src/FDM/UIUCModel/uiuc_wrapper.cpp

   1 /**********************************************************************
   2
   3  FILENAME:     uiuc_wrapper.cpp
   4
   5 ----------------------------------------------------------------------
   6
   7  DESCRIPTION:  A wrapper(interface) between the UIUC Aeromodel (C++ files)
   8                and the LaRCsim FDM (C files)
   9
  10 ----------------------------------------------------------------------
  11
  12  STATUS:       alpha version
  13
  14 ----------------------------------------------------------------------
  15
  16  REFERENCES:
  17
  18 ----------------------------------------------------------------------
  19
  20  HISTORY:      01/26/2000   initial release
  21                03/09/2001   (DPM) added support for gear
  22                06/18/2001   (RD) Made uiuc_recorder its own routine.
  23                07/19/2001   (RD) Added uiuc_vel_init() to initialize
  24                             the velocities.
  25                08/27/2001   (RD) Added uiuc_initial_init() to help
  26                             in starting an A/C at an initial condition
  27                02/24/2002   (GD) Added uiuc_network_routine()
  28                03/27/2002   (RD) Changed how forces are calculated when
  29                             body-axis is used
  30
  31 ----------------------------------------------------------------------
  32
  33  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
  34                Robert Deters      <rdeters@uiuc.edu>
  35                Glen Dimock        <dimock@uiuc.edu>
  36                David Megginson    <david@megginson.com>
  37
  38 ----------------------------------------------------------------------
  39
  40  VARIABLES:
  41
  42 ----------------------------------------------------------------------
  43
  44  INPUTS:       *
  45
  46 ----------------------------------------------------------------------
  47
  48  OUTPUTS:      *
  49
  50 ----------------------------------------------------------------------
  51
  52  CALLED BY:    *
  53
  54 ----------------------------------------------------------------------
  55
  56  CALLS TO:     *
  57
  58 ----------------------------------------------------------------------
  59
  60  COPYRIGHT:    (C) 2000 by Michael Selig
  61
  62  This program is free software; you can redistribute it and/or
  63  modify it under the terms of the GNU General Public License
  64  as published by the Free Software Foundation.
  65
  66  This program is distributed in the hope that it will be useful,
  67  but WITHOUT ANY WARRANTY; without even the implied warranty of
  68  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  69  GNU General Public License for more details.
  70
  71  You should have received a copy of the GNU General Public License
  72  along with this program; if not, write to the Free Software
  73  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
  74  USA or view http://www.gnu.org/copyleft/gpl.html.
  75
  76 **********************************************************************/
  77
  78 #include <simgear/compiler.h>
  79 #include <simgear/misc/sg_path.hxx>
  80 #include <Aircraft/aircraft.hxx>
  81 #include <Main/fg_props.hxx>
  82
  83 #include "uiuc_aircraft.h"
  84 #include "uiuc_aircraftdir.h"
  85 #include "uiuc_coefficients.h"
  86 #include "uiuc_engine.h"
  87 #include "uiuc_gear.h"
  88 #include "uiuc_aerodeflections.h"
  89 #include "uiuc_recorder.h"
  90 #include "uiuc_menu.h"
  91 #include "uiuc_betaprobe.h"
  92 #include <FDM/LaRCsim/ls_generic.h>
  93 //#include "Main/simple_udp.h"
  94 #include "uiuc_fog.h" //321654
  95 //#include "uiuc_network.h"
  96 //#include "uiuc_get_flapper.h"
  97
