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
25 #include <simgear/io/iochannel.hxx>
26 #include <simgear/io/sg_socket.hxx>
27 #include <simgear/constants.h>
29 #include <Aircraft/controls.hxx>
30 #include <Scenery/scenery.hxx> //to pass ground elevation to FDM
31 #include <Main/globals.hxx>
32 #include <Main/fg_props.hxx> //to get ID of window (left/right or center)
36 #define numberofbytes 472 // from FDM to visuals
37 #define nbytes 8 //from visuals to FDM
40 double number_of_bytes;
47 double earth_posn_angle;
48 double radius_to_vehicle;
49 double sea_level_radius;
64 double Gamma_vert_rad;
65 double Runway_altitude;
112 double view_offset; //if this zero, means center window
115 double ground_elevation;
118 #define ground_elevation visuals_to_sixdof.ground_elevation
120 #define number_of_bytes sixdof_to_visuals.number_of_bytes
121 #define U_dot_local sixdof_to_visuals.U_dot_local
122 #define V_dot_local sixdof_to_visuals.V_dot_local
123 #define W_dot_local sixdof_to_visuals.W_dot_local
124 #define U_local sixdof_to_visuals.U_local
125 #define V_local sixdof_to_visuals.V_local
126 #define W_local sixdof_to_visuals.W_local
127 #define throttle sixdof_to_visuals.throttle
128 #define pstick sixdof_to_visuals.pstick
129 #define rstick sixdof_to_visuals.rstick
130 #define rpedal sixdof_to_visuals.rpedal
131 #define V_north sixdof_to_visuals.Vnorth
132 #define V_east sixdof_to_visuals.Veast
133 #define V_down sixdof_to_visuals.Vdown
134 #define V_calibrated_kts sixdof_to_visuals.Vcas_kts
135 #define P_body sixdof_to_visuals.prad
136 #define Q_body sixdof_to_visuals.qrad
137 #define R_body sixdof_to_visuals.rrad
138 #define Latitude_dot sixdof_to_visuals.latitude_dot
139 #define Longitude_dot sixdof_to_visuals.longitude_dot
140 #define Radius_dot sixdof_to_visuals.radius_dot
141 #define Latitude sixdof_to_visuals.latitude
142 #define Longitude sixdof_to_visuals.longitude
143 #define Lat_geocentric sixdof_to_visuals.lat_geoc
144 #define Lon_geocentric sixdof_to_visuals.lon_geoc
145 #define Radius_to_vehicle sixdof_to_visuals.radius_to_vehicle
146 #define Altitude sixdof_to_visuals.altitude
147 #define Phi sixdof_to_visuals.phirad
148 #define Theta sixdof_to_visuals.thetrad
149 #define Psi sixdof_to_visuals.psirad
150 #define Alpha sixdof_to_visuals.alpharad
151 #define Beta sixdof_to_visuals.betarad
152 #define Sea_level_radius sixdof_to_visuals.sea_level_radius
153 #define Earth_position_angle sixdof_to_visuals.earth_posn_angle
154 #define Runway_altitude sixdof_to_visuals.Runway_altitude
155 #define Gamma_vert_rad sixdof_to_visuals.Gamma_vert_rad
156 #define Machno sixdof_to_visuals.Machno
157 #define anxg sixdof_to_visuals.anxg
158 #define anyg sixdof_to_visuals.anyg
159 #define anzg sixdof_to_visuals.anzg
162 FGADA::FGADA( double dt ) :
165 // set_delta_t( dt );
174 // Initialize the ADA flight model, dt is the time increment
175 // for each subsequent iteration through the EOM
178 //do init common to all FDM"s
181 //now do ADA-specific init.
