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"
19 #include "Rotorblade.hpp"
25 // Some conversion factors
26 static const float KTS2MPS = 0.514444444444;
27 static const float FT2M = 0.3048;
28 static const float DEG2RAD = 0.0174532925199;
29 static const float RPM2RAD = 0.10471975512;
30 static const float LBS2N = 4.44822;
31 static const float LBS2KG = 0.45359237;
32 static const float KG2LBS = 2.2046225;
33 static const float CM2GALS = 264.172037284;
34 static const float HP2W = 745.700;
35 static const float INHG2PA = 3386.389;
36 static const float K2DEGF = 1.8;
37 static const float K2DEGFOFFSET = -459.4;
38 static const float CIN2CM = 1.6387064e-5;
39 static const float YASIM_PI = 3.14159265358979323846;
41 static const float NM2FTLB = (1/(LBS2N*FT2M));
43 // Stubs, so that this can be compiled without the FlightGear
44 // binary. What's the best way to handle this?
46 // float fgGetFloat(char* name, float def) { return 0; }
47 // void fgSetFloat(char* name, float val) {}
51 _vehicle_radius = 0.0f;
55 // Map /controls/flight/elevator to the approach elevator control. This
56 // should probably be settable, but there are very few aircraft
57 // who trim their approaches using things other than elevator.
58 _airplane.setElevatorControl(parseAxis("/controls/flight/elevator-trim"));
60 // FIXME: read seed from somewhere?
62 _turb = new Turbulence(10, seed);
68 for(i=0; i<_axes.size(); i++) {
69 AxisRec* a = (AxisRec*)_axes.get(i);
73 for(i=0; i<_thrusters.size(); i++) {
74 EngRec* er = (EngRec*)_thrusters.get(i);
79 for(i=0; i<_weights.size(); i++) {
80 WeightRec* wr = (WeightRec*)_weights.get(i);
84 for(i=0; i<_controlProps.size(); i++)
85 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.addRotor(parseRotor(a, name));
179 } else if(eq(name, "wing")) {
180 _airplane.setWing(parseWing(a, name));
181 } else if(eq(name, "hstab")) {
182 _airplane.setTail(parseWing(a, name));
183 } else if(eq(name, "vstab") || eq(name, "mstab")) {
184 _airplane.addVStab(parseWing(a, name));
185 } else if(eq(name, "piston-engine")) {
186 parsePistonEngine(a);
187 } else if(eq(name, "turbine-engine")) {
188 parseTurbineEngine(a);
189 } else if(eq(name, "propeller")) {
191 } else if(eq(name, "thruster")) {
192 SimpleJet* j = new SimpleJet();
194 v[0] = attrf(a, "x"); v[1] = attrf(a, "y"); v[2] = attrf(a, "z");
196 _airplane.addThruster(j, 0, v);
197 v[0] = attrf(a, "vx"); v[1] = attrf(a, "vy"); v[2] = attrf(a, "vz");
199 j->setThrust(attrf(a, "thrust") * LBS2N);
200 } else if(eq(name, "jet")) {
203 v[0] = attrf(a, "x");
204 v[1] = attrf(a, "y");
205 v[2] = attrf(a, "z");
206 float mass = attrf(a, "mass") * LBS2KG;
207 j->setMaxThrust(attrf(a, "thrust") * LBS2N,
208 attrf(a, "afterburner", 0) * LBS2N);
209 j->setVectorAngle(attrf(a, "rotate", 0) * DEG2RAD);
210 j->setReverseThrust(attrf(a, "reverse", 0.2));
212 float n1min = attrf(a, "n1-idle", 55);
213 float n1max = attrf(a, "n1-max", 102);
214 float n2min = attrf(a, "n2-idle", 73);
215 float n2max = attrf(a, "n2-max", 103);
216 j->setRPMs(n1min, n1max, n2min, n2max);
218 j->setTSFC(attrf(a, "tsfc", 0.8));
219 if(a->hasAttribute("egt")) j->setEGT(attrf(a, "egt"));
220 if(a->hasAttribute("epr")) j->setEPR(attrf(a, "epr"));
221 if(a->hasAttribute("exhaust-speed"))
222 j->setVMax(attrf(a, "exhaust-speed") * KTS2MPS);
225 _airplane.addThruster(j, mass, v);
226 sprintf(buf, "/engines/engine[%d]", _nextEngine++);
