4 #include <Main/fg_props.hxx>
8 #include "SimpleJet.hpp"
11 #include "Launchbar.hpp"
12 #include "Atmosphere.hpp"
13 #include "PropEngine.hpp"
14 #include "Propeller.hpp"
15 #include "PistonEngine.hpp"
16 #include "TurbineEngine.hpp"
18 #include "Rotorpart.hpp"
24 // Some conversion factors
25 static const float KTS2MPS = 0.514444444444;
26 static const float FT2M = 0.3048;
27 static const float DEG2RAD = 0.0174532925199;
28 static const float RPM2RAD = 0.10471975512;
29 static const float LBS2N = 4.44822;
30 static const float LBS2KG = 0.45359237;
31 static const float KG2LBS = 2.2046225;
32 static const float CM2GALS = 264.172037284;
33 static const float HP2W = 745.700;
34 static const float INHG2PA = 3386.389;
35 static const float K2DEGF = 1.8;
36 static const float K2DEGFOFFSET = -459.4;
37 static const float CIN2CM = 1.6387064e-5;
38 static const float YASIM_PI = 3.14159265358979323846;
40 static const float NM2FTLB = (1/(LBS2N*FT2M));
42 // Stubs, so that this can be compiled without the FlightGear
43 // binary. What's the best way to handle this?
45 // float fgGetFloat(char* name, float def) { return 0; }
46 // void fgSetFloat(char* name, float val) {}
50 _vehicle_radius = 0.0f;
54 // Map /controls/flight/elevator to the approach elevator control. This
55 // should probably be settable, but there are very few aircraft
56 // who trim their approaches using things other than elevator.
57 _airplane.setElevatorControl(parseAxis("/controls/flight/elevator-trim"));
59 // FIXME: read seed from somewhere?
61 _turb = new Turbulence(10, seed);
67 for(i=0; i<_axes.size(); i++) {
68 AxisRec* a = (AxisRec*)_axes.get(i);
72 for(i=0; i<_thrusters.size(); i++) {
73 EngRec* er = (EngRec*)_thrusters.get(i);
78 for(i=0; i<_weights.size(); i++) {
79 WeightRec* wr = (WeightRec*)_weights.get(i);
83 for(i=0; i<_controlProps.size(); i++)
84 delete (PropOut*)_controlProps.get(i);
88 void FGFDM::iterate(float dt)
91 _airplane.iterate(dt);
93 // Do fuel stuff (FIXME: should stash SGPropertyNode objects here)
95 for(int i=0; i<_airplane.numThrusters(); i++) {
96 Thruster* t = _airplane.getThruster(i);
98 sprintf(buf, "/engines/engine[%d]/out-of-fuel", i);
99 t->setFuelState(!fgGetBool(buf));
101 sprintf(buf, "/engines/engine[%d]/fuel-consumed-lbs", i);
102 double consumed = fgGetDouble(buf) + dt * KG2LBS * t->getFuelFlow();
103 fgSetDouble(buf, consumed);
105 for(int i=0; i<_airplane.numTanks(); i++) {
106 sprintf(buf, "/consumables/fuel/tank[%d]/level-lbs", i);
107 _airplane.setFuel(i, LBS2KG * fgGetFloat(buf));
109 _airplane.calcFuelWeights();
111 setOutputProperties(dt);
114 Airplane* FGFDM::getAirplane()
121 // Allows the user to start with something other than full fuel
122 _airplane.setFuelFraction(fgGetFloat("/sim/fuel-fraction", 1));
124 // Read out the resulting fuel state
126 for(int i=0; i<_airplane.numTanks(); i++) {
127 sprintf(buf, "/consumables/fuel/tank[%d]/level-lbs", i);
128 fgSetDouble(buf, _airplane.getFuel(i) * KG2LBS);
130 double density = _airplane.getFuelDensity(i);
131 sprintf(buf, "/consumables/fuel/tank[%d]/density-ppg", i);
132 fgSetDouble(buf, density * (KG2LBS/CM2GALS));
134 sprintf(buf, "/consumables/fuel/tank[%d]/level-gal_us", i);
135 fgSetDouble(buf, _airplane.getFuel(i) * CM2GALS / density);
137 sprintf(buf, "/consumables/fuel/tank[%d]/capacity-gal_us", i);
138 fgSetDouble(buf, CM2GALS * _airplane.getTankCapacity(i)/density);
141 // This has a nasty habit of being false at startup. That's not
143 fgSetBool("/controls/gear/gear-down", true);
145 _airplane.getModel()->setTurbulence(_turb);
148 // Not the worlds safest parser. But it's short & sweet.
