1 // ADA.cxx -- interface to the "External"-ly driven ADA flight model
3 // This program is free software; you can redistribute it and/or
4 // modify it under the terms of the GNU General Public License as
5 // published by the Free Software Foundation; either version 2 of the
6 // License, or (at your option) any later version.
8 // This program is distributed in the hope that it will be useful, but
9 // WITHOUT ANY WARRANTY; without even the implied warranty of
10 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 // General Public License for more details.
13 // You should have received a copy of the GNU General Public License
14 // along with this program; if not, write to the Free Software
15 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
19 // Modified by Cdr. VS Renganthan <vsranga@ada.ernet.in>, 12 Oct 2K
27 #include <simgear/io/iochannel.hxx>
28 #include <simgear/io/sg_socket.hxx>
29 #include <simgear/constants.h>
31 #include <Aircraft/controls.hxx>
32 #include <Scenery/scenery.hxx> //to pass ground elevation to FDM
33 #include <Main/globals.hxx>
34 #include <Main/fg_props.hxx> //to get ID of window (left/right or center)
38 #define numberofbytes 472 // from FDM to visuals
39 #define nbytes 8 //from visuals to FDM
42 double number_of_bytes;
49 double earth_posn_angle;
50 double radius_to_vehicle;
51 double sea_level_radius;
66 double Gamma_vert_rad;
67 double Runway_altitude;
114 double view_offset; //if this zero, means center window
117 double ground_elevation;
120 #define ground_elevation visuals_to_sixdof.ground_elevation
122 #define number_of_bytes sixdof_to_visuals.number_of_bytes
123 #define U_dot_local sixdof_to_visuals.U_dot_local
124 #define V_dot_local sixdof_to_visuals.V_dot_local
125 #define W_dot_local sixdof_to_visuals.W_dot_local
126 #define U_local sixdof_to_visuals.U_local
127 #define V_local sixdof_to_visuals.V_local
128 #define W_local sixdof_to_visuals.W_local
129 #define throttle sixdof_to_visuals.throttle
130 #define pstick sixdof_to_visuals.pstick
131 #define rstick sixdof_to_visuals.rstick
132 #define rpedal sixdof_to_visuals.rpedal
133 #define V_north sixdof_to_visuals.Vnorth
134 #define V_east sixdof_to_visuals.Veast
135 #define V_down sixdof_to_visuals.Vdown
136 #define V_calibrated_kts sixdof_to_visuals.Vcas_kts
137 #define P_body sixdof_to_visuals.prad
138 #define Q_body sixdof_to_visuals.qrad
139 #define R_body sixdof_to_visuals.rrad
140 #define Latitude_dot sixdof_to_visuals.latitude_dot
141 #define Longitude_dot sixdof_to_visuals.longitude_dot
142 #define Radius_dot sixdof_to_visuals.radius_dot
143 #define Latitude sixdof_to_visuals.latitude
144 #define Longitude sixdof_to_visuals.longitude
145 #define Lat_geocentric sixdof_to_visuals.lat_geoc
146 #define Lon_geocentric sixdof_to_visuals.lon_geoc
147 #define Radius_to_vehicle sixdof_to_visuals.radius_to_vehicle
148 #define Altitude sixdof_to_visuals.altitude
149 #define Phi sixdof_to_visuals.phirad
150 #define Theta sixdof_to_visuals.thetrad
151 #define Psi sixdof_to_visuals.psirad
152 #define Alpha sixdof_to_visuals.alpharad
153 #define Beta sixdof_to_visuals.betarad
154 #define Sea_level_radius sixdof_to_visuals.sea_level_radius
155 #define Earth_position_angle sixdof_to_visuals.earth_posn_angle
156 #define Runway_altitude sixdof_to_visuals.Runway_altitude
157 #define Gamma_vert_rad sixdof_to_visuals.Gamma_vert_rad
158 #define Machno sixdof_to_visuals.Machno
159 #define anxg sixdof_to_visuals.anxg
160 #define anyg sixdof_to_visuals.anyg
161 #define anzg sixdof_to_visuals.anzg
164 FGADA::FGADA( double dt ) :
167 // set_delta_t( dt );
176 // Initialize the ADA flight model, dt is the time increment
177 // for each subsequent iteration through the EOM
180 //do init common to all FDM"s
183 //now do ADA-specific init.
