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/LaRCsim/ls_cockpit.h>
35 #include <FDM/LaRCsim/ls_generic.h>
36 #include <FDM/LaRCsim/ls_interface.h>
37 #include <FDM/LaRCsim/ls_constants.h>
38 #include <FDM/LaRCsimIC.hxx>
39 #include <FDM/UIUCModel/uiuc_aircraft.h>
40 #include <Main/fg_props.hxx>
41 #include <Model/acmodel.hxx>
44 #include "LaRCsim.hxx"
47 FGLaRCsim::FGLaRCsim( double dt ) {
50 speed_up = fgGetNode("/sim/speed-up", true);
51 aero = fgGetNode("/sim/aero", true);
52 uiuc_type = fgGetNode("/sim/uiuc-type", true);
54 ls_toplevel_init( 0.0, (char *)(aero->getStringValue()) );
56 lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
57 if ( !strcmp(aero->getStringValue(), "c172") ) {
58 copy_to_LaRCsim(); // initialize all of LaRCsim's vars
60 //this should go away someday -- formerly done in fg_init.cxx
70 // Initialize our little engine that hopefully might
72 // dcl - in passing dt to init rather than update I am assuming
73 // that the LaRCsim dt is fixed at one value (yes it is 120hz CLO)
76 FGLaRCsim::~FGLaRCsim(void) {
83 // Initialize the LaRCsim flight model, dt is the time increment for
84 // each subsequent iteration through the EOM
85 void FGLaRCsim::init() {
86 //do init common to all FDM's
91 // Run an iteration of the EOM (equations of motion)
92 void FGLaRCsim::update( double dt ) {
97 int multiloop = _calc_multiloop(dt);
99 // if flying c172-larcsim, do the following
100 if ( !strcmp(aero->getStringValue(), "c172") ) {
101 // set control inputs
102 // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
103 eng.set_IAS( V_calibrated_kts );
104 eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
106 eng.set_Propeller_Lever_Pos( 100 );
107 eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
109 eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
110 eng.setStarterFlag( globals->get_controls()->get_starter(0) );
111 eng.set_p_amb( Static_pressure );
112 eng.set_T_amb( Static_temperature );
114 // update engine model
117 // Fake control-surface positions
118 fgSetDouble("/surface-positions/flap-pos-norm",
119 fgGetDouble("/controls/flight/flaps"));
120 // FIXME: ignoring trim
121 fgSetDouble("/surface-positions/elevator-pos-norm",
122 fgGetDouble("/controls/flight/elevator"));
123 // FIXME: ignoring trim
124 fgSetDouble("/surface-positions/left-aileron-pos-norm",
125 fgGetDouble("/controls/flight/aileron"));
126 // FIXME: ignoring trim
127 fgSetDouble("/surface-positions/right-aileron-pos-norm",
128 -1 * fgGetDouble("/controls/flight/aileron"));
129 // FIXME: ignoring trim
130 fgSetDouble("/surface-positions/rudder-pos-norm",
131 fgGetDouble("/controls/flight/rudder"));
133 // copy engine state values onto "bus"
134 fgSetDouble("/engines/engine/rpm", eng.get_RPM());
135 fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
136 fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
137 fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
138 fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
139 fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
140 fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
141 fgSetDouble("/engines/engine/fuel-flow-gph",
142 eng.get_fuel_flow_gals_hr());
143 fgSetDouble("/engines/engine/oil-temperature-degf",
145 fgSetDouble("/engines/engine/running", eng.getRunningFlag());
146 fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
148 static const SGPropertyNode *fuel_freeze
149 = fgGetNode("/sim/freeze/fuel");
151 if ( ! fuel_freeze->getBoolValue() ) {
152 //Assume we are using both tanks equally for now
153 fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
154 fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
155 - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
157 fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
158 fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