149 void FGFDM::startElement(const char* name, const XMLAttributes &atts)
151 XMLAttributes* a = (XMLAttributes*)&atts;
155 if(eq(name, "airplane")) {
156 _airplane.setWeight(attrf(a, "mass") * LBS2KG);
157 } else if(eq(name, "approach")) {
158 float spd = attrf(a, "speed") * KTS2MPS;
159 float alt = attrf(a, "alt", 0) * FT2M;
160 float aoa = attrf(a, "aoa", 0) * DEG2RAD;
161 _airplane.setApproach(spd, alt, aoa, attrf(a, "fuel", 0.2));
163 } else if(eq(name, "cruise")) {
164 float spd = attrf(a, "speed") * KTS2MPS;
165 float alt = attrf(a, "alt") * FT2M;
166 _airplane.setCruise(spd, alt, attrf(a, "fuel", 0.5));
168 } else if(eq(name, "solve-weight")) {
169 int idx = attri(a, "idx");
170 float wgt = attrf(a, "weight") * LBS2KG;
171 _airplane.addSolutionWeight(!_cruiseCurr, idx, wgt);
172 } else if(eq(name, "cockpit")) {
173 v[0] = attrf(a, "x");
174 v[1] = attrf(a, "y");
175 v[2] = attrf(a, "z");
176 _airplane.setPilotPos(v);
177 } else if(eq(name, "rotor")) {
178 _airplane.getModel()->getRotorgear()->addRotor(parseRotor(a, name));
179 } else if(eq(name, "rotorgear")) {
180 Rotorgear* r = _airplane.getModel()->getRotorgear();
182 #define p(x) if (a->hasAttribute(#x)) r->setParameter((char *)#x,attrf(a,#x) );
184 p(engine_prop_factor)
187 p(max_power_rotor_brake)
188 p(engine_accell_limit)
191 } else if(eq(name, "wing")) {
192 _airplane.setWing(parseWing(a, name));
193 } else if(eq(name, "hstab")) {
194 _airplane.setTail(parseWing(a, name));
195 } else if(eq(name, "vstab") || eq(name, "mstab")) {
196 _airplane.addVStab(parseWing(a, name));
197 } else if(eq(name, "piston-engine")) {
198 parsePistonEngine(a);
199 } else if(eq(name, "turbine-engine")) {
200 parseTurbineEngine(a);
201 } else if(eq(name, "propeller")) {
203 } else if(eq(name, "thruster")) {
204 SimpleJet* j = new SimpleJet();
206 v[0] = attrf(a, "x"); v[1] = attrf(a, "y"); v[2] = attrf(a, "z");
208 _airplane.addThruster(j, 0, v);
209 v[0] = attrf(a, "vx"); v[1] = attrf(a, "vy"); v[2] = attrf(a, "vz");
211 j->setThrust(attrf(a, "thrust") * LBS2N);
212 } else if(eq(name, "jet")) {
215 v[0] = attrf(a, "x");
216 v[1] = attrf(a, "y");
217 v[2] = attrf(a, "z");
218 float mass = attrf(a, "mass") * LBS2KG;
219 j->setMaxThrust(attrf(a, "thrust") * LBS2N,
220 attrf(a, "afterburner", 0) * LBS2N);
221 j->setVectorAngle(attrf(a, "rotate", 0) * DEG2RAD);
222 j->setReverseThrust(attrf(a, "reverse", 0.2));
224 float n1min = attrf(a, "n1-idle", 55);
225 float n1max = attrf(a, "n1-max", 102);
226 float n2min = attrf(a, "n2-idle", 73);
227 float n2max = attrf(a, "n2-max", 103);
228 j->setRPMs(n1min, n1max, n2min, n2max);
230 j->setTSFC(attrf(a, "tsfc", 0.8));
231 if(a->hasAttribute("egt")) j->setEGT(attrf(a, "egt"));
232 if(a->hasAttribute("epr")) j->setEPR(attrf(a, "epr"));
233 if(a->hasAttribute("exhaust-speed"))
234 j->setVMax(attrf(a, "exhaust-speed") * KTS2MPS);
235 if(a->hasAttribute("spool-time"))
236 j->setSpooling(attrf(a, "spool-time"));
239 _airplane.addThruster(j, mass, v);
240 sprintf(buf, "/engines/engine[%d]", _nextEngine++);
241 EngRec* er = new EngRec();
243 er->prefix = dup(buf);
245 } else if(eq(name, "gear")) {
246 Gear* g = new Gear();
248 v[0] = attrf(a, "x");
249 v[1] = attrf(a, "y");
250 v[2] = attrf(a, "z");
252 float nrm = Math::mag3(v);
253 if (_vehicle_radius < nrm)
254 _vehicle_radius = nrm;
255 if(a->hasAttribute("upx")) {
256 v[0] = attrf(a, "upx");
257 v[1] = attrf(a, "upy");
258 v[2] = attrf(a, "upz");
265 for(int i=0; i<3; i++)
266 v[i] *= attrf(a, "compression", 1);
267 g->setCompression(v);