227 EngRec* er = new EngRec();
229 er->prefix = dup(buf);
231 } else if(eq(name, "gear")) {
232 Gear* g = new Gear();
234 v[0] = attrf(a, "x");
235 v[1] = attrf(a, "y");
236 v[2] = attrf(a, "z");
238 float nrm = Math::mag3(v);
239 if (_vehicle_radius < nrm)
240 _vehicle_radius = nrm;
241 if(a->hasAttribute("upx")) {
242 v[0] = attrf(a, "upx");
243 v[1] = attrf(a, "upy");
244 v[2] = attrf(a, "upz");
251 for(int i=0; i<3; i++)
252 v[i] *= attrf(a, "compression", 1);
253 g->setCompression(v);
254 g->setBrake(attrf(a, "skid", 0));
255 g->setStaticFriction(attrf(a, "sfric", 0.8));
256 g->setDynamicFriction(attrf(a, "dfric", 0.7));
257 g->setSpring(attrf(a, "spring", 1));
258 g->setDamping(attrf(a, "damp", 1));
259 _airplane.addGear(g);
260 } else if(eq(name, "hook")) {
261 Hook* h = new Hook();
263 v[0] = attrf(a, "x");
264 v[1] = attrf(a, "y");
265 v[2] = attrf(a, "z");
267 float length = attrf(a, "length", 1.0);
268 h->setLength(length);
269 float nrm = length+Math::mag3(v);
270 if (_vehicle_radius < nrm)
271 _vehicle_radius = nrm;
272 h->setDownAngle(attrf(a, "down-angle", 70) * DEG2RAD);
273 h->setUpAngle(attrf(a, "up-angle", 0) * DEG2RAD);
274 _airplane.addHook(h);
275 } else if(eq(name, "launchbar")) {
276 Launchbar* l = new Launchbar();
278 v[0] = attrf(a, "x");
279 v[1] = attrf(a, "y");
280 v[2] = attrf(a, "z");
281 l->setLaunchbarMount(v);
282 v[0] = attrf(a, "holdback-x", v[0]);
283 v[1] = attrf(a, "holdback-y", v[1]);
284 v[2] = attrf(a, "holdback-z", v[2]);
285 l->setHoldbackMount(v);
286 float length = attrf(a, "length", 1.0);
287 l->setLength(length);
288 l->setDownAngle(attrf(a, "down-angle", 30) * DEG2RAD);
289 l->setUpAngle(attrf(a, "up-angle", -30) * DEG2RAD);
290 _airplane.addLaunchbar(l);
291 } else if(eq(name, "fuselage")) {
293 v[0] = attrf(a, "ax");
294 v[1] = attrf(a, "ay");
295 v[2] = attrf(a, "az");
296 b[0] = attrf(a, "bx");
297 b[1] = attrf(a, "by");
298 b[2] = attrf(a, "bz");
299 float taper = attrf(a, "taper", 1);
300 float mid = attrf(a, "midpoint", 0.5);
301 _airplane.addFuselage(v, b, attrf(a, "width"), taper, mid);
302 } else if(eq(name, "tank")) {
303 v[0] = attrf(a, "x");
304 v[1] = attrf(a, "y");
305 v[2] = attrf(a, "z");
306 float density = 6.0; // gasoline, in lbs/gal
307 if(a->hasAttribute("jet")) density = 6.72;
308 density *= LBS2KG*CM2GALS;
309 _airplane.addTank(v, attrf(a, "capacity") * LBS2KG, density);
310 } else if(eq(name, "ballast")) {
311 v[0] = attrf(a, "x");
312 v[1] = attrf(a, "y");
313 v[2] = attrf(a, "z");
314 _airplane.addBallast(v, attrf(a, "mass") * LBS2KG);
315 } else if(eq(name, "weight")) {
317 } else if(eq(name, "stall")) {
318 Wing* w = (Wing*)_currObj;
319 w->setStall(attrf(a, "aoa") * DEG2RAD);
320 w->setStallWidth(attrf(a, "width", 2) * DEG2RAD);
321 w->setStallPeak(attrf(a, "peak", 1.5));
322 } else if(eq(name, "flap0")) {
323 ((Wing*)_currObj)->setFlap0(attrf(a, "start"), attrf(a, "end"),
324 attrf(a, "lift"), attrf(a, "drag"));
325 } else if(eq(name, "flap1")) {
326 ((Wing*)_currObj)->setFlap1(attrf(a, "start"), attrf(a, "end"),
327 attrf(a, "lift"), attrf(a, "drag"));
328 } else if(eq(name, "slat")) {
329 ((Wing*)_currObj)->setSlat(attrf(a, "start"), attrf(a, "end"),
330 attrf(a, "aoa"), attrf(a, "drag"));
331 } else if(eq(name, "spoiler")) {
332 ((Wing*)_currObj)->setSpoiler(attrf(a, "start"), attrf(a, "end"),
333 attrf(a, "lift"), attrf(a, "drag"));