159 - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
163 F_X_engine = eng.get_prop_thrust_lbs();
164 // cout << "F_X_engine = " << F_X_engine << '\n';
167 Flap_handle = 30.0 * globals->get_controls()->get_flaps();
169 // done with c172-larcsim if-block
171 double save_alt = 0.0;
173 // lets try to avoid really screwing up the LaRCsim model
174 if ( get_Altitude() < -9000.0 ) {
175 save_alt = get_Altitude();
179 // copy control positions into the LaRCsim structure
180 Lat_control = globals->get_controls()->get_aileron() / speed_up->getIntValue();
181 Long_control = globals->get_controls()->get_elevator();
182 Long_trim = globals->get_controls()->get_elevator_trim();
183 Rudder_pedal = globals->get_controls()->get_rudder() / speed_up->getIntValue();
185 if ( !strcmp(aero->getStringValue(), "c172") ) {
186 Use_External_Engine = 1;
188 Use_External_Engine = 0;
191 Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
193 Brake_pct[0] = globals->get_controls()->get_brake( 1 );
194 Brake_pct[1] = globals->get_controls()->get_brake( 0 );
196 // Inform LaRCsim of the local terrain altitude
197 // Runway_altitude = get_Runway_altitude();
198 Runway_altitude = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m() * SG_METER_TO_FEET;
200 /* V_north_airmass = get_V_north_airmass();
201 V_east_airmass = get_V_east_airmass();
202 V_down_airmass = get_V_down_airmass(); */
205 // old -- FGInterface_2_LaRCsim() not needed except for Init()
206 // translate FG to LaRCsim structure
207 // FGInterface_2_LaRCsim(f);
208 // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
209 // printf("Altitude = %.2f\n", Altitude * 0.3048);
210 // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
212 // for engine functions (sounds and instruments)
213 // drive the rpm gauge
214 fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
215 // manifold air pressure, which drives the sound (see *sound.xml file)
216 fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
217 // make the engine cranking and running sounds when fgfs starts up
218 fgSetDouble("/engines/engine/cranking", 1);
219 fgSetDouble("/engines/engine/running", 1);
221 // if flying uiuc, set some properties and over-ride some previous ones
222 if ( !strcmp(aero->getStringValue(), "uiuc")) {
225 fgSetDouble("/surface-positions/rudder-pos-norm", fgGetDouble("/controls/flight/rudder"));
226 fgSetDouble("/surface-positions/elevator-pos-norm", fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
227 fgSetDouble("/surface-positions/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
228 fgSetDouble("/surface-positions/left-aileron-pos-norm", fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
230 Flap_handle = flap_max * globals->get_controls()->get_flaps();
232 // flaps with transition occuring in uiuc_aerodeflections.cpp
234 fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_pct);
237 // spoilers with transition occurring in uiuc_aerodeflections.cpp
239 Spoiler_handle = spoiler_max * fgGetDouble("/controls/spoilers");
241 // gear with transition occurring here in LaRCsim.cxx
243 if(fgGetBool("/controls/gear-down")) {
249 // commanded gear is 0 or 1
250 gear_cmd_norm = Gear_handle;
251 // amount gear moves per time step [relative to 1]
252 gear_increment_per_timestep = gear_rate * dt;
253 // determine gear position with respect to gear command
254 if (gear_pos_norm < gear_cmd_norm) {
255 gear_pos_norm += gear_increment_per_timestep;
256 if (gear_pos_norm > gear_cmd_norm)
257 gear_pos_norm = gear_cmd_norm;
258 } else if (gear_pos_norm > gear_cmd_norm) {
259 gear_pos_norm -= gear_increment_per_timestep;
260 if (gear_pos_norm < gear_cmd_norm)
261 gear_pos_norm = gear_cmd_norm;
263 // set the gear position
264 fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
265 fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
