V_north=lsic->GetVnorthFpsIC();
577 V_east=lsic->GetVeastFpsIC();
578 V_down=lsic->GetVdownFpsIC();
579 Altitude=lsic->GetAltitudeFtIC();
580 Latitude=lsic->GetLatitudeGDRadIC();
581 Longitude=lsic->GetLongitudeRadIC();
582 Runway_altitude=lsic->GetRunwayAltitudeFtIC();
583 V_north_airmass = lsic->GetVnorthAirmassFpsIC();
584 V_east_airmass = lsic->GetVeastAirmassFpsIC();
585 V_down_airmass = lsic->GetVdownAirmassFpsIC();
588 SG_LOG( SG_FLIGHT, SG_INFO, " FGLaRCsim::set_ls(): " );
589 SG_LOG( SG_FLIGHT, SG_INFO, " Phi: " << Phi );
590 SG_LOG( SG_FLIGHT, SG_INFO, " Theta: " << Theta );
591 SG_LOG( SG_FLIGHT, SG_INFO, " Psi: " << Psi );
592 SG_LOG( SG_FLIGHT, SG_INFO, " V_north: " << V_north );
593 SG_LOG( SG_FLIGHT, SG_INFO, " V_east: " << V_east );
594 SG_LOG( SG_FLIGHT, SG_INFO, " V_down: " << V_down );
595 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: " << Altitude );
596 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: " << Latitude );
597 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: " << Longitude );
598 SG_LOG( SG_FLIGHT, SG_INFO, " Runway_altitude: " << Runway_altitude );
599 SG_LOG( SG_FLIGHT, SG_INFO, " V_north_airmass: " << V_north_airmass );
600 SG_LOG( SG_FLIGHT, SG_INFO, " V_east_airmass: " << V_east_airmass );
601 SG_LOG( SG_FLIGHT, SG_INFO, " V_down_airmass: " << V_down_airmass );
604 void FGLaRCsim::snap_shot(void) {
605 lsic->SetLatitudeGDRadIC( get_Latitude() );
606 lsic->SetLongitudeRadIC( get_Longitude() );
607 lsic->SetAltitudeFtIC( get_Altitude() );
608 lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
609 lsic->SetVtrueFpsIC( get_V_rel_wind() );
610 lsic->SetPitchAngleRadIC( get_Theta() );
611 lsic->SetRollAngleRadIC( get_Phi() );
612 lsic->SetHeadingRadIC( get_Psi() );
613 lsic->SetClimbRateFpsIC( get_Climb_Rate() );
614 lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
615 get_V_east_airmass(),
616 get_V_down_airmass() );
620 void FGLaRCsim::set_Latitude(double lat) {
621 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
623 lsic->SetLatitudeGDRadIC(lat);
625 copy_from_LaRCsim(); //update the bus
628 void FGLaRCsim::set_Longitude(double lon) {
629 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon );
631 lsic->SetLongitudeRadIC(lon);
633 copy_from_LaRCsim(); //update the bus
636 void FGLaRCsim::set_Altitude(double alt) {
637 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
639 lsic->SetAltitudeFtIC(alt);
641 copy_from_LaRCsim(); //update the bus
644 void FGLaRCsim::set_V_calibrated_kts(double vc) {
645 SG_LOG( SG_FLIGHT, SG_INFO,
646 "FGLaRCsim::set_V_calibrated_kts: " << vc );
648 lsic->SetVcalibratedKtsIC(vc);
650 copy_from_LaRCsim(); //update the bus
653 void FGLaRCsim::set_Mach_number(double mach) {
654 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
656 lsic->SetMachIC(mach);
658 copy_from_LaRCsim(); //update the bus
661 void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
662 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
663 << north << " " << east << " " << down );
665 lsic->SetVNEDFpsIC(north, east, down);
667 copy_from_LaRCsim(); //update the bus
670 void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
671 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
672 << u << " " << v << " " << w );
674 lsic->SetUVWFpsIC(u,v,w);
676 copy_from_LaRCsim(); //update the bus
680 void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
681 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
682 << phi << " " << theta << " " << psi );
685 lsic->SetPitchAngleRadIC(theta);
686 lsic->SetRollAngleRadIC(phi);
687 lsic->SetHeadingRadIC(psi);
689 copy_from_LaRCsim(); //update the bus
693 void FGLaRCsim::set_Climb_Rate( double roc) {
694 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
696 lsic->SetClimbRateFpsIC(roc);
698 copy_from_LaRCsim(); //update the bus
701 void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
702 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
704 lsic->SetFlightPathAngleRadIC(gamma);
706 copy_from_LaRCsim(); //update the bus
709 void FGLaRCsim::set_Runway_altitude(double ralt) {
710 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt );
712 lsic->SetRunwayAltitudeFtIC(ralt);
714 copy_from_LaRCsim(); //update the bus
717 void FGLaRCsim::set_AltitudeAGL(double altagl) {
718 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
720 lsic->SetAltitudeAGLFtIC(altagl);
725 void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
728 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
729 << wnorth << " " << weast << " " << wdown );
731 lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
736 void FGLaRCsim::set_Static_pressure(double p) {
737 SG_LOG( SG_FLIGHT, SG_INFO,
738 "FGLaRCsim::set_Static_pressure: " << p );
739 SG_LOG( SG_FLIGHT, SG_INFO,
740 "LaRCsim does not support externally supplied atmospheric data" );
743 void FGLaRCsim::set_Static_temperature(double T) {
744 SG_LOG( SG_FLIGHT, SG_INFO,
745 "FGLaRCsim::set_Static_temperature: " << T );
746 SG_LOG( SG_FLIGHT, SG_INFO,
747 "LaRCsim does not support externally supplied atmospheric data" );
751 void FGLaRCsim::set_Density(double rho) {
752 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
753 SG_LOG( SG_FLIGHT, SG_INFO,
754 "LaRCsim does not support externally supplied atmospheric data" );