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) );
183 #define p2(x,y) if (a->hasAttribute(y)) r->setParameter((char *)#x,attrf(a,y) );
184 p2(max_power_engine,"max-power-engine")
185 p2(engine_prop_factor,"engine-prop-factor")
188 p2(max_power_rotor_brake,"max-power-rotor-brake")
189 p2(rotorgear_friction,"rotorgear-friction")
190 p2(engine_accel_limit,"engine-accel-limit")
194 } else if(eq(name, "wing")) {
195 _airplane.setWing(parseWing(a, name));
196 } else if(eq(name, "hstab")) {
197 _airplane.setTail(parseWing(a, name));
198 } else if(eq(name, "vstab") || eq(name, "mstab")) {
199 _airplane.addVStab(parseWing(a, name));
200 } else if(eq(name, "piston-engine")) {
201 parsePistonEngine(a);
202 } else if(eq(name, "turbine-engine")) {
203 parseTurbineEngine(a);
204 } else if(eq(name, "propeller")) {
206 } else if(eq(name, "thruster")) {
207 SimpleJet* j = new SimpleJet();
209 v[0] = attrf(a, "x"); v[1] = attrf(a, "y"); v[2] = attrf(a, "z");
211 _airplane.addThruster(j, 0, v);
212 v[0] = attrf(a, "vx"); v[1] = attrf(a, "vy"); v[2] = attrf(a, "vz");
214 j->setThrust(attrf(a, "thrust") * LBS2N);
215 } else if(eq(name, "jet")) {
218 v[0] = attrf(a, "x");
219 v[1] = attrf(a, "y");
220 v[2] = attrf(a, "z");
221 float mass = attrf(a, "mass") * LBS2KG;
222 j->setMaxThrust(attrf(a, "thrust") * LBS2N,
223 attrf(a, "afterburner", 0) * LBS2N);
224 j->setVectorAngle(attrf(a, "rotate", 0) * DEG2RAD);
225 j->setReverseThrust(attrf(a, "reverse", 0.2));
227 float n1min = attrf(a, "n1-idle", 55);
228 float n1max = attrf(a, "n1-max", 102);
229 float n2min = attrf(a, "n2-idle", 73);
230 float n2max = attrf(a, "n2-max", 103);
231 j->setRPMs(n1min, n1max, n2min, n2max);
233 j->setTSFC(attrf(a, "tsfc", 0.8));
234 if(a->hasAttribute("egt")) j->setEGT(attrf(a, "egt"));
235 if(a->hasAttribute("epr")) j->setEPR(attrf(a, "epr"));
236 if(a->hasAttribute("exhaust-speed"))
237 j->setVMax(attrf(a, "exhaust-speed") * KTS2MPS);
238 if(a->hasAttribute("spool-time"))
239 j->setSpooling(attrf(a, "spool-time"));
242 _airplane.addThruster(j, mass, v);
243 sprintf(buf, "/engines/engine[%d]", _nextEngine++);
244 EngRec* er = new EngRec();
246 er->prefix = dup(buf);
248 } else if(eq(name, "gear")) {
249 Gear* g = new Gear();
251 v[0] = attrf(a, "x");
252 v[1] = attrf(a, "y");
253 v[2] = attrf(a, "z");
255 float nrm = Math::mag3(v);
256 if (_vehicle_radius < nrm)
257 _vehicle_radius = nrm;
258 if(a->hasAttribute("upx")) {
259 v[0] = attrf(a, "upx");
260 v[1] = attrf(a, "upy");
261 v[2] = attrf(a, "upz");
268 for(int i=0; i<3; i++)
269 v[i] *= attrf(a, "compression", 1);
270 g->setCompression(v);
271 g->setBrake(attrf(a, "skid", 0));
272 g->setStaticFriction(attrf(a, "sfric", 0.8));
273 g->setDynamicFriction(attrf(a, "dfric", 0.7));
274 g->setSpring(attrf(a, "spring", 1));
275 g->setDamping(attrf(a, "damp", 1));
276 _airplane.addGear(g);
277 } else if(eq(name, "hook")) {
278 Hook* h = new Hook();
280 v[0] = attrf(a, "x");
281 v[1] = attrf(a, "y");
282 v[2] = attrf(a, "z");
284 float length = attrf(a, "length", 1.0);