334 /* } else if(eq(name, "collective")) {
335 ((Rotor*)_currObj)->setcollective(attrf(a, "min"), attrf(a, "max"));
336 } else if(eq(name, "cyclic")) {
337 ((Rotor*)_currObj)->setcyclic(attrf(a, "ail"), attrf(a, "ele"));
339 } else if(eq(name, "actionpt")) {
340 v[0] = attrf(a, "x");
341 v[1] = attrf(a, "y");
342 v[2] = attrf(a, "z");
343 ((Thruster*)_currObj)->setPosition(v);
344 } else if(eq(name, "dir")) {
345 v[0] = attrf(a, "x");
346 v[1] = attrf(a, "y");
347 v[2] = attrf(a, "z");
348 ((Thruster*)_currObj)->setDirection(v);
349 } else if(eq(name, "control-setting")) {
350 // A cruise or approach control setting
351 const char* axis = a->getValue("axis");
352 float value = attrf(a, "value", 0);
354 _airplane.addCruiseControl(parseAxis(axis), value);
356 _airplane.addApproachControl(parseAxis(axis), value);
357 } else if(eq(name, "control-input")) {
359 // A mapping of input property to a control
360 int axis = parseAxis(a->getValue("axis"));
361 int control = parseOutput(a->getValue("control"));
363 opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
364 opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
365 opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
367 ControlMap* cm = _airplane.getControlMap();
368 if(a->hasAttribute("src0")) {
369 cm->addMapping(axis, control, _currObj, opt,
370 attrf(a, "src0"), attrf(a, "src1"),
371 attrf(a, "dst0"), attrf(a, "dst1"));
373 cm->addMapping(axis, control, _currObj, opt);
375 } else if(eq(name, "control-output")) {
376 // A property output for a control on the current object
377 ControlMap* cm = _airplane.getControlMap();
378 int type = parseOutput(a->getValue("control"));
379 int handle = cm->getOutputHandle(_currObj, type);
381 PropOut* p = new PropOut();
382 p->prop = fgGetNode(a->getValue("prop"), true);
385 p->left = !(a->hasAttribute("side") &&
386 eq("right", a->getValue("side")));
387 p->min = attrf(a, "min", cm->rangeMin(type));
388 p->max = attrf(a, "max", cm->rangeMax(type));
389 _controlProps.add(p);
391 } else if(eq(name, "control-speed")) {
392 ControlMap* cm = _airplane.getControlMap();
393 int type = parseOutput(a->getValue("control"));
394 int handle = cm->getOutputHandle(_currObj, type);
395 float time = attrf(a, "transition-time", 0);
397 cm->setTransitionTime(handle, time);
399 SG_LOG(SG_FLIGHT,SG_ALERT,"Unexpected tag '"
400 << name << "' found in YASim aircraft description");
405 void FGFDM::getExternalInput(float dt)
409 _turb->setMagnitude(fgGetFloat("/environment/turbulence/magnitude-norm"));
410 _turb->update(dt, fgGetFloat("/environment/turbulence/rate-hz"));
413 ControlMap* cm = _airplane.getControlMap();
416 for(i=0; i<_axes.size(); i++) {
417 AxisRec* a = (AxisRec*)_axes.get(i);
418 float val = fgGetFloat(a->name, 0);
419 cm->setInput(a->handle, val);
421 cm->applyControls(dt);
424 for(i=0; i<_weights.size(); i++) {
425 WeightRec* wr = (WeightRec*)_weights.get(i);
426 _airplane.setWeight(wr->handle, LBS2KG * fgGetFloat(wr->prop));
429 for(i=0; i<_thrusters.size(); i++) {
430 EngRec* er = (EngRec*)_thrusters.get(i);
431 Thruster* t = er->eng;
433 if(t->getPropEngine()) {
434 PropEngine* p = t->getPropEngine();
435 sprintf(buf, "%s/rpm", er->prefix);
436 p->setOmega(fgGetFloat(buf, 500) * RPM2RAD);
441 // Linearly "seeks" a property by the specified fraction of the way to
442 // the target value. Used to emulate "slowly changing" output values.