266 fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
270 // engine functions (sounds and instruments)
271 // drive the rpm gauge
272 fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
273 // manifold air pressure
274 fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
275 // make the engine cranking and running sounds when fgfs starts up
276 fgSetDouble("/engines/engine/cranking", 1);
277 fgSetDouble("/engines/engine/running", 1);
278 if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
279 // uiuc prop driven airplane, e.g. Wright Flyer
281 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
282 // uiuc jet aircraft, e.g. a4d
283 fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
284 fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
286 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
287 // uiuc sailplane, e.g. asw20
288 fgSetDouble("/engines/engine/cranking", 0);
289 // set the wind speed for use in setting wind sound level
290 fgSetDouble("/velocities/V_rel_wind_kts", (V_rel_wind * 1.274));
292 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
293 // uiuc sailplane, e.g. asw20
294 fgSetDouble("/engines/engine/cranking", 0);
296 else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
297 // mechanical flapping wings
298 // flapping wings (using seahawk for now)
299 fgSetDouble("/canopy/position-norm", 0);
300 fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
301 // fgSetDouble("/wing-phase/position-norm", fgGetDouble("/controls/rudder"));
302 fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
303 fgSetDouble("/wing-phase/position-one", 1);
304 fgSetDouble("/thorax/volume", 0);
305 fgSetDouble("/thorax/rpm", 0);
306 // fgSetDouble("/wing-phase/position-norm", ((1+cos(flapper_phi - LS_PI/2))/2 -.36 ));
307 // fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
308 // fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
313 // add Gamma_horiz_deg to properties, mss 021213
314 if (use_gamma_horiz_on_speed) {
315 if (V_rel_wind > gamma_horiz_on_speed) {
316 fgSetDouble("/orientation/Gamma_horiz_deg", (Gamma_horiz_rad * RAD_TO_DEG));
319 fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
323 fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
325 ls_update(multiloop);
327 // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
328 // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
330 // translate LaRCsim back to FG structure so that the
331 // autopilot (and the rest of the sim can use the updated
335 // but lets restore our original bogus altitude when we are done
336 if ( save_alt < -9000.0 ) {
337 set_Altitude( save_alt );
342 // Convert from the FGInterface struct to the LaRCsim generic_ struct
343 bool FGLaRCsim::copy_to_LaRCsim () {
349 // Dx_pilot = get_Dx_pilot();
350 // Dy_pilot = get_Dy_pilot();
351 // Dz_pilot = get_Dz_pilot();
358 // F_north = get_F_north();
359 // F_east = get_F_east();
360 // F_down = get_F_down();
361 // F_X_aero = get_F_X_aero();
362 // F_Y_aero = get_F_Y_aero();
363 // F_Z_aero = get_F_Z_aero();
364 // F_X_engine = get_F_X_engine();
365 // F_Y_engine = get_F_Y_engine();
366 // F_Z_engine = get_F_Z_engine();
367 // F_X_gear = get_F_X_gear();
368 // F_Y_gear = get_F_Y_gear();
369 // F_Z_gear = get_F_Z_gear();
370 // M_l_rp = get_M_l_rp();
371 // M_m_rp = get_M_m_rp();
372 // M_n_rp = get_M_n_rp();
373 // M_l_cg = get_M_l_cg();
374 // M_m_cg = get_M_m_cg();
375 // M_n_cg = get_M_n_cg();
376 // M_l_aero = get_M_l_aero();
377 // M_m_aero = get_M_m_aero();
378 // M_n_aero = get_M_n_aero();
379 // M_l_engine = get_M_l_engine();
380 // M_m_engine = get_M_m_engine();
381 // M_n_engine = get_M_n_engine();
382 // M_l_gear = get_M_l_gear();
383 // M_m_gear = get_M_m_gear();
384 // M_n_gear = get_M_n_gear();
385 // V_dot_north = get_V_dot_north();