  98 #if !defined (SG_HAVE_NATIVE_SGI_COMPILERS)
  99 SG_USING_STD(cout);
 100 SG_USING_STD(endl);
 101 #endif
 102
 103 extern "C" void uiuc_init_aeromodel ();
 104 extern "C" void uiuc_force_moment(double dt);
 105 extern "C" void uiuc_engine_routine();
 106 extern "C" void uiuc_gear_routine();
 107 extern "C" void uiuc_record_routine(double dt);
 108 extern "C" void uiuc_network_routine();
 109 extern "C" void uiuc_vel_init ();
 110 extern "C" void uiuc_initial_init ();
 111
 112 AIRCRAFT *aircraft_ = new AIRCRAFT;
 113 AIRCRAFTDIR *aircraftdir_ = new AIRCRAFTDIR;
 114
 115 // SendArray testarray(4950);
 116
 117 /* Convert float to string */
 118 //string ftoa(double in)
 119 //{
 120 //  static char temp[20];
 121 //  sprintf(temp,"%g",in);
 122 //  return (string)temp;
 123 //}
 124
 125 void uiuc_initial_init ()
 126 {
 127   if (P_body_init_true)
 128     P_body = P_body_init;
 129   if (Q_body_init_true)
 130     Q_body = Q_body_init;
 131   if (R_body_init_true)
 132     R_body = R_body_init;
 133
 134   if (Phi_init_true)
 135     Phi = Phi_init;
 136   if (Theta_init_true)
 137     Theta = Theta_init;
 138   if (Psi_init_true)
 139     Psi = Psi_init;
 140
 141   if (U_body_init_true)
 142     U_body = U_body_init;
 143   if (V_body_init_true)
 144     V_body = V_body_init;
 145   if (W_body_init_true)
 146     W_body = W_body_init;
 147
 148 }
 149
 150 void uiuc_vel_init ()
 151 {
 152   if (U_body_init_true && V_body_init_true && W_body_init_true)
 153     {
 154   double det_T_l_to_b, cof11, cof12, cof13, cof21, cof22, cof23, cof31, cof32, cof33;
 155
 156   det_T_l_to_b = T_local_to_body_11*(T_local_to_body_22*T_local_to_body_33-T_local_to_body_23*T_local_to_body_32) - T_local_to_body_12*(T_local_to_body_21*T_local_to_body_33-T_local_to_body_23*T_local_to_body_31) + T_local_to_body_13*(T_local_to_body_21*T_local_to_body_32-T_local_to_body_22*T_local_to_body_31);
 157   cof11 = T_local_to_body_22 * T_local_to_body_33 - T_local_to_body_23 * T_local_to_body_32;
 158   cof12 = T_local_to_body_23 * T_local_to_body_31 - T_local_to_body_21 * T_local_to_body_33;
 159   cof13 = T_local_to_body_21 * T_local_to_body_32 - T_local_to_body_22 * T_local_to_body_31;
 160   cof21 = T_local_to_body_13 * T_local_to_body_32 - T_local_to_body_12 * T_local_to_body_33;
 161   cof22 = T_local_to_body_11 * T_local_to_body_33 - T_local_to_body_13 * T_local_to_body_31;
 162   cof23 = T_local_to_body_12 * T_local_to_body_31 - T_local_to_body_11 * T_local_to_body_32;
 163   cof31 = T_local_to_body_12 * T_local_to_body_23 - T_local_to_body_13 * T_local_to_body_22;
 164   cof32 = T_local_to_body_13 * T_local_to_body_21 - T_local_to_body_11 * T_local_to_body_23;
 165   cof33 = T_local_to_body_11 * T_local_to_body_22 - T_local_to_body_12 * T_local_to_body_21;
 166
 167   V_north = (cof11*U_body+cof21*V_body+cof31*W_body)/det_T_l_to_b;
 168   V_east_rel_ground = (cof12*U_body+cof22*V_body+cof32*W_body)/det_T_l_to_b;
 169   V_down = (cof13*U_body+cof23*V_body+cof33*W_body)/det_T_l_to_b;
 170
 171   V_east = V_east_rel_ground + OMEGA_EARTH*Sea_level_radius*cos(Lat_geocentric);
 172     }
 173 }
 174
 175 void uiuc_init_aeromodel ()
 176 {
 177   SGPath path(globals->get_fg_root());
 178   path.append(aircraft_dir);
 179   path.append("aircraft.dat");
 180   cout << "We are using "<< path.str() << endl;
 181   uiuc_initializemaps(); // Initialize the <string,int> maps
 182   uiuc_menu(path.str());   // Read the specified aircraft file
 183 }
 184
 185 void uiuc_force_moment(double dt)
 186 {
 187   double qS = Dynamic_pressure * Sw;
 188   double qScbar = qS * cbar;
 189   double qSb = qS * bw;
 190
 191   uiuc_aerodeflections(dt);
 192   uiuc_coefficients(dt);
 193   //if (flapper_model)
 194   //  {
 195   //    uiuc_get_flapper(dt);