268 g->setBrake(attrf(a, "skid", 0));
269 g->setStaticFriction(attrf(a, "sfric", 0.8));
270 g->setDynamicFriction(attrf(a, "dfric", 0.7));
271 g->setSpring(attrf(a, "spring", 1));
272 g->setDamping(attrf(a, "damp", 1));
273 _airplane.addGear(g);
274 } else if(eq(name, "hook")) {
275 Hook* h = new Hook();
277 v[0] = attrf(a, "x");
278 v[1] = attrf(a, "y");
279 v[2] = attrf(a, "z");
281 float length = attrf(a, "length", 1.0);
282 h->setLength(length);
283 float nrm = length+Math::mag3(v);
284 if (_vehicle_radius < nrm)
285 _vehicle_radius = nrm;
286 h->setDownAngle(attrf(a, "down-angle", 70) * DEG2RAD);
287 h->setUpAngle(attrf(a, "up-angle", 0) * DEG2RAD);
288 _airplane.addHook(h);
289 } else if(eq(name, "launchbar")) {
290 Launchbar* l = new Launchbar();
292 v[0] = attrf(a, "x");
293 v[1] = attrf(a, "y");
294 v[2] = attrf(a, "z");
295 l->setLaunchbarMount(v);
296 v[0] = attrf(a, "holdback-x", v[0]);
297 v[1] = attrf(a, "holdback-y", v[1]);
298 v[2] = attrf(a, "holdback-z", v[2]);
299 l->setHoldbackMount(v);
300 float length = attrf(a, "length", 1.0);
301 l->setLength(length);
302 l->setDownAngle(attrf(a, "down-angle", 45) * DEG2RAD);
303 l->setUpAngle(attrf(a, "up-angle", -45) * DEG2RAD);
304 l->setHoldbackLength(attrf(a, "holdback-length", 2.0));
305 _airplane.addLaunchbar(l);
306 } else if(eq(name, "fuselage")) {
308 v[0] = attrf(a, "ax");
309 v[1] = attrf(a, "ay");
310 v[2] = attrf(a, "az");
311 b[0] = attrf(a, "bx");
312 b[1] = attrf(a, "by");
313 b[2] = attrf(a, "bz");
314 float taper = attrf(a, "taper", 1);
315 float mid = attrf(a, "midpoint", 0.5);
316 _airplane.addFuselage(v, b, attrf(a, "width"), taper, mid);
317 } else if(eq(name, "tank")) {
318 v[0] = attrf(a, "x");
319 v[1] = attrf(a, "y");
320 v[2] = attrf(a, "z");
321 float density = 6.0; // gasoline, in lbs/gal
322 if(a->hasAttribute("jet")) density = 6.72;
323 density *= LBS2KG*CM2GALS;
324 _airplane.addTank(v, attrf(a, "capacity") * LBS2KG, density);
325 } else if(eq(name, "ballast")) {
326 v[0] = attrf(a, "x");
327 v[1] = attrf(a, "y");
328 v[2] = attrf(a, "z");
329 _airplane.addBallast(v, attrf(a, "mass") * LBS2KG);
330 } else if(eq(name, "weight")) {
332 } else if(eq(name, "stall")) {
333 Wing* w = (Wing*)_currObj;
334 w->setStall(attrf(a, "aoa") * DEG2RAD);
335 w->setStallWidth(attrf(a, "width", 2) * DEG2RAD);
336 w->setStallPeak(attrf(a, "peak", 1.5));
337 } else if(eq(name, "flap0")) {
338 ((Wing*)_currObj)->setFlap0(attrf(a, "start"), attrf(a, "end"),
339 attrf(a, "lift"), attrf(a, "drag"));
340 } else if(eq(name, "flap1")) {
341 ((Wing*)_currObj)->setFlap1(attrf(a, "start"), attrf(a, "end"),
342 attrf(a, "lift"), attrf(a, "drag"));
343 } else if(eq(name, "slat")) {
344 ((Wing*)_currObj)->setSlat(attrf(a, "start"), attrf(a, "end"),
345 attrf(a, "aoa"), attrf(a, "drag"));
346 } else if(eq(name, "spoiler")) {
347 ((Wing*)_currObj)->setSpoiler(attrf(a, "start"), attrf(a, "end"),
348 attrf(a, "lift"), attrf(a, "drag"));
349 /* } else if(eq(name, "collective")) {
350 ((Rotor*)_currObj)->setcollective(attrf(a, "min"), attrf(a, "max"));
351 } else if(eq(name, "cyclic")) {
352 ((Rotor*)_currObj)->setcyclic(attrf(a, "ail"), attrf(a, "ele"));
354 } else if(eq(name, "actionpt")) {
355 v[0] = attrf(a, "x");
356 v[1] = attrf(a, "y");
357 v[2] = attrf(a, "z");
358 ((Thruster*)_currObj)->setPosition(v);
359 } else if(eq(name, "dir")) {
360 v[0] = attrf(a, "x");
361 v[1] = attrf(a, "y");
362 v[2] = attrf(a, "z");
363 ((Thruster*)_currObj)->setDirection(v);
364 } else if(eq(name, "control-setting")) {