386 // V_dot_east = get_V_dot_east();
387 // V_dot_down = get_V_dot_down();
388 // U_dot_body = get_U_dot_body();
389 // V_dot_body = get_V_dot_body();
390 // W_dot_body = get_W_dot_body();
391 // A_X_cg = get_A_X_cg();
392 // A_Y_cg = get_A_Y_cg();
393 // A_Z_cg = get_A_Z_cg();
394 // A_X_pilot = get_A_X_pilot();
395 // A_Y_pilot = get_A_Y_pilot();
396 // A_Z_pilot = get_A_Z_pilot();
397 // N_X_cg = get_N_X_cg();
398 // N_Y_cg = get_N_Y_cg();
399 // N_Z_cg = get_N_Z_cg();
400 // N_X_pilot = get_N_X_pilot();
401 // N_Y_pilot = get_N_Y_pilot();
402 // N_Z_pilot = get_N_Z_pilot();
403 // P_dot_body = get_P_dot_body();
404 // Q_dot_body = get_Q_dot_body();
405 // R_dot_body = get_R_dot_body();
406 // V_north = get_V_north();
407 // V_east = get_V_east();
408 // V_down = get_V_down();
409 // V_north_rel_ground = get_V_north_rel_ground();
410 // V_east_rel_ground = get_V_east_rel_ground();
411 // V_down_rel_ground = get_V_down_rel_ground();
412 // V_north_airmass = get_V_north_airmass();
413 // V_east_airmass = get_V_east_airmass();
414 // V_down_airmass = get_V_down_airmass();
415 // V_north_rel_airmass = get_V_north_rel_airmass();
416 // V_east_rel_airmass = get_V_east_rel_airmass();
417 // V_down_rel_airmass = get_V_down_rel_airmass();
418 // U_gust = get_U_gust();
419 // V_gust = get_V_gust();
420 // W_gust = get_W_gust();
421 // U_body = get_U_body();
422 // V_body = get_V_body();
423 // W_body = get_W_body();
424 // V_rel_wind = get_V_rel_wind();
425 // V_true_kts = get_V_true_kts();
426 // V_rel_ground = get_V_rel_ground();
427 // V_inertial = get_V_inertial();
428 // V_ground_speed = get_V_ground_speed();
429 // V_equiv = get_V_equiv();
430 // V_equiv_kts = get_V_equiv_kts();
431 // V_calibrated = get_V_calibrated();
432 // V_calibrated_kts = get_V_calibrated_kts();
433 // P_body = get_P_body();
434 // Q_body = get_Q_body();
435 // R_body = get_R_body();
436 // P_local = get_P_local();
437 // Q_local = get_Q_local();
438 // R_local = get_R_local();
439 // P_total = get_P_total();
440 // Q_total = get_Q_total();
441 // R_total = get_R_total();
442 // Phi_dot = get_Phi_dot();
443 // Theta_dot = get_Theta_dot();
444 // Psi_dot = get_Psi_dot();
445 // Latitude_dot = get_Latitude_dot();
446 // Longitude_dot = get_Longitude_dot();
447 // Radius_dot = get_Radius_dot();
448 // Lat_geocentric = get_Lat_geocentric();
449 // Lon_geocentric = get_Lon_geocentric();
450 // Radius_to_vehicle = get_Radius_to_vehicle();
451 // Latitude = get_Latitude();
452 // Longitude = get_Longitude();
453 // Altitude = get_Altitude();
455 // Theta = get_Theta();
457 // T_local_to_body_11 = get_T_local_to_body_11();
458 // T_local_to_body_12 = get_T_local_to_body_12();
459 // T_local_to_body_13 = get_T_local_to_body_13();
460 // T_local_to_body_21 = get_T_local_to_body_21();
461 // T_local_to_body_22 = get_T_local_to_body_22();
462 // T_local_to_body_23 = get_T_local_to_body_23();
463 // T_local_to_body_31 = get_T_local_to_body_31();
464 // T_local_to_body_32 = get_T_local_to_body_32();
465 // T_local_to_body_33 = get_T_local_to_body_33();
466 // Gravity = get_Gravity();
467 // Centrifugal_relief = get_Centrifugal_relief();
468 // Alpha = get_Alpha();
469 // Beta = get_Beta();
470 // Alpha_dot = get_Alpha_dot();
471 // Beta_dot = get_Beta_dot();
472 // Cos_alpha = get_Cos_alpha();
473 // Sin_alpha = get_Sin_alpha();
474 // Cos_beta = get_Cos_beta();
475 // Sin_beta = get_Sin_beta();
476 // Cos_phi = get_Cos_phi();
477 // Sin_phi = get_Sin_phi();
478 // Cos_theta = get_Cos_theta();
479 // Sin_theta = get_Sin_theta();
480 // Cos_psi = get_Cos_psi();
481 // Sin_psi = get_Sin_psi();
482 // Gamma_vert_rad = get_Gamma_vert_rad();
483 // Gamma_horiz_rad = get_Gamma_horiz_rad();
484 // Sigma = get_Sigma();
485 // Density = get_Density();
486 // V_sound = get_V_sound();
487 // Mach_number = get_Mach_number();