 196   //  }
 197
 198   /* Calculate the forces */
 199   if (CX && CZ)
 200     {
 201       F_X_aero = CX * qS;
 202       F_Y_aero = CY * qS;
 203       F_Z_aero = CZ * qS;
 204     }
 205   else
 206     {
 207       F_X_wind = -CD * qS  * Cos_beta * Cos_beta;
 208       F_Y_wind =  CY * qS  * Cos_beta * Cos_beta;
 209       F_Z_wind = -CL * qS  * Cos_beta * Cos_beta;
 210
 211       // wind-axis to body-axis transformation
 212       F_X_aero = F_X_wind * Cos_alpha * Cos_beta - F_Y_wind * Cos_alpha * Sin_beta - F_Z_wind * Sin_alpha;
 213       F_Y_aero = F_X_wind * Sin_beta + F_Y_wind * Cos_beta;
 214       F_Z_aero = F_X_wind * Sin_alpha * Cos_beta - F_Y_wind * Sin_alpha * Sin_beta + F_Z_wind * Cos_alpha;
 215     }
 216   // Moment calculations
 217   M_l_aero = Cl * qSb    * Cos_beta * Cos_beta;
 218   M_m_aero = Cm * qScbar * Cos_beta * Cos_beta;
 219   M_n_aero = Cn * qSb    * Cos_beta * Cos_beta;
 220
 221   // Adding in apparent mass effects
 222   if (Mass_appMass_ratio)
 223     F_Z_aero += -(Mass_appMass_ratio * Mass) * W_dot_body;
 224   if (I_xx_appMass_ratio)
 225     M_l_aero += -(I_xx_appMass_ratio * I_xx) * P_dot_body;
 226   if (I_yy_appMass_ratio)
 227     M_m_aero += -(I_yy_appMass_ratio * I_yy) * Q_dot_body;
 228   if (I_zz_appMass_ratio)
 229     M_n_aero += -(I_zz_appMass_ratio * I_zz) * R_dot_body;
 230
 231   if (Mass_appMass)
 232     F_Z_aero += -Mass_appMass * W_dot_body;
 233   if (I_xx_appMass)
 234     M_l_aero += -I_xx_appMass * P_dot_body;
 235   if (I_yy_appMass)
 236     M_m_aero += -I_yy_appMass * Q_dot_body;
 237   if (I_zz_appMass)
 238     M_n_aero += -I_zz_appMass * R_dot_body;
 239
 240   // gyroscopic moments
 241   // engineOmega is positive when rotation is ccw when viewed from the front
 242   if (gyroForce_Q_body)
 243     M_n_aero +=  polarInertia * engineOmega * Q_body;
 244   if (gyroForce_R_body)
 245     M_m_aero += -polarInertia * engineOmega * R_body;
 246
 247   // ornithopter support
 248   //if (flapper_model)
 249   //  {
 250   //    F_X_aero += F_X_aero_flapper;
 251   //    F_Z_aero += F_Z_aero_flapper;
 252   //    M_m_aero += flapper_Moment;
 253   //  }
 254
 255   // fog field update
 256    Fog = 0;
 257    if (fog_field)
 258      uiuc_fog();
 259
 260    double vis;
 261    if (Fog != 0)
 262    {
 263      vis = fgGetDouble("/environment/visibility-m");
 264      if (Fog > 0)
 265        vis /= 1.01;
 266      else
 267        vis *= 1.01;
 268      fgSetDouble("/environment/visibility-m", vis);
 269    }
 270
 271
 272   /* Send data on the network to the Glass Cockpit */
 273
 274    //  string input="";
 275
 276    //  input += " stick_right " + ftoa(Lat_control);
 277    //  input += " rudder_left " + ftoa(-Rudder_pedal);
 278    //  input += " stick_forward " + ftoa(Long_control);
 279    //  input += " stick_trim_forward " + ftoa(Long_trim);
 280    //  input += " vehicle_pitch " + ftoa(Theta * 180.0 / 3.14);
 281    //  input += " vehicle_roll " + ftoa(Phi * 180.0 / 3.14);
 282    //  input += " vehicle_speed " + ftoa(V_rel_wind);
 283    //  input += " throttle_forward " + ftoa(Throttle_pct);
 284    //  input += " altitude " + ftoa(Altitude);
 285    //  input += " climb_rate " + ftoa(-1.0*V_down_rel_ground);
 286
 287    //  testarray.getHello();
 288    //  testarray.sendData(input);
 289
 290   /* End of Networking */
 291
 292 }
 293
 294 void uiuc_engine_routine()
 295 {
 296   uiuc_engine();
 297 }
 298
 299 void uiuc_gear_routine ()
 300 {
 301   uiuc_gear();
 302 }
 303
 304 void uiuc_record_routine(double dt)
 305 {
 306   if (Simtime >= recordStartTime)
 307     uiuc_recorder(dt);
 308 }
 309
 310 //void uiuc_network_routine()
 311 //{
 312 //  uiuc_network();
 313 //}
 314 //end uiuc_wrapper.cpp