443 static void moveprop(SGPropertyNode* node, const char* prop,
444 float target, float frac)
446 float val = node->getFloatValue(prop);
447 if(frac > 1) frac = 1;
448 if(frac < 0) frac = 0;
449 val += (target - val) * frac;
450 node->setFloatValue(prop, val);
453 void FGFDM::setOutputProperties(float dt)
458 float grossWgt = _airplane.getModel()->getBody()->getTotalMass() * KG2LBS;
459 fgSetFloat("/yasim/gross-weight-lbs", grossWgt);
461 ControlMap* cm = _airplane.getControlMap();
462 for(i=0; i<_controlProps.size(); i++) {
463 PropOut* p = (PropOut*)_controlProps.get(i);
465 ? cm->getOutput(p->handle)
466 : cm->getOutputR(p->handle));
467 float rmin = cm->rangeMin(p->type);
468 float rmax = cm->rangeMax(p->type);
469 float frac = (val - rmin) / (rmax - rmin);
470 val = frac*(p->max - p->min) + p->min;
471 p->prop->setFloatValue(val);
474 for(i=0; i<_airplane.getNumRotors(); i++) {
475 Rotor*r=(Rotor*)_airplane.getRotor(i);
479 while(j = r->getValueforFGSet(j, b, &f))
480 if(b[0]) fgSetFloat(b,f);
482 for(j=0; j < r->numRotorparts(); j++) {
483 Rotorpart* s = (Rotorpart*)r->getRotorpart(j);
487 b=s->getAlphaoutput(k);
488 if(b[0]) fgSetFloat(b, s->getAlpha(k));
491 for(j=0; j < r->numRotorblades(); j++) {
492 Rotorblade* s = (Rotorblade*)r->getRotorblade(j);
495 for (k=0; k<2; k++) {
496 b = s->getAlphaoutput(k);
497 if(b[0]) fgSetFloat(b, s->getAlpha(k));
502 float fuelDensity = _airplane.getFuelDensity(0); // HACK
503 for(i=0; i<_thrusters.size(); i++) {
504 EngRec* er = (EngRec*)_thrusters.get(i);
505 Thruster* t = er->eng;
506 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
508 // Set: running, cranking, prop-thrust, max-hp, power-pct
509 node->setBoolValue("running", t->isRunning());
510 node->setBoolValue("cranking", t->isCranking());
514 float lbs = Math::mag3(tmp) * (KG2LBS/9.8);
515 node->setFloatValue("prop-thrust", lbs); // Deprecated name
516 node->setFloatValue("thrust-lbs", lbs);
517 node->setFloatValue("fuel-flow-gph",
518 (t->getFuelFlow()/fuelDensity) * 3600 * CM2GALS);
520 if(t->getPropEngine()) {
521 PropEngine* p = t->getPropEngine();
522 node->setFloatValue("rpm", p->getOmega() * (1/RPM2RAD));
523 node->setFloatValue("torque-ftlb",
524 p->getEngine()->getTorque() * NM2FTLB);
526 if(p->getEngine()->isPistonEngine()) {
527 PistonEngine* pe = p->getEngine()->isPistonEngine();
528 node->setFloatValue("mp-osi", pe->getMP() * (1/INHG2PA));
529 node->setFloatValue("mp-inhg", pe->getMP() * (1/INHG2PA));
530 node->setFloatValue("egt-degf",
531 pe->getEGT() * K2DEGF + K2DEGFOFFSET);
532 node->setFloatValue("boost-gauge-inhg",
533 pe->getBoost() * (1/INHG2PA));
534 } else if(p->getEngine()->isTurbineEngine()) {
535 TurbineEngine* te = p->getEngine()->isTurbineEngine();
536 node->setFloatValue("n2", te->getN2());
541 Jet* j = t->getJet();
542 node->setFloatValue("n1", j->getN1());
543 node->setFloatValue("n2", j->getN2());
544 node->setFloatValue("epr", j->getEPR());
545 node->setFloatValue("egr-degf",
546 j->getEGT() * K2DEGF + K2DEGFOFFSET);
548 // These are "unmodeled" values that are still needed for
549 // many cockpits. Tie them all to the N1 speed, but
550 // normalize the numbers to the range [0:1] so the
551 // cockpit code can scale them to the right values.