488 // Static_pressure = get_Static_pressure();
489 // Total_pressure = get_Total_pressure();
490 // Impact_pressure = get_Impact_pressure();
491 // Dynamic_pressure = get_Dynamic_pressure();
492 // Static_temperature = get_Static_temperature();
493 // Total_temperature = get_Total_temperature();
494 // Sea_level_radius = get_Sea_level_radius();
495 // Earth_position_angle = get_Earth_position_angle();
496 // Runway_altitude = get_Runway_altitude();
497 // Runway_latitude = get_Runway_latitude();
498 // Runway_longitude = get_Runway_longitude();
499 // Runway_heading = get_Runway_heading();
500 // Radius_to_rwy = get_Radius_to_rwy();
501 // D_cg_north_of_rwy = get_D_cg_north_of_rwy();
502 // D_cg_east_of_rwy = get_D_cg_east_of_rwy();
503 // D_cg_above_rwy = get_D_cg_above_rwy();
504 // X_cg_rwy = get_X_cg_rwy();
505 // Y_cg_rwy = get_Y_cg_rwy();
506 // H_cg_rwy = get_H_cg_rwy();
507 // D_pilot_north_of_rwy = get_D_pilot_north_of_rwy();
508 // D_pilot_east_of_rwy = get_D_pilot_east_of_rwy();
509 // D_pilot_above_rwy = get_D_pilot_above_rwy();
510 // X_pilot_rwy = get_X_pilot_rwy();
511 // Y_pilot_rwy = get_Y_pilot_rwy();
512 // H_pilot_rwy = get_H_pilot_rwy();
518 // Convert from the LaRCsim generic_ struct to the FGInterface struct
519 bool FGLaRCsim::copy_from_LaRCsim() {
521 // Mass properties and geometry values
522 _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
523 // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
524 _set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
527 // set_Forces_Body_Total( F_X, F_Y, F_Z );
528 // set_Forces_Local_Total( F_north, F_east, F_down );
529 // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
530 // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
531 // set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
534 // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
535 // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
536 // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
537 // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
538 // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
541 _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
542 _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
543 _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
544 _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
545 _set_Accels_CG_Body_N( N_X_cg, N_Y_cg, -N_Z_cg );
546 // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
547 // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
550 _set_Velocities_Local( V_north, V_east, V_down );
551 // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
552 // V_down_rel_ground );
553 _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
555 // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
556 // V_east_rel_airmass, V_down_rel_airmass );
557 // set_Velocities_Gust( U_gust, V_gust, W_gust );
558 _set_Velocities_Wind_Body( U_body, V_body, W_body );
560 _set_V_rel_wind( V_rel_wind );
561 // set_V_true_kts( V_true_kts );
562 // set_V_rel_ground( V_rel_ground );
563 // set_V_inertial( V_inertial );
564 _set_V_ground_speed( V_ground_speed );
565 // set_V_equiv( V_equiv );
566 _set_V_equiv_kts( V_equiv_kts );
567 // set_V_calibrated( V_calibrated );
568 _set_V_calibrated_kts( V_calibrated_kts );
570 _set_Omega_Body( P_body, Q_body, R_body );
571 // set_Omega_Local( P_local, Q_local, R_local );
572 // set_Omega_Total( P_total, Q_total, R_total );
574 _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
575 _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
577 _set_Mach_number( Mach_number );
579 SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
580 << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
581 << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
582 << " radius_to_vehicle = " << Radius_to_vehicle );