285 h->setLength(length);
286 float nrm = length+Math::mag3(v);
287 if (_vehicle_radius < nrm)
288 _vehicle_radius = nrm;
289 h->setDownAngle(attrf(a, "down-angle", 70) * DEG2RAD);
290 h->setUpAngle(attrf(a, "up-angle", 0) * DEG2RAD);
291 _airplane.addHook(h);
292 } else if(eq(name, "launchbar")) {
293 Launchbar* l = new Launchbar();
295 v[0] = attrf(a, "x");
296 v[1] = attrf(a, "y");
297 v[2] = attrf(a, "z");
298 l->setLaunchbarMount(v);
299 v[0] = attrf(a, "holdback-x", v[0]);
300 v[1] = attrf(a, "holdback-y", v[1]);
301 v[2] = attrf(a, "holdback-z", v[2]);
302 l->setHoldbackMount(v);
303 float length = attrf(a, "length", 1.0);
304 l->setLength(length);
305 l->setDownAngle(attrf(a, "down-angle", 45) * DEG2RAD);
306 l->setUpAngle(attrf(a, "up-angle", -45) * DEG2RAD);
307 l->setHoldbackLength(attrf(a, "holdback-length", 2.0));
308 _airplane.addLaunchbar(l);
309 } else if(eq(name, "fuselage")) {
311 v[0] = attrf(a, "ax");
312 v[1] = attrf(a, "ay");
313 v[2] = attrf(a, "az");
314 b[0] = attrf(a, "bx");
315 b[1] = attrf(a, "by");
316 b[2] = attrf(a, "bz");
317 float taper = attrf(a, "taper", 1);
318 float mid = attrf(a, "midpoint", 0.5);
319 float cx = attrf(a, "cx", 1);
320 float cy = attrf(a, "cy", 1);
321 float cz = attrf(a, "cz", 1);
322 float idrag = attrf(a, "idrag", 1);
323 _airplane.addFuselage(v, b, attrf(a, "width"), taper, mid,
325 } else if(eq(name, "tank")) {
326 v[0] = attrf(a, "x");
327 v[1] = attrf(a, "y");
328 v[2] = attrf(a, "z");
329 float density = 6.0; // gasoline, in lbs/gal
330 if(a->hasAttribute("jet")) density = 6.72;
331 density *= LBS2KG*CM2GALS;
332 _airplane.addTank(v, attrf(a, "capacity") * LBS2KG, density);
333 } else if(eq(name, "ballast")) {
334 v[0] = attrf(a, "x");
335 v[1] = attrf(a, "y");
336 v[2] = attrf(a, "z");
337 _airplane.addBallast(v, attrf(a, "mass") * LBS2KG);
338 } else if(eq(name, "weight")) {
340 } else if(eq(name, "stall")) {
341 Wing* w = (Wing*)_currObj;
342 w->setStall(attrf(a, "aoa") * DEG2RAD);
343 w->setStallWidth(attrf(a, "width", 2) * DEG2RAD);
344 w->setStallPeak(attrf(a, "peak", 1.5));
345 } else if(eq(name, "flap0")) {
346 ((Wing*)_currObj)->setFlap0(attrf(a, "start"), attrf(a, "end"),
347 attrf(a, "lift"), attrf(a, "drag"));
348 } else if(eq(name, "flap1")) {
349 ((Wing*)_currObj)->setFlap1(attrf(a, "start"), attrf(a, "end"),
350 attrf(a, "lift"), attrf(a, "drag"));
351 } else if(eq(name, "slat")) {
352 ((Wing*)_currObj)->setSlat(attrf(a, "start"), attrf(a, "end"),
353 attrf(a, "aoa"), attrf(a, "drag"));
354 } else if(eq(name, "spoiler")) {
355 ((Wing*)_currObj)->setSpoiler(attrf(a, "start"), attrf(a, "end"),
356 attrf(a, "lift"), attrf(a, "drag"));
357 /* } else if(eq(name, "collective")) {
358 ((Rotor*)_currObj)->setcollective(attrf(a, "min"), attrf(a, "max"));
359 } else if(eq(name, "cyclic")) {
360 ((Rotor*)_currObj)->setcyclic(attrf(a, "ail"), attrf(a, "ele"));
362 } else if(eq(name, "actionpt")) {
363 v[0] = attrf(a, "x");
364 v[1] = attrf(a, "y");
365 v[2] = attrf(a, "z");
366 ((Thruster*)_currObj)->setPosition(v);