552 float pnorm = j->getPerfNorm();
553 moveprop(node, "oilp-norm", pnorm, dt/3); // 3s seek time
554 moveprop(node, "oilt-norm", pnorm, dt/30); // 30s
555 moveprop(node, "itt-norm", pnorm, dt/1); // 1s
560 Wing* FGFDM::parseWing(XMLAttributes* a, const char* type)
562 Wing* w = new Wing();
565 if(eq(type, "vstab"))
571 pos[0] = attrf(a, "x");
572 pos[1] = attrf(a, "y");
573 pos[2] = attrf(a, "z");
576 w->setLength(attrf(a, "length"));
577 w->setChord(attrf(a, "chord"));
578 w->setSweep(attrf(a, "sweep", 0) * DEG2RAD);
579 w->setTaper(attrf(a, "taper", 1));
580 w->setDihedral(attrf(a, "dihedral", defDihed) * DEG2RAD);
581 w->setCamber(attrf(a, "camber", 0));
582 w->setIncidence(attrf(a, "incidence", 0) * DEG2RAD);
583 w->setTwist(attrf(a, "twist", 0) * DEG2RAD);
585 // The 70% is a magic number that sorta kinda seems to match known
586 // throttle settings to approach speed.
587 w->setInducedDrag(0.7*attrf(a, "idrag", 1));
589 float effect = attrf(a, "effectiveness", 1);
590 w->setDragScale(w->getDragScale()*effect);
596 Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
598 Rotor* w = new Rotor();
600 // float defDihed = 0;
603 pos[0] = attrf(a, "x");
604 pos[1] = attrf(a, "y");
605 pos[2] = attrf(a, "z");
609 normal[0] = attrf(a, "nx");
610 normal[1] = attrf(a, "ny");
611 normal[2] = attrf(a, "nz");
612 w->setNormal(normal);
615 forward[0] = attrf(a, "fx");
616 forward[1] = attrf(a, "fy");
617 forward[2] = attrf(a, "fz");
618 w->setForward(forward);
620 w->setMaxCyclicail(attrf(a, "maxcyclicail", 7.6));
621 w->setMaxCyclicele(attrf(a, "maxcyclicele", 4.94));
622 w->setMinCyclicail(attrf(a, "mincyclicail", -7.6));
623 w->setMinCyclicele(attrf(a, "mincyclicele", -4.94));
624 w->setMaxCollective(attrf(a, "maxcollective", 15.8));
625 w->setMinCollective(attrf(a, "mincollective", -0.2));
626 w->setDiameter(attrf(a, "diameter", 10.2));
627 w->setWeightPerBlade(attrf(a, "weightperblade", 44));
628 w->setNumberOfBlades(attrf(a, "numblades", 4));
629 w->setRelBladeCenter(attrf(a, "relbladecenter", 0.7));
630 w->setDynamic(attrf(a, "dynamic", 0.7));
631 w->setDelta3(attrf(a, "delta3", 0));
632 w->setDelta(attrf(a, "delta", 0));
633 w->setTranslift(attrf(a, "translift", 0.05));
634 w->setC2(attrf(a, "dragfactor", 1));
635 w->setStepspersecond(attrf(a, "stepspersecond", 120));
636 w->setRPM(attrf(a, "rpm", 424));
637 w->setRelLenHinge(attrf(a, "rellenflaphinge", 0.07));
638 w->setAlpha0((attrf(a, "flap0", -5))*YASIM_PI/180);
639 w->setAlphamin((attrf(a, "flapmin", -15))/180*YASIM_PI);
640 w->setAlphamax((attrf(a, "flapmax", 15))*YASIM_PI/180);
641 w->setAlpha0factor(attrf(a, "flap0factor", 1));
642 w->setTeeterdamp(attrf(a,"teeterdamp",.0001));
643 w->setMaxteeterdamp(attrf(a,"maxteeterdamp",1000));
644 w->setRelLenTeeterHinge(attrf(a,"rellenteeterhinge",0.01));
645 void setAlphamin(float f);
646 void setAlphamax(float f);
647 void setAlpha0factor(float f);
652 if(a->hasAttribute("name"))