584 double tmp_lon_geoc = Lon_geocentric;
585 while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
586 while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
588 double tmp_lon = Longitude;
589 while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
590 while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
593 _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
595 _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
596 _set_Euler_Angles( Phi, Theta, Psi );
598 _set_Altitude_AGL( Altitude - Runway_altitude );
600 // Miscellaneous quantities
601 _set_T_Local_to_Body(T_local_to_body_m);
602 // set_Gravity( Gravity );
603 // set_Centrifugal_relief( Centrifugal_relief );
607 // set_Alpha_dot( Alpha_dot );
608 // set_Beta_dot( Beta_dot );
610 // set_Cos_alpha( Cos_alpha );
611 // set_Sin_alpha( Sin_alpha );
612 // set_Cos_beta( Cos_beta );
613 // set_Sin_beta( Sin_beta );
615 _set_Cos_phi( Cos_phi );
616 // set_Sin_phi( Sin_phi );
617 _set_Cos_theta( Cos_theta );
618 // set_Sin_theta( Sin_theta );
619 // set_Cos_psi( Cos_psi );
620 // set_Sin_psi( Sin_psi );
622 _set_Gamma_vert_rad( Gamma_vert_rad );
623 // set_Gamma_horiz_rad( Gamma_horiz_rad );
625 // set_Sigma( Sigma );
626 _set_Density( Density );
627 // set_V_sound( V_sound );
628 // set_Mach_number( Mach_number );
630 _set_Static_pressure( Static_pressure );
631 // set_Total_pressure( Total_pressure );
632 // set_Impact_pressure( Impact_pressure );
633 // set_Dynamic_pressure( Dynamic_pressure );
635 _set_Static_temperature( Static_temperature );
636 // set_Total_temperature( Total_temperature );
638 _set_Sea_level_radius( Sea_level_radius );
639 _set_Earth_position_angle( Earth_position_angle );
641 _set_Runway_altitude( Runway_altitude );
642 // set_Runway_latitude( Runway_latitude );
643 // set_Runway_longitude( Runway_longitude );
644 // set_Runway_heading( Runway_heading );
645 // set_Radius_to_rwy( Radius_to_rwy );
647 // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
648 // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
649 // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
650 // D_pilot_above_rwy );
651 // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
653 _set_sin_lat_geocentric(Lat_geocentric);
654 _set_cos_lat_geocentric(Lat_geocentric);
655 _set_sin_cos_longitude(Longitude);
656 _set_sin_cos_latitude(Latitude);
658 // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
659 // printf("sin_lat %f cos_lat %f\n",
660 // get_sin_latitude(), get_cos_latitude());
661 // printf("sin_lon %f cos_lon %f\n",
662 // get_sin_longitude(), get_cos_longitude());
664 _set_Climb_Rate( -1 * V_down );
665 // cout << "climb rate = " << -V_down * 60 << endl;
667 if ( !strcmp(aero->getStringValue(), "uiuc") ) {
669 globals->get_controls()->set_elevator(Long_control);
670 globals->get_controls()->set_elevator_trim(Long_trim);
671 // controls.set_elevator(Long_control);
672 // controls.set_elevator_trim(Long_trim);
675 globals->get_controls()->set_aileron(Lat_control);
676 // controls.set_aileron(Lat_control);
679 globals->get_controls()->set_rudder(Rudder_pedal);
680 // controls.set_rudder(Rudder_pedal);
682 if (pilot_throttle_no) {
683 globals->get_controls()->set_throttle(0,Throttle_pct);
684 // controls.set_throttle(0,Throttle_pct);
692 void FGLaRCsim::set_ls(void) {
693 Phi=lsic->GetRollAngleRadIC();
694 Theta=lsic->GetPitchAngleRadIC();
695 Psi=lsic->GetHeadingRadIC();
696 V_north=lsic->GetVnorthFpsIC();
697 V_east=lsic->GetVeastFpsIC();
698 V_down=lsic->GetVdownFpsIC();
699 Altitude=lsic->GetAltitudeFtIC();
700 Latitude=lsic->GetLatitudeGDRadIC();
701 Longitude=lsic->GetLongitudeRadIC();
702 Runway_altitude=lsic->GetRunwayAltitudeFtIC();
703 V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1;
704 V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1;