367 } else if(eq(name, "dir")) {
368 v[0] = attrf(a, "x");
369 v[1] = attrf(a, "y");
370 v[2] = attrf(a, "z");
371 ((Thruster*)_currObj)->setDirection(v);
372 } else if(eq(name, "control-setting")) {
373 // A cruise or approach control setting
374 const char* axis = a->getValue("axis");
375 float value = attrf(a, "value", 0);
377 _airplane.addCruiseControl(parseAxis(axis), value);
379 _airplane.addApproachControl(parseAxis(axis), value);
380 } else if(eq(name, "control-input")) {
382 // A mapping of input property to a control
383 int axis = parseAxis(a->getValue("axis"));
384 int control = parseOutput(a->getValue("control"));
386 opt |= a->hasAttribute("split") ? ControlMap::OPT_SPLIT : 0;
387 opt |= a->hasAttribute("invert") ? ControlMap::OPT_INVERT : 0;
388 opt |= a->hasAttribute("square") ? ControlMap::OPT_SQUARE : 0;
390 ControlMap* cm = _airplane.getControlMap();
391 if(a->hasAttribute("src0")) {
392 cm->addMapping(axis, control, _currObj, opt,
393 attrf(a, "src0"), attrf(a, "src1"),
394 attrf(a, "dst0"), attrf(a, "dst1"));
396 cm->addMapping(axis, control, _currObj, opt);
398 } else if(eq(name, "control-output")) {
399 // A property output for a control on the current object
400 ControlMap* cm = _airplane.getControlMap();
401 int type = parseOutput(a->getValue("control"));
402 int handle = cm->getOutputHandle(_currObj, type);
404 PropOut* p = new PropOut();
405 p->prop = fgGetNode(a->getValue("prop"), true);
408 p->left = !(a->hasAttribute("side") &&
409 eq("right", a->getValue("side")));
410 p->min = attrf(a, "min", cm->rangeMin(type));
411 p->max = attrf(a, "max", cm->rangeMax(type));
412 _controlProps.add(p);
414 } else if(eq(name, "control-speed")) {
415 ControlMap* cm = _airplane.getControlMap();
416 int type = parseOutput(a->getValue("control"));
417 int handle = cm->getOutputHandle(_currObj, type);
418 float time = attrf(a, "transition-time", 0);
420 cm->setTransitionTime(handle, time);
422 SG_LOG(SG_FLIGHT,SG_ALERT,"Unexpected tag '"
423 << name << "' found in YASim aircraft description");
428 void FGFDM::getExternalInput(float dt)
432 _turb->setMagnitude(fgGetFloat("/environment/turbulence/magnitude-norm"));
433 _turb->update(dt, fgGetFloat("/environment/turbulence/rate-hz"));
436 ControlMap* cm = _airplane.getControlMap();
439 for(i=0; i<_axes.size(); i++) {
440 AxisRec* a = (AxisRec*)_axes.get(i);
441 float val = fgGetFloat(a->name, 0);
442 cm->setInput(a->handle, val);
444 cm->applyControls(dt);
447 for(i=0; i<_weights.size(); i++) {
448 WeightRec* wr = (WeightRec*)_weights.get(i);
449 _airplane.setWeight(wr->handle, LBS2KG * fgGetFloat(wr->prop));
452 for(i=0; i<_thrusters.size(); i++) {
453 EngRec* er = (EngRec*)_thrusters.get(i);
454 Thruster* t = er->eng;
456 if(t->getPropEngine()) {
457 PropEngine* p = t->getPropEngine();
458 sprintf(buf, "%s/rpm", er->prefix);
459 p->setOmega(fgGetFloat(buf, 500) * RPM2RAD);
464 // Linearly "seeks" a property by the specified fraction of the way to
465 // the target value. Used to emulate "slowly changing" output values.