653 w->setName(a->getValue("name") );
654 if(a->hasAttribute("alphaout0"))
655 w->setAlphaoutput(0,a->getValue("alphaout0") );
656 if(a->hasAttribute("alphaout1")) w->setAlphaoutput(1,a->getValue("alphaout1") );
657 if(a->hasAttribute("alphaout2")) w->setAlphaoutput(2,a->getValue("alphaout2") );
658 if(a->hasAttribute("alphaout3")) w->setAlphaoutput(3,a->getValue("alphaout3") );
659 if(a->hasAttribute("coneout")) w->setAlphaoutput(4,a->getValue("coneout") );
660 if(a->hasAttribute("yawout")) w->setAlphaoutput(5,a->getValue("yawout") );
661 if(a->hasAttribute("rollout")) w->setAlphaoutput(6,a->getValue("rollout") );
663 w->setPitchA(attrf(a, "pitch_a", 10));
664 w->setPitchB(attrf(a, "pitch_b", 10));
665 w->setForceAtPitchA(attrf(a, "forceatpitch_a", 3000));
666 w->setPowerAtPitch0(attrf(a, "poweratpitch_0", 300));
667 w->setPowerAtPitchB(attrf(a, "poweratpitch_b", 3000));
668 if(attrb(a,"notorque"))
670 if(attrb(a,"simblades"))
677 void FGFDM::parsePistonEngine(XMLAttributes* a)
679 float engP = attrf(a, "eng-power") * HP2W;
680 float engS = attrf(a, "eng-rpm") * RPM2RAD;
682 PistonEngine* eng = new PistonEngine(engP, engS);
684 if(a->hasAttribute("displacement"))
685 eng->setDisplacement(attrf(a, "displacement") * CIN2CM);
687 if(a->hasAttribute("compression"))
688 eng->setCompression(attrf(a, "compression"));
690 if(a->hasAttribute("turbo-mul")) {
691 float mul = attrf(a, "turbo-mul");
692 float mp = attrf(a, "wastegate-mp", 1e6) * INHG2PA;
693 eng->setTurboParams(mul, mp);
696 ((PropEngine*)_currObj)->setEngine(eng);
699 void FGFDM::parseTurbineEngine(XMLAttributes* a)
701 float power = attrf(a, "eng-power") * HP2W;
702 float omega = attrf(a, "eng-rpm") * RPM2RAD;
703 float alt = attrf(a, "alt") * FT2M;
704 float flatRating = attrf(a, "flat-rating") * HP2W;
705 TurbineEngine* eng = new TurbineEngine(power, omega, alt, flatRating);
707 if(a->hasAttribute("n2-low-idle"))
708 eng->setN2Range(attrf(a, "n2-low-idle"), attrf(a, "n2-high-idle"),
711 // Nasty units conversion: lbs/hr per hp -> kg/s per watt
712 if(a->hasAttribute("bsfc"))
713 eng->setFuelConsumption(attrf(a, "bsfc") * (LBS2KG/(3600*HP2W)));
715 ((PropEngine*)_currObj)->setEngine(eng);
718 void FGFDM::parsePropeller(XMLAttributes* a)
720 // Legacy Handling for the old engines syntax:
721 PistonEngine* eng = 0;
722 if(a->hasAttribute("eng-power")) {
723 SG_LOG(SG_FLIGHT,SG_ALERT, "WARNING: "
724 << "Legacy engine definition in YASim configuration file. "
726 float engP = attrf(a, "eng-power") * HP2W;
727 float engS = attrf(a, "eng-rpm") * RPM2RAD;
728 eng = new PistonEngine(engP, engS);
729 if(a->hasAttribute("displacement"))
730 eng->setDisplacement(attrf(a, "displacement") * CIN2CM);
731 if(a->hasAttribute("compression"))
732 eng->setCompression(attrf(a, "compression"));
733 if(a->hasAttribute("turbo-mul")) {
734 float mul = attrf(a, "turbo-mul");
735 float mp = attrf(a, "wastegate-mp", 1e6) * INHG2PA;
736 eng->setTurboParams(mul, mp);