185 // cout << "FGADA::init()" << endl;
187 char OutBuffer[nbytes];
190 printf("\nInitialising UDP sockets\n");
191 // initialise a "udp" socket
192 fdmsock = new SGSocket( "fdm_pc", "5001", "udp" );
195 bool result = fdmsock->open(SG_IO_OUT);
196 if (result == false) {
197 printf ("Socket Open Error\n");
200 // Write FGExternal structure from socket to establish connection
201 int result = fdmsock->write(OutBuffer, nbytes);
202 printf("Connection established = %d.\n", result);
207 // Run an iteration of the EOM. This is essentially a NOP here
208 // because these values are getting filled in elsewhere based on
210 void FGADA::update( double dt ) {
211 // cout << "FGADA::update()" << endl;
216 char Buffer[numberofbytes];
217 char OutBuffer[nbytes];
219 // Read FGExternal structure from socket
221 int result = fdmsock->read(Buffer, numberofbytes);
222 if (result == numberofbytes) {
223 // Copy buffer into FGExternal structure
224 memcpy (&sixdof_to_visuals, &Buffer, sizeof (Buffer));
225 // Convert from the FGExternal struct to the FGInterface struct (input)
233 fgGetDouble("/sim/view/offset",view_offset);
234 if ( view_offset == 0.0) {
235 memcpy (&OutBuffer, &visuals_to_sixdof, sizeof (OutBuffer));
236 fdmsock->write(OutBuffer, nbytes);
240 // Convert from the FGInterface struct to the FGADA struct (output)
241 bool FGADA::copy_to_FGADA () {
242 ground_elevation = get_Runway_altitude_m();
247 // Convert from the FGADA struct to the FGInterface struct (input)
248 bool FGADA::copy_from_FGADA() {
250 //Positions and attitudes for The Rendering engine
251 _set_Geodetic_Position( Latitude, Longitude, Altitude );
252 _set_Euler_Angles( Phi, Theta, Psi );
253 _set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
255 _set_Sea_level_radius( Sea_level_radius );
257 _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
258 _set_Earth_position_angle( Earth_position_angle );
260 // Velocities and accelerations for the pitch ladder and velocity vector
261 _set_Accels_Local( U_dot_local, V_dot_local, W_dot_local );
262 _set_Velocities_Ground( U_local, V_local, W_local );//same as V_NED in mps
263 _set_Velocities_Local( V_north, V_east, V_down ); //same as UVW_local in fps
265 //Positions and attitude for ship
267 fgSetDouble("/fdm-ada/ship-lat", sixdof_to_visuals.aux1);
268 fgSetDouble("/fdm-ada/ship-lon", sixdof_to_visuals.aux2);
269 fgSetDouble("/fdm-ada/ship-alt", sixdof_to_visuals.aux3);
270 fgSetDouble("/fdm-ada/skijump-dist", sixdof_to_visuals.aux4);
271 fgSetDouble("/fdm-ada/ship-pitch", sixdof_to_visuals.aux9); // faux1
272 fgSetDouble("/fdm-ada/ship-roll", sixdof_to_visuals.aux10); // faux2
273 fgSetDouble("/fdm-ada/ship-yaw", sixdof_to_visuals.aux11); // faux3
274 fgSetInt("/fdm-ada/draw-ship", sixdof_to_visuals.iaux1);
277 globals->get_controls()->set_throttle(0,throttle/131.0);
278 globals->get_controls()->set_elevator(pstick);
279 globals->get_controls()->set_aileron(rstick);
280 globals->get_controls()->set_rudder(rpedal);
282 // auxilliary parameters for HUD
283 _set_V_calibrated_kts( V_calibrated_kts );
286 _set_Accels_CG_Body_N( anxg,anyg,anzg);
287 _set_Mach_number( Machno);
288 _set_Climb_Rate( W_local*SG_METER_TO_FEET ); //pressure alt in feet for lca(navy)
290 fgSetInt("/fdm-ada/iaux2", sixdof_to_visuals.iaux2); //control law mode switch posn
291 fgSetInt("/fdm-ada/iaux3", sixdof_to_visuals.iaux3); //ldg gear posn
292 fgSetInt("/fdm-ada/iaux4", sixdof_to_visuals.iaux4); // wow nose status
293 fgSetInt("/fdm-ada/iaux5", sixdof_to_visuals.iaux5); // wow main status
294 fgSetInt("/fdm-ada/iaux6", sixdof_to_visuals.iaux6); // arrester hook posn
295 fgSetInt("/fdm-ada/iaux7", sixdof_to_visuals.iaux7);
296 fgSetInt("/fdm-ada/iaux8", sixdof_to_visuals.iaux8);
297 fgSetInt("/fdm-ada/iaux9", sixdof_to_visuals.iaux9);
298 fgSetInt("/fdm-ada/iaux10", sixdof_to_visuals.iaux10);
299 fgSetInt("/fdm-ada/iaux11", sixdof_to_visuals.iaux11);
300 fgSetInt("/fdm-ada/iaux12", sixdof_to_visuals.iaux12);
302 fgSetDouble("/fdm-ada/aux5", sixdof_to_visuals.aux5);
303 fgSetDouble("/fdm-ada/aux6", sixdof_to_visuals.aux6);
304 fgSetDouble("/fdm-ada/aux7", sixdof_to_visuals.aux7);
305 fgSetDouble("/fdm-ada/aux8", sixdof_to_visuals.aux8);
307 fgSetDouble("/fdm-ada/aux12", sixdof_to_visuals.aux12);
308 fgSetDouble("/fdm-ada/aux13", sixdof_to_visuals.aux13);
309 fgSetDouble("/fdm-ada/aux14", sixdof_to_visuals.aux14);
310 fgSetDouble("/fdm-ada/aux15", sixdof_to_visuals.aux15);
311 fgSetDouble("/fdm-ada/aux16", sixdof_to_visuals.aux16);
312 fgSetDouble("/fdm-ada/aux17", sixdof_to_visuals.aux17);
313 fgSetDouble("/fdm-ada/aux18", sixdof_to_visuals.aux18);
316 _set_Omega_Body( P_body, Q_body, R_body );
318 // Miscellaneous quantities
319 _set_Gamma_vert_rad( Gamma_vert_rad );
320 _set_Runway_altitude( Runway_altitude );
322 // SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
323 // << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
324 // << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
325 // << " radius_to_vehicle = " << Radius_to_vehicle );
328 // printf("sr=%f\n",Sea_level_radius);
329 // printf("psi = %f %f\n",Psi,Psi*SGD_RADIANS_TO_DEGREES);