466 static void moveprop(SGPropertyNode* node, const char* prop,
467 float target, float frac)
469 float val = node->getFloatValue(prop);
470 if(frac > 1) frac = 1;
471 if(frac < 0) frac = 0;
472 val += (target - val) * frac;
473 node->setFloatValue(prop, val);
476 void FGFDM::setOutputProperties(float dt)
481 float grossWgt = _airplane.getModel()->getBody()->getTotalMass() * KG2LBS;
482 fgSetFloat("/yasim/gross-weight-lbs", grossWgt);
484 ControlMap* cm = _airplane.getControlMap();
485 for(i=0; i<_controlProps.size(); i++) {
486 PropOut* p = (PropOut*)_controlProps.get(i);
488 ? cm->getOutput(p->handle)
489 : cm->getOutputR(p->handle));
490 float rmin = cm->rangeMin(p->type);
491 float rmax = cm->rangeMax(p->type);
492 float frac = (val - rmin) / (rmax - rmin);
493 val = frac*(p->max - p->min) + p->min;
494 p->prop->setFloatValue(val);
497 for(i=0; i<_airplane.getRotorgear()->getNumRotors(); i++) {
498 Rotor*r=(Rotor*)_airplane.getRotorgear()->getRotor(i);
502 while((j = r->getValueforFGSet(j, b, &f)))
503 if(b[0]) fgSetFloat(b,f);
505 while((j = _airplane.getRotorgear()->getValueforFGSet(j, b, &f)))
506 if(b[0]) fgSetFloat(b,f);
507 for(j=0; j < r->numRotorparts(); j+=r->numRotorparts()>>2) {
508 Rotorpart* s = (Rotorpart*)r->getRotorpart(j);
512 b=s->getAlphaoutput(k);
513 if(b[0]) fgSetFloat(b, s->getAlpha(k));
518 float fuelDensity = _airplane.getFuelDensity(0); // HACK
519 for(i=0; i<_thrusters.size(); i++) {
520 EngRec* er = (EngRec*)_thrusters.get(i);
521 Thruster* t = er->eng;
522 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
524 // Set: running, cranking, prop-thrust, max-hp, power-pct
525 node->setBoolValue("running", t->isRunning());
526 node->setBoolValue("cranking", t->isCranking());
530 float lbs = Math::mag3(tmp) * (KG2LBS/9.8);
531 node->setFloatValue("prop-thrust", lbs); // Deprecated name
532 node->setFloatValue("thrust-lbs", lbs);
533 node->setFloatValue("fuel-flow-gph",
534 (t->getFuelFlow()/fuelDensity) * 3600 * CM2GALS);
536 if(t->getPropEngine()) {
537 PropEngine* p = t->getPropEngine();
538 node->setFloatValue("rpm", p->getOmega() * (1/RPM2RAD));
539 node->setFloatValue("torque-ftlb",
540 p->getEngine()->getTorque() * NM2FTLB);
542 if(p->getEngine()->isPistonEngine()) {
543 PistonEngine* pe = p->getEngine()->isPistonEngine();
544 node->setFloatValue("mp-osi", pe->getMP() * (1/INHG2PA));
545 node->setFloatValue("mp-inhg", pe->getMP() * (1/INHG2PA));
546 node->setFloatValue("egt-degf",
547 pe->getEGT() * K2DEGF + K2DEGFOFFSET);
548 node->setFloatValue("oil-temperature-degf",
549 pe->getOilTemp() * K2DEGF + K2DEGFOFFSET);
550 node->setFloatValue("boost-gauge-inhg",
551 pe->getBoost() * (1/INHG2PA));
552 } else if(p->getEngine()->isTurbineEngine()) {
553 TurbineEngine* te = p->getEngine()->isTurbineEngine();
554 node->setFloatValue("n2", te->getN2());
559 Jet* j = t->getJet();
560 node->setFloatValue("n1", j->getN1());
561 node->setFloatValue("n2", j->getN2());
562 node->setFloatValue("epr", j->getEPR());
563 node->setFloatValue("egt-degf",
564 j->getEGT() * K2DEGF + K2DEGFOFFSET);
566 // These are "unmodeled" values that are still needed for
567 // many cockpits. Tie them all to the N1 speed, but
568 // normalize the numbers to the range [0:1] so the
569 // cockpit code can scale them to the right values.