365 // A cruise or approach control setting
366 const char* axis = a->getValue("axis");
367 float value = attrf(a, "value", 0);
369 _airplane.addCruiseControl(parseAxis(axis), value);
371 _airplane.addApproachControl(parseAxis(axis), value);
372 } else if(eq(name, "control-input")) {
374 // A mapping of input property to a control
375 int axis = parseAxis(a->getValue("axis"));
376 int control = parseOutput(a->getValue("control"));
378 opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
379 opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
380 opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
382 ControlMap* cm = _airplane.getControlMap();
383 if(a->hasAttribute("src0")) {
384 cm->addMapping(axis, control, _currObj, opt,
385 attrf(a, "src0"), attrf(a, "src1"),
386 attrf(a, "dst0"), attrf(a, "dst1"));
388 cm->addMapping(axis, control, _currObj, opt);
390 } else if(eq(name, "control-output")) {
391 // A property output for a control on the current object
392 ControlMap* cm = _airplane.getControlMap();
393 int type = parseOutput(a->getValue("control"));
394 int handle = cm->getOutputHandle(_currObj, type);
396 PropOut* p = new PropOut();
397 p->prop = fgGetNode(a->getValue("prop"), true);
400 p->left = !(a->hasAttribute("side") &&
401 eq("right", a->getValue("side")));
402 p->min = attrf(a, "min", cm->rangeMin(type));
403 p->max = attrf(a, "max", cm->rangeMax(type));
404 _controlProps.add(p);
406 } else if(eq(name, "control-speed")) {
407 ControlMap* cm = _airplane.getControlMap();
408 int type = parseOutput(a->getValue("control"));
409 int handle = cm->getOutputHandle(_currObj, type);
410 float time = attrf(a, "transition-time", 0);
412 cm->setTransitionTime(handle, time);
414 SG_LOG(SG_FLIGHT,SG_ALERT,"Unexpected tag '"
415 << name << "' found in YASim aircraft description");
420 void FGFDM::getExternalInput(float dt)
424 _turb->setMagnitude(fgGetFloat("/environment/turbulence/magnitude-norm"));
425 _turb->update(dt, fgGetFloat("/environment/turbulence/rate-hz"));
428 ControlMap* cm = _airplane.getControlMap();
431 for(i=0; i<_axes.size(); i++) {
432 AxisRec* a = (AxisRec*)_axes.get(i);
433 float val = fgGetFloat(a->name, 0);
434 cm->setInput(a->handle, val);
436 cm->applyControls(dt);
439 for(i=0; i<_weights.size(); i++) {
440 WeightRec* wr = (WeightRec*)_weights.get(i);
441 _airplane.setWeight(wr->handle, LBS2KG * fgGetFloat(wr->prop));
444 for(i=0; i<_thrusters.size(); i++) {
445 EngRec* er = (EngRec*)_thrusters.get(i);
446 Thruster* t = er->eng;
448 if(t->getPropEngine()) {
449 PropEngine* p = t->getPropEngine();
450 sprintf(buf, "%s/rpm", er->prefix);
451 p->setOmega(fgGetFloat(buf, 500) * RPM2RAD);
456 // Linearly "seeks" a property by the specified fraction of the way to
457 // the target value. Used to emulate "slowly changing" output values.
458 static void moveprop(SGPropertyNode* node, const char* prop,
459 float target, float frac)
461 float val = node->getFloatValue(prop);
462 if(frac > 1) frac = 1;
463 if(frac < 0) frac = 0;
464 val += (target - val) * frac;
465 node->setFloatValue(prop, val);
468 void FGFDM::setOutputProperties(float dt)
473 float grossWgt = _airplane.getModel()->getBody()->getTotalMass() * KG2LBS;
474 fgSetFloat("/yasim/gross-weight-lbs", grossWgt);
476 ControlMap* cm = _airplane.getControlMap();
477 for(i=0; i<_controlProps.size(); i++) {
478 PropOut* p = (PropOut*)_controlProps.get(i);
480 ? cm->getOutput(p->handle)
481 : cm->getOutputR(p->handle));
482 float rmin = cm->rangeMin(p->type);