740 // Now parse the actual propeller definition:
742 cg[0] = attrf(a, "x");
743 cg[1] = attrf(a, "y");
744 cg[2] = attrf(a, "z");
745 float mass = attrf(a, "mass") * LBS2KG;
746 float moment = attrf(a, "moment");
747 float radius = attrf(a, "radius");
748 float speed = attrf(a, "cruise-speed") * KTS2MPS;
749 float omega = attrf(a, "cruise-rpm") * RPM2RAD;
750 float power = attrf(a, "cruise-power") * HP2W;
751 float rho = Atmosphere::getStdDensity(attrf(a, "cruise-alt") * FT2M);
753 Propeller* prop = new Propeller(radius, speed, omega, rho, power);
754 PropEngine* thruster = new PropEngine(prop, eng, moment);
755 _airplane.addThruster(thruster, mass, cg);
757 if(a->hasAttribute("takeoff-power")) {
758 float power0 = attrf(a, "takeoff-power") * HP2W;
759 float omega0 = attrf(a, "takeoff-rpm") * RPM2RAD;
760 prop->setTakeoff(omega0, power0);
763 if(a->hasAttribute("max-rpm")) {
764 float max = attrf(a, "max-rpm") * RPM2RAD;
765 float min = attrf(a, "min-rpm") * RPM2RAD;
766 thruster->setVariableProp(min, max);
769 if(attrb(a, "contra"))
770 thruster->setContraPair(true);
772 if(a->hasAttribute("manual-pitch")) {
773 prop->setManualPitch();
776 thruster->setGearRatio(attrf(a, "gear-ratio", 1));
779 sprintf(buf, "/engines/engine[%d]", _nextEngine++);
780 EngRec* er = new EngRec();
782 er->prefix = dup(buf);
788 // Turns a string axis name into an integer for use by the
789 // ControlMap. Creates a new axis if this one hasn't been defined
791 int FGFDM::parseAxis(const char* name)
794 for(i=0; i<_axes.size(); i++) {
795 AxisRec* a = (AxisRec*)_axes.get(i);
796 if(eq(a->name, name))
800 // Not there, make a new one.
801 AxisRec* a = new AxisRec();
803 fgGetNode( a->name, true ); // make sure the property name exists
804 a->handle = _airplane.getControlMap()->newInput();
809 int FGFDM::parseOutput(const char* name)
811 if(eq(name, "THROTTLE")) return ControlMap::THROTTLE;
812 if(eq(name, "MIXTURE")) return ControlMap::MIXTURE;
813 if(eq(name, "CONDLEVER")) return ControlMap::CONDLEVER;
814 if(eq(name, "STARTER")) return ControlMap::STARTER;
815 if(eq(name, "MAGNETOS")) return ControlMap::MAGNETOS;
816 if(eq(name, "ADVANCE")) return ControlMap::ADVANCE;
817 if(eq(name, "REHEAT")) return ControlMap::REHEAT;
818 if(eq(name, "BOOST")) return ControlMap::BOOST;
819 if(eq(name, "VECTOR")) return ControlMap::VECTOR;
820 if(eq(name, "PROP")) return ControlMap::PROP;
821 if(eq(name, "BRAKE")) return ControlMap::BRAKE;
822 if(eq(name, "STEER")) return ControlMap::STEER;
823 if(eq(name, "EXTEND")) return ControlMap::EXTEND;
824 if(eq(name, "HEXTEND")) return ControlMap::HEXTEND;
825 if(eq(name, "LEXTEND")) return ControlMap::LEXTEND;
826 if(eq(name, "INCIDENCE")) return ControlMap::INCIDENCE;
827 if(eq(name, "FLAP0")) return ControlMap::FLAP0;
828 if(eq(name, "FLAP1")) return ControlMap::FLAP1;
829 if(eq(name, "SLAT")) return ControlMap::SLAT;
830 if(eq(name, "SPOILER")) return ControlMap::SPOILER;
831 if(eq(name, "CASTERING")) return ControlMap::CASTERING;