705 V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1;
710 void FGLaRCsim::snap_shot(void) {
711 lsic->SetLatitudeGDRadIC( get_Latitude() );
712 lsic->SetLongitudeRadIC( get_Longitude() );
713 lsic->SetAltitudeFtIC( get_Altitude() );
714 lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
715 lsic->SetVtrueFpsIC( get_V_rel_wind() );
716 lsic->SetPitchAngleRadIC( get_Theta() );
717 lsic->SetRollAngleRadIC( get_Phi() );
718 lsic->SetHeadingRadIC( get_Psi() );
719 lsic->SetClimbRateFpsIC( get_Climb_Rate() );
720 lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
721 get_V_east_airmass(),
722 get_V_down_airmass() );
726 void FGLaRCsim::set_Latitude(double lat) {
727 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
729 lsic->SetLatitudeGDRadIC(lat);
731 copy_from_LaRCsim(); //update the bus
734 void FGLaRCsim::set_Longitude(double lon) {
735 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon );
737 lsic->SetLongitudeRadIC(lon);
739 copy_from_LaRCsim(); //update the bus
742 void FGLaRCsim::set_Altitude(double alt) {
743 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
745 lsic->SetAltitudeFtIC(alt);
747 copy_from_LaRCsim(); //update the bus
750 void FGLaRCsim::set_V_calibrated_kts(double vc) {
751 SG_LOG( SG_FLIGHT, SG_INFO,
752 "FGLaRCsim::set_V_calibrated_kts: " << vc );
754 lsic->SetVcalibratedKtsIC(vc);
756 copy_from_LaRCsim(); //update the bus
759 void FGLaRCsim::set_Mach_number(double mach) {
760 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
762 lsic->SetMachIC(mach);
764 copy_from_LaRCsim(); //update the bus
767 void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
768 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
769 << north << " " << east << " " << down );
771 lsic->SetVNEDFpsIC(north, east, down);
773 copy_from_LaRCsim(); //update the bus
776 void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
777 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
778 << u << " " << v << " " << w );
780 lsic->SetUVWFpsIC(u,v,w);
782 copy_from_LaRCsim(); //update the bus
786 void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
787 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
788 << phi << " " << theta << " " << psi );
791 lsic->SetPitchAngleRadIC(theta);
792 lsic->SetRollAngleRadIC(phi);
793 lsic->SetHeadingRadIC(psi);
795 copy_from_LaRCsim(); //update the bus
799 void FGLaRCsim::set_Climb_Rate( double roc) {
800 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
802 lsic->SetClimbRateFpsIC(roc);
804 copy_from_LaRCsim(); //update the bus
807 void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
808 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
810 lsic->SetFlightPathAngleRadIC(gamma);
812 copy_from_LaRCsim(); //update the bus
815 void FGLaRCsim::set_AltitudeAGL(double altagl) {
816 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
818 lsic->SetAltitudeAGLFtIC(altagl);
823 /* getting a namespace conflict...
824 void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
827 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
828 << wnorth << " " << weast << " " << wdown );
830 lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
836 void FGLaRCsim::set_Static_pressure(double p) {
837 SG_LOG( SG_FLIGHT, SG_INFO,
838 "FGLaRCsim::set_Static_pressure: " << p );
839 SG_LOG( SG_FLIGHT, SG_INFO,
840 "LaRCsim does not support externally supplied atmospheric data" );
843 void FGLaRCsim::set_Static_temperature(double T) {
844 SG_LOG( SG_FLIGHT, SG_INFO,
845 "FGLaRCsim::set_Static_temperature: " << T );
846 SG_LOG( SG_FLIGHT, SG_INFO,
847 "LaRCsim does not support externally supplied atmospheric data" );
851 void FGLaRCsim::set_Density(double rho) {
852 SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
853 SG_LOG( SG_FLIGHT, SG_INFO,
854 "LaRCsim does not support externally supplied atmospheric data" );