483 float rmax = cm->rangeMax(p->type);
484 float frac = (val - rmin) / (rmax - rmin);
485 val = frac*(p->max - p->min) + p->min;
486 p->prop->setFloatValue(val);
489 for(i=0; i<_airplane.getRotorgear()->getNumRotors(); i++) {
490 Rotor*r=(Rotor*)_airplane.getRotorgear()->getRotor(i);
494 while((j = r->getValueforFGSet(j, b, &f)))
495 if(b[0]) fgSetFloat(b,f);
497 for(j=0; j < r->numRotorparts(); j++) {
498 Rotorpart* s = (Rotorpart*)r->getRotorpart(j);
502 b=s->getAlphaoutput(k);
503 if(b[0]) fgSetFloat(b, s->getAlpha(k));
508 float fuelDensity = _airplane.getFuelDensity(0); // HACK
509 for(i=0; i<_thrusters.size(); i++) {
510 EngRec* er = (EngRec*)_thrusters.get(i);
511 Thruster* t = er->eng;
512 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
514 // Set: running, cranking, prop-thrust, max-hp, power-pct
515 node->setBoolValue("running", t->isRunning());
516 node->setBoolValue("cranking", t->isCranking());
520 float lbs = Math::mag3(tmp) * (KG2LBS/9.8);
521 node->setFloatValue("prop-thrust", lbs); // Deprecated name
522 node->setFloatValue("thrust-lbs", lbs);
523 node->setFloatValue("fuel-flow-gph",
524 (t->getFuelFlow()/fuelDensity) * 3600 * CM2GALS);
526 if(t->getPropEngine()) {
527 PropEngine* p = t->getPropEngine();
528 node->setFloatValue("rpm", p->getOmega() * (1/RPM2RAD));
529 node->setFloatValue("torque-ftlb",
530 p->getEngine()->getTorque() * NM2FTLB);
532 if(p->getEngine()->isPistonEngine()) {
533 PistonEngine* pe = p->getEngine()->isPistonEngine();
534 node->setFloatValue("mp-osi", pe->getMP() * (1/INHG2PA));
535 node->setFloatValue("mp-inhg", pe->getMP() * (1/INHG2PA));
536 node->setFloatValue("egt-degf",
537 pe->getEGT() * K2DEGF + K2DEGFOFFSET);
538 node->setFloatValue("oil-temperature-degf",
539 pe->getOilTemp() * K2DEGF + K2DEGFOFFSET);
540 node->setFloatValue("boost-gauge-inhg",
541 pe->getBoost() * (1/INHG2PA));
542 } else if(p->getEngine()->isTurbineEngine()) {
543 TurbineEngine* te = p->getEngine()->isTurbineEngine();
544 node->setFloatValue("n2", te->getN2());
549 Jet* j = t->getJet();
550 node->setFloatValue("n1", j->getN1());
551 node->setFloatValue("n2", j->getN2());
552 node->setFloatValue("epr", j->getEPR());
553 node->setFloatValue("egt-degf",
554 j->getEGT() * K2DEGF + K2DEGFOFFSET);
556 // These are "unmodeled" values that are still needed for
557 // many cockpits. Tie them all to the N1 speed, but
558 // normalize the numbers to the range [0:1] so the
559 // cockpit code can scale them to the right values.
560 float pnorm = j->getPerfNorm();
561 moveprop(node, "oilp-norm", pnorm, dt/3); // 3s seek time
562 moveprop(node, "oilt-norm", pnorm, dt/30); // 30s
563 moveprop(node, "itt-norm", pnorm, dt/1); // 1s
568 Wing* FGFDM::parseWing(XMLAttributes* a, const char* type)
570 Wing* w = new Wing();
573 if(eq(type, "vstab"))
579 pos[0] = attrf(a, "x");
580 pos[1] = attrf(a, "y");
581 pos[2] = attrf(a, "z");
584 w->setLength(attrf(a, "length"));
585 w->setChord(attrf(a, "chord"));
586 w->setSweep(attrf(a, "sweep", 0) * DEG2RAD);
587 w->setTaper(attrf(a, "taper", 1));
588 w->setDihedral(attrf(a, "dihedral", defDihed) * DEG2RAD);
589 w->setCamber(attrf(a, "camber", 0));
591 // These come in with positive indicating positive AoA, but the
592 // internals expect a rotation about the left-pointing Y axis, so
594 w->setIncidence(attrf(a, "incidence", 0) * DEG2RAD * -1);
595 w->setTwist(attrf(a, "twist", 0) * DEG2RAD * -1);
597 // The 70% is a magic number that sorta kinda seems to match known
598 // throttle settings to approach speed.