570 float pnorm = j->getPerfNorm();
571 moveprop(node, "oilp-norm", pnorm, dt/3); // 3s seek time
572 moveprop(node, "oilt-norm", pnorm, dt/30); // 30s
573 moveprop(node, "itt-norm", pnorm, dt/1); // 1s
578 Wing* FGFDM::parseWing(XMLAttributes* a, const char* type)
580 Wing* w = new Wing();
583 if(eq(type, "vstab"))
589 pos[0] = attrf(a, "x");
590 pos[1] = attrf(a, "y");
591 pos[2] = attrf(a, "z");
594 w->setLength(attrf(a, "length"));
595 w->setChord(attrf(a, "chord"));
596 w->setSweep(attrf(a, "sweep", 0) * DEG2RAD);
597 w->setTaper(attrf(a, "taper", 1));
598 w->setDihedral(attrf(a, "dihedral", defDihed) * DEG2RAD);
599 w->setCamber(attrf(a, "camber", 0));
601 // These come in with positive indicating positive AoA, but the
602 // internals expect a rotation about the left-pointing Y axis, so
604 w->setIncidence(attrf(a, "incidence", 0) * DEG2RAD * -1);
605 w->setTwist(attrf(a, "twist", 0) * DEG2RAD * -1);
607 // The 70% is a magic number that sorta kinda seems to match known
608 // throttle settings to approach speed.
609 w->setInducedDrag(0.7*attrf(a, "idrag", 1));
611 float effect = attrf(a, "effectiveness", 1);
612 w->setDragScale(w->getDragScale()*effect);
618 Rotor* FGFDM::parseRotor(XMLAttributes* a, const char* type)
620 Rotor* w = new Rotor();
622 // float defDihed = 0;
625 pos[0] = attrf(a, "x");
626 pos[1] = attrf(a, "y");
627 pos[2] = attrf(a, "z");
631 normal[0] = attrf(a, "nx");
632 normal[1] = attrf(a, "ny");
633 normal[2] = attrf(a, "nz");
634 w->setNormal(normal);
637 forward[0] = attrf(a, "fx");
638 forward[1] = attrf(a, "fy");
639 forward[2] = attrf(a, "fz");
640 w->setForward(forward);
642 w->setMaxCyclicail(attrf(a, "maxcyclicail", 7.6));
643 w->setMaxCyclicele(attrf(a, "maxcyclicele", 4.94));
644 w->setMinCyclicail(attrf(a, "mincyclicail", -7.6));
645 w->setMinCyclicele(attrf(a, "mincyclicele", -4.94));
646 w->setMaxCollective(attrf(a, "maxcollective", 15.8));
647 w->setMinCollective(attrf(a, "mincollective", -0.2));
648 w->setDiameter(attrf(a, "diameter", 10.2));
649 w->setWeightPerBlade(attrf(a, "weightperblade", 44));
650 w->setNumberOfBlades(attrf(a, "numblades", 4));
651 w->setRelBladeCenter(attrf(a, "relbladecenter", 0.7));
652 w->setDynamic(attrf(a, "dynamic", 0.7));
653 w->setDelta3(attrf(a, "delta3", 0));
654 w->setDelta(attrf(a, "delta", 0));
655 w->setTranslift(attrf(a, "translift", 0.05));
656 w->setC2(attrf(a, "dragfactor", 1));