832 if(eq(name, "PROPPITCH")) return ControlMap::PROPPITCH;
833 if(eq(name, "PROPFEATHER")) return ControlMap::PROPFEATHER;
834 if(eq(name, "COLLECTIVE")) return ControlMap::COLLECTIVE;
835 if(eq(name, "CYCLICAIL")) return ControlMap::CYCLICAIL;
836 if(eq(name, "CYCLICELE")) return ControlMap::CYCLICELE;
837 if(eq(name, "ROTORENGINEON")) return ControlMap::ROTORENGINEON;
838 if(eq(name, "REVERSE_THRUST")) return ControlMap::REVERSE_THRUST;
839 SG_LOG(SG_FLIGHT,SG_ALERT,"Unrecognized control type '"
840 << name << "' in YASim aircraft description.");
845 void FGFDM::parseWeight(XMLAttributes* a)
847 WeightRec* wr = new WeightRec();
850 v[0] = attrf(a, "x");
851 v[1] = attrf(a, "y");
852 v[2] = attrf(a, "z");
854 wr->prop = dup(a->getValue("mass-prop"));
855 wr->size = attrf(a, "size", 0);
856 wr->handle = _airplane.addWeight(v, wr->size);
861 bool FGFDM::eq(const char* a, const char* b)
863 // Figure it out for yourself. :)
864 while(*a && *b && *a == *b) { a++; b++; }
868 char* FGFDM::dup(const char* s)
872 char* s2 = new char[len+1];
874 while((*p++ = *s++));
879 int FGFDM::attri(XMLAttributes* atts, char* attr)
881 if(!atts->hasAttribute(attr)) {
882 SG_LOG(SG_FLIGHT,SG_ALERT,"Missing '" << attr <<
883 "' in YASim aircraft description");
886 return attri(atts, attr, 0);
889 int FGFDM::attri(XMLAttributes* atts, char* attr, int def)
891 const char* val = atts->getValue(attr);
892 if(val == 0) return def;
893 else return atol(val);
896 float FGFDM::attrf(XMLAttributes* atts, char* attr)
898 if(!atts->hasAttribute(attr)) {
899 SG_LOG(SG_FLIGHT,SG_ALERT,"Missing '" << attr <<
900 "' in YASim aircraft description");
903 return attrf(atts, attr, 0);
906 float FGFDM::attrf(XMLAttributes* atts, char* attr, float def)
908 const char* val = atts->getValue(attr);
909 if(val == 0) return def;
910 else return (float)atof(val);
913 // ACK: the dreaded ambiguous string boolean. Remind me to shoot Maik
914 // when I have a chance. :). Unless you have a parser that can check
915 // symbol constants (we don't), this kind of coding is just a Bad
916 // Idea. This implementation, for example, silently returns a boolean
917 // falsehood for values of "1", "yes", "True", and "TRUE". Which is
918 // especially annoying preexisting boolean attributes in the same
919 // parser want to see "1" and will choke on a "true"...
921 // Unfortunately, this usage creeped into existing configuration files
922 // while I wasn't active, and it's going to be hard to remove. Issue
923 // a warning to nag people into changing their ways for now...
924 bool FGFDM::attrb(XMLAttributes* atts, char* attr)
926 const char* val = atts->getValue(attr);
927 if(val == 0) return false;
930 SG_LOG(SG_FLIGHT, SG_ALERT, "Warning: " <<
931 "deprecated 'true' boolean in YASim configuration file. " <<
932 "Use numeric booleans (attribute=\"1\") instead");
935 return attri(atts, attr, 0) ? true : false;
938 }; // namespace yasim