599 w->setInducedDrag(0.7*attrf(a, "idrag", 1));
601 float effect = attrf(a, "effectiveness", 1);
602 w->setDragScale(w->getDragScale()*effect);
608 Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
610 Rotor* w = new Rotor();
612 // float defDihed = 0;
615 pos[0] = attrf(a, "x");
616 pos[1] = attrf(a, "y");
617 pos[2] = attrf(a, "z");
621 normal[0] = attrf(a, "nx");
622 normal[1] = attrf(a, "ny");
623 normal[2] = attrf(a, "nz");
624 w->setNormal(normal);
627 forward[0] = attrf(a, "fx");
628 forward[1] = attrf(a, "fy");
629 forward[2] = attrf(a, "fz");
630 w->setForward(forward);
632 w->setMaxCyclicail(attrf(a, "maxcyclicail", 7.6));
633 w->setMaxCyclicele(attrf(a, "maxcyclicele", 4.94));
634 w->setMinCyclicail(attrf(a, "mincyclicail", -7.6));
635 w->setMinCyclicele(attrf(a, "mincyclicele", -4.94));
636 w->setMaxCollective(attrf(a, "maxcollective", 15.8));
637 w->setMinCollective(attrf(a, "mincollective", -0.2));
638 w->setDiameter(attrf(a, "diameter", 10.2));
639 w->setWeightPerBlade(attrf(a, "weightperblade", 44));
640 w->setNumberOfBlades(attrf(a, "numblades", 4));
641 w->setRelBladeCenter(attrf(a, "relbladecenter", 0.7));
642 w->setDynamic(attrf(a, "dynamic", 0.7));
643 w->setDelta3(attrf(a, "delta3", 0));
644 w->setDelta(attrf(a, "delta", 0));
645 w->setTranslift(attrf(a, "translift", 0.05));
646 w->setC2(attrf(a, "dragfactor", 1));
647 w->setStepspersecond(attrf(a, "stepspersecond", 120));
648 w->setRPM(attrf(a, "rpm", 424));
649 w->setRelLenHinge(attrf(a, "rellenflaphinge", 0.07));
650 w->setAlpha0((attrf(a, "flap0", -5))*YASIM_PI/180);
651 w->setAlphamin((attrf(a, "flapmin", -15))/180*YASIM_PI);
652 w->setAlphamax((attrf(a, "flapmax", 15))*YASIM_PI/180);
653 w->setAlpha0factor(attrf(a, "flap0factor", 1));
654 w->setTeeterdamp(attrf(a,"teeterdamp",.0001));
655 w->setMaxteeterdamp(attrf(a,"maxteeterdamp",1000));
656 w->setRelLenTeeterHinge(attrf(a,"rellenteeterhinge",0.01));
657 void setAlphamin(float f);
658 void setAlphamax(float f);
659 void setAlpha0factor(float f);
664 if(a->hasAttribute("name"))
665 w->setName(a->getValue("name") );
666 if(a->hasAttribute("alphaout0"))
667 w->setAlphaoutput(0,a->getValue("alphaout0") );
668 if(a->hasAttribute("alphaout1")) w->setAlphaoutput(1,a->getValue("alphaout1") );
669 if(a->hasAttribute("alphaout2")) w->setAlphaoutput(2,a->getValue("alphaout2") );
670 if(a->hasAttribute("alphaout3")) w->setAlphaoutput(3,a->getValue("alphaout3") );
671 if(a->hasAttribute("coneout")) w->setAlphaoutput(4,a->getValue("coneout") );
672 if(a->hasAttribute("yawout")) w->setAlphaoutput(5,a->getValue("yawout") );
673 if(a->hasAttribute("rollout")) w->setAlphaoutput(6,a->getValue("rollout") );
675 w->setPitchA(attrf(a, "pitch_a", 10));
676 w->setPitchB(attrf(a, "pitch_b", 10));
677 w->setForceAtPitchA(attrf(a, "forceatpitch_a", 3000));
678 w->setPowerAtPitch0(attrf(a, "poweratpitch_0", 300));
679 w->setPowerAtPitchB(attrf(a, "poweratpitch_b", 3000));
680 if(attrb(a,"notorque"))
683 #define p(x) if (a->hasAttribute(#x)) w->setParameter((char *)#x,attrf(a,#x) );
685 p(translift_maxfactor)
686 p(ground_effect_constant)
687 p(vortex_state_lift_factor)
694 p(number_of_segments)
695 p(rel_len_where_incidence_is_measured)
698 p(airfoil_incidence_no_lift)
699 p(rel_len_blade_start)
700 p(incidence_stall_zero_speed)
701 p(incidence_stall_half_sonic_speed)
705 p(airfoil_lift_coefficient)
706 p(airfoil_drag_coefficient0)
707 p(airfoil_drag_coefficient1)
714 void FGFDM::parsePistonEngine(XMLAttributes* a)
716 float engP = attrf(a, "eng-power") * HP2W;
717 float engS = attrf(a, "eng-rpm") * RPM2RAD;
719 PistonEngine* eng = new PistonEngine(engP, engS);
721 if(a->hasAttribute("displacement"))
722 eng->setDisplacement(attrf(a, "displacement") * CIN2CM);