183 // cout << "FGADA::init()" << endl;
185 char OutBuffer[nbytes];
188 printf("\nInitialising UDP sockets\n");
189 // initialise a "udp" socket
190 fdmsock = new SGSocket( "fdm_pc", "5001", "udp" );
193 bool result = fdmsock->open(SG_IO_OUT);
194 if (result == false) {
195 printf ("Socket Open Error\n");
198 // Write FGExternal structure from socket to establish connection
199 int result = fdmsock->write(OutBuffer, nbytes);
200 printf("Connection established = %d.\n", result);
205 // Run an iteration of the EOM. This is essentially a NOP here
206 // because these values are getting filled in elsewhere based on
208 void FGADA::update( double dt ) {
209 // cout << "FGADA::update()" << endl;
214 char Buffer[numberofbytes];
215 char OutBuffer[nbytes];
217 // Read FGExternal structure from socket
219 int result = fdmsock->read(Buffer, numberofbytes);
220 if (result == numberofbytes) {
221 // Copy buffer into FGExternal structure
222 memcpy (&sixdof_to_visuals, &Buffer, sizeof (Buffer));
223 // Convert from the FGExternal struct to the FGInterface struct (input)
231 fgGetDouble("/sim/view/offset",view_offset);
232 if ( view_offset == 0.0) {
233 memcpy (&OutBuffer, &visuals_to_sixdof, sizeof (OutBuffer));
234 fdmsock->write(OutBuffer, nbytes);
238 // Convert from the FGInterface struct to the FGADA struct (output)
239 bool FGADA::copy_to_FGADA () {
240 ground_elevation = get_Runway_altitude_m();
245 // Convert from the FGADA struct to the FGInterface struct (input)
246 bool FGADA::copy_from_FGADA() {
248 //Positions and attitudes for The Rendering engine
249 _set_Geodetic_Position( Latitude, Longitude, Altitude );
250 _set_Euler_Angles( Phi, Theta, Psi );
251 _set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
253 _set_Sea_level_radius( Sea_level_radius );
255 _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
256 _set_Earth_position_angle( Earth_position_angle );
258 // Velocities and accelerations for the pitch ladder and velocity vector
259 _set_Accels_Local( U_dot_local, V_dot_local, W_dot_local );
260 _set_Velocities_Ground( U_local, V_local, W_local );//same as V_NED in mps
261 _set_Velocities_Local( V_north, V_east, V_down ); //same as UVW_local in fps
263 //Positions and attitude for ship
264 _set_daux(1,sixdof_to_visuals.aux1);//ship lat
265 _set_daux(2,sixdof_to_visuals.aux2);//ship lon
266 _set_daux(3,sixdof_to_visuals.aux3);//ship alt+heave
267 _set_daux(4,sixdof_to_visuals.aux4);//distance of a/c from ski-jump exit
268 _set_faux(1,sixdof_to_visuals.aux9);//ship pitch
269 _set_faux(2,sixdof_to_visuals.aux10);//ship roll
270 _set_faux(3,sixdof_to_visuals.aux11);//ship yaw
271 _set_iaux(1,sixdof_to_visuals.iaux1);//flag for drawing ship
274 globals->get_controls()->set_throttle(0,throttle/131.0);
275 globals->get_controls()->set_elevator(pstick);
276 globals->get_controls()->set_aileron(rstick);
277 globals->get_controls()->set_rudder(rpedal);
279 // auxilliary parameters for HUD
280 _set_V_calibrated_kts( V_calibrated_kts );
283 _set_Accels_CG_Body_N( anxg,anyg,anzg);
284 _set_Mach_number( Machno);
285 _set_Climb_Rate( W_local*SG_METER_TO_FEET ); //pressure alt in feet for lca(navy)
287 _set_iaux(2,sixdof_to_visuals.iaux2);//control law mode switch posn
288 _set_iaux(3,sixdof_to_visuals.iaux3);//ldg gear posn
289 _set_iaux(4,sixdof_to_visuals.iaux4);// wow nose status
290 _set_iaux(5,sixdof_to_visuals.iaux5);// wow main status
291 _set_iaux(6,sixdof_to_visuals.iaux6);// arrester hook posn
292 _set_iaux(7,sixdof_to_visuals.iaux7);
293 _set_iaux(8,sixdof_to_visuals.iaux8);
294 _set_iaux(9,sixdof_to_visuals.iaux9);
295 _set_iaux(10,sixdof_to_visuals.iaux10);
296 _set_iaux(11,sixdof_to_visuals.iaux11);
297 _set_iaux(12,sixdof_to_visuals.iaux12);
299 _set_daux(5,sixdof_to_visuals.aux5);
300 _set_daux(6,sixdof_to_visuals.aux6);
301 _set_daux(7,sixdof_to_visuals.aux7);
302 _set_daux(8,sixdof_to_visuals.aux8);
304 _set_faux(4,sixdof_to_visuals.aux12);
305 _set_faux(5,sixdof_to_visuals.aux13);
306 _set_faux(6,sixdof_to_visuals.aux14);
307 _set_faux(7,sixdof_to_visuals.aux15);
308 _set_faux(8,sixdof_to_visuals.aux16);
309 _set_faux(9,sixdof_to_visuals.aux17);
310 _set_faux(10,sixdof_to_visuals.aux18);
313 _set_Omega_Body( P_body, Q_body, R_body );
315 // Miscellaneous quantities
316 _set_Gamma_vert_rad( Gamma_vert_rad );
317 _set_Runway_altitude( Runway_altitude );
319 // SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
320 // << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
321 // << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
322 // << " radius_to_vehicle = " << Radius_to_vehicle );
325 // printf("sr=%f\n",Sea_level_radius);
326 // printf("psi = %f %f\n",Psi,Psi*SGD_RADIANS_TO_DEGREES);