724 if(a->hasAttribute("compression"))
725 eng->setCompression(attrf(a, "compression"));
727 if(a->hasAttribute("turbo-mul")) {
728 float mul = attrf(a, "turbo-mul");
729 float mp = attrf(a, "wastegate-mp", 1e6) * INHG2PA;
730 eng->setTurboParams(mul, mp);
731 eng->setTurboLag(attrf(a, "turbo-lag", 2));
734 if(a->hasAttribute("supercharger"))
735 eng->setSupercharger(attrb(a, "supercharger"));
737 ((PropEngine*)_currObj)->setEngine(eng);
740 void FGFDM::parseTurbineEngine(XMLAttributes* a)
742 float power = attrf(a, "eng-power") * HP2W;
743 float omega = attrf(a, "eng-rpm") * RPM2RAD;
744 float alt = attrf(a, "alt") * FT2M;
745 float flatRating = attrf(a, "flat-rating") * HP2W;
746 TurbineEngine* eng = new TurbineEngine(power, omega, alt, flatRating);
748 if(a->hasAttribute("n2-low-idle"))
749 eng->setN2Range(attrf(a, "n2-low-idle"), attrf(a, "n2-high-idle"),
752 // Nasty units conversion: lbs/hr per hp -> kg/s per watt
753 if(a->hasAttribute("bsfc"))
754 eng->setFuelConsumption(attrf(a, "bsfc") * (LBS2KG/(3600*HP2W)));
756 ((PropEngine*)_currObj)->setEngine(eng);
759 void FGFDM::parsePropeller(XMLAttributes* a)
761 // Legacy Handling for the old engines syntax:
762 PistonEngine* eng = 0;
763 if(a->hasAttribute("eng-power")) {
764 SG_LOG(SG_FLIGHT,SG_ALERT, "WARNING: "
765 << "Legacy engine definition in YASim configuration file. "
767 float engP = attrf(a, "eng-power") * HP2W;
768 float engS = attrf(a, "eng-rpm") * RPM2RAD;
769 eng = new PistonEngine(engP, engS);
770 if(a->hasAttribute("displacement"))
771 eng->setDisplacement(attrf(a, "displacement") * CIN2CM);
772 if(a->hasAttribute("compression"))
773 eng->setCompression(attrf(a, "compression"));
774 if(a->hasAttribute("turbo-mul")) {
775 float mul = attrf(a, "turbo-mul");
776 float mp = attrf(a, "wastegate-mp", 1e6) * INHG2PA;
777 eng->setTurboParams(mul, mp);
781 // Now parse the actual propeller definition:
783 cg[0] = attrf(a, "x");
784 cg[1] = attrf(a, "y");
785 cg[2] = attrf(a, "z");
786 float mass = attrf(a, "mass") * LBS2KG;
787 float moment = attrf(a, "moment");
788 float radius = attrf(a, "radius");
789 float speed = attrf(a, "cruise-speed") * KTS2MPS;
790 float omega = attrf(a, "cruise-rpm") * RPM2RAD;
791 float power = attrf(a, "cruise-power") * HP2W;
792 float rho = Atmosphere::getStdDensity(attrf(a, "cruise-alt") * FT2M);
794 Propeller* prop = new Propeller(radius, speed, omega, rho, power);
795 PropEngine* thruster = new PropEngine(prop, eng, moment);
796 _airplane.addThruster(thruster, mass, cg);
798 // Set the stops (fine = minimum pitch, coarse = maximum pitch)
799 float fine_stop = attrf(a, "fine-stop", 0.25f);
800 float coarse_stop = attrf(a, "coarse-stop", 4.0f);
801 prop->setStops(fine_stop, coarse_stop);
803 if(a->hasAttribute("takeoff-power")) {
804 float power0 = attrf(a, "takeoff-power") * HP2W;
805 float omega0 = attrf(a, "takeoff-rpm") * RPM2RAD;
806 prop->setTakeoff(omega0, power0);
809 if(a->hasAttribute("max-rpm")) {
810 float max = attrf(a, "max-rpm") * RPM2RAD;
811 float min = attrf(a, "min-rpm") * RPM2RAD;
812 thruster->setVariableProp(min, max);
815 if(attrb(a, "contra"))
816 thruster->setContraPair(true);
818 if(a->hasAttribute("manual-pitch")) {
819 prop->setManualPitch();
822 thruster->setGearRatio(attrf(a, "gear-ratio", 1));
825 sprintf(buf, "/engines/engine[%d]", _nextEngine++);
826 EngRec* er = new EngRec();
828 er->prefix = dup(buf);
834 // Turns a string axis name into an integer for use by the
835 // ControlMap. Creates a new axis if this one hasn't been defined
837 int FGFDM::parseAxis(const char* name)
840 for(i=0; i<_axes.size(); i++) {
841 AxisRec* a = (AxisRec*)_axes.get(i);
842 if(eq(a->name, name))
846 // Not there, make a new one.
847 AxisRec* a = new AxisRec();
849 fgGetNode( a->name, true ); // make sure the property name exists
850 a->handle = _airplane.getControlMap()->newInput();
855 int FGFDM::parseOutput(const char* name)
857 if(eq(name, "THROTTLE")) return ControlMap::THROTTLE;
858 if(eq(name, "MIXTURE")) return ControlMap::MIXTURE;
859 if(eq(name, "CONDLEVER")) return ControlMap::CONDLEVER;
860 if(eq(name, "STARTER")) return ControlMap::STARTER;
861 if(eq(name, "MAGNETOS")) return ControlMap::MAGNETOS;
862 if(eq(name, "ADVANCE")) return ControlMap::ADVANCE;
863 if(eq(name, "REHEAT")) return ControlMap::REHEAT;
864 if(eq(name, "BOOST")) return ControlMap::BOOST;
865 if(eq(name, "VECTOR")) return ControlMap::VECTOR;
866 if(eq(name, "PROP")) return ControlMap::PROP;
867 if(eq(name, "BRAKE")) return ControlMap::BRAKE;
868 if(eq(name, "STEER")) return ControlMap::STEER;
869 if(eq(name, "EXTEND")) return ControlMap::EXTEND;
870 if(eq(name, "HEXTEND")) return ControlMap::HEXTEND;
871 if(eq(name, "LEXTEND")) return ControlMap::LEXTEND;
872 if(eq(name, "INCIDENCE")) return ControlMap::INCIDENCE;
873 if(eq(name, "FLAP0")) return ControlMap::FLAP0;
874 if(eq(name, "FLAP1")) return ControlMap::FLAP1;
875 if(eq(name, "SLAT")) return ControlMap::SLAT;
876 if(eq(name, "SPOILER")) return ControlMap::SPOILER;
877 if(eq(name, "CASTERING")) return ControlMap::CASTERING;
878 if(eq(name, "PROPPITCH")) return ControlMap::PROPPITCH;
879 if(eq(name, "PROPFEATHER")) return ControlMap::PROPFEATHER;
880 if(eq(name, "COLLECTIVE")) return ControlMap::COLLECTIVE;
881 if(eq(name, "CYCLICAIL")) return ControlMap::CYCLICAIL;
882 if(eq(name, "CYCLICELE")) return ControlMap::CYCLICELE;
883 if(eq(name, "ROTORGEARENGINEON")) return ControlMap::ROTORENGINEON;
884 if(eq(name, "ROTORBRAKE")) return ControlMap::ROTORBRAKE;
885 if(eq(name, "REVERSE_THRUST")) return ControlMap::REVERSE_THRUST;
886 if(eq(name, "WASTEGATE")) return ControlMap::WASTEGATE;
887 SG_LOG(SG_FLIGHT,SG_ALERT,"Unrecognized control type '"
888 << name << "' in YASim aircraft description.");
893 void FGFDM::parseWeight(XMLAttributes* a)
895 WeightRec* wr = new WeightRec();
898 v[0] = attrf(a, "x");
899 v[1] = attrf(a, "y");
900 v[2] = attrf(a, "z");
902 wr->prop = dup(a->getValue("mass-prop"));
903 wr->size = attrf(a, "size", 0);
904 wr->handle = _airplane.addWeight(v, wr->size);
909 bool FGFDM::eq(const char* a, const char* b)
911 // Figure it out for yourself. :)
912 while(*a && *b && *a == *b) { a++; b++; }
916 char* FGFDM::dup(const char* s)
920 char* s2 = new char[len+1];
922 while((*p++ = *s++));
927 int FGFDM::attri(XMLAttributes* atts, char* attr)
929 if(!atts->hasAttribute(attr)) {
930 SG_LOG(SG_FLIGHT,SG_ALERT,"Missing '" << attr <<
931 "' in YASim aircraft description");
934 return attri(atts, attr, 0);
937 int FGFDM::attri(XMLAttributes* atts, char* attr, int def)
939 const char* val = atts->getValue(attr);
940 if(val == 0) return def;
941 else return atol(val);
944 float FGFDM::attrf(XMLAttributes* atts, char* attr)
946 if(!atts->hasAttribute(attr)) {
947 SG_LOG(SG_FLIGHT,SG_ALERT,"Missing '" << attr <<
948 "' in YASim aircraft description");
951 return attrf(atts, attr, 0);
954 float FGFDM::attrf(XMLAttributes* atts, char* attr, float def)
956 const char* val = atts->getValue(attr);
957 if(val == 0) return def;
958 else return (float)atof(val);
961 // ACK: the dreaded ambiguous string boolean. Remind me to shoot Maik
962 // when I have a chance. :). Unless you have a parser that can check
963 // symbol constants (we don't), this kind of coding is just a Bad
964 // Idea. This implementation, for example, silently returns a boolean
965 // falsehood for values of "1", "yes", "True", and "TRUE". Which is
966 // especially annoying preexisting boolean attributes in the same
967 // parser want to see "1" and will choke on a "true"...
969 // Unfortunately, this usage creeped into existing configuration files
970 // while I wasn't active, and it's going to be hard to remove. Issue
971 // a warning to nag people into changing their ways for now...
972 bool FGFDM::attrb(XMLAttributes* atts, char* attr)
974 const char* val = atts->getValue(attr);
975 if(val == 0) return false;
978 SG_LOG(SG_FLIGHT, SG_ALERT, "Warning: " <<
979 "deprecated 'true' boolean in YASim configuration file. " <<
980 "Use numeric booleans (attribute=\"1\") instead");
983 return attri(atts, attr, 0) ? true : false;
986 }; // namespace yasim