657 w->setStepspersecond(attrf(a, "stepspersecond", 120));
658 w->setRPM(attrf(a, "rpm", 424));
659 w->setRelLenHinge(attrf(a, "rellenflaphinge", 0.07));
660 w->setAlpha0((attrf(a, "flap0", -5))*YASIM_PI/180);
661 w->setAlphamin((attrf(a, "flapmin", -15))/180*YASIM_PI);
662 w->setAlphamax((attrf(a, "flapmax", 15))*YASIM_PI/180);
663 w->setAlpha0factor(attrf(a, "flap0factor", 1));
664 w->setTeeterdamp(attrf(a,"teeterdamp",.0001));
665 w->setMaxteeterdamp(attrf(a,"maxteeterdamp",1000));
666 w->setRelLenTeeterHinge(attrf(a,"rellenteeterhinge",0.01));
667 void setAlphamin(float f);
668 void setAlphamax(float f);
669 void setAlpha0factor(float f);
674 if(a->hasAttribute("name"))
675 w->setName(a->getValue("name") );
676 if(a->hasAttribute("alphaout0"))
677 w->setAlphaoutput(0,a->getValue("alphaout0") );
678 if(a->hasAttribute("alphaout1")) w->setAlphaoutput(1,a->getValue("alphaout1") );
679 if(a->hasAttribute("alphaout2")) w->setAlphaoutput(2,a->getValue("alphaout2") );
680 if(a->hasAttribute("alphaout3")) w->setAlphaoutput(3,a->getValue("alphaout3") );
681 if(a->hasAttribute("coneout")) w->setAlphaoutput(4,a->getValue("coneout") );
682 if(a->hasAttribute("yawout")) w->setAlphaoutput(5,a->getValue("yawout") );
683 if(a->hasAttribute("rollout")) w->setAlphaoutput(6,a->getValue("rollout") );
685 w->setPitchA(attrf(a, "pitch-a", 10));
686 w->setPitchB(attrf(a, "pitch-b", 10));
687 w->setForceAtPitchA(attrf(a, "forceatpitch-a", 3000));
688 w->setPowerAtPitch0(attrf(a, "poweratpitch-0", 300));
689 w->setPowerAtPitchB(attrf(a, "poweratpitch-b", 3000));
690 if(attrb(a,"notorque"))
693 #define p(x) if (a->hasAttribute(#x)) w->setParameter((char *)#x,attrf(a,#x) );
694 #define p2(x,y) if (a->hasAttribute(y)) w->setParameter((char *)#x,attrf(a,y) );
695 p2(translift_ve,"translift-ve")
696 p2(translift_maxfactor,"translift-maxfactor")
697 p2(ground_effect_constant,"ground-effect-constant")
698 p2(vortex_state_lift_factor,"vortex-state-lift-factor")
699 p2(vortex_state_c1,"vortex-state-c1")
700 p2(vortex_state_c2,"vortex-state-c2")
701 p2(vortex_state_c3,"vortex-state_c3")
702 p2(vortex_state_e1,"vortex-state-e1")
703 p2(vortex_state_e2,"vortex-state-e2")
705 p2(number_of_segments,"number-of-segments")
706 p2(number_of_parts,"number-of-parts")
707 p2(rel_len_where_incidence_is_measured,"rel-len-where-incidence-is-measured")
710 p2(airfoil_incidence_no_lift,"airfoil-incidence-no-lift")
711 p2(rel_len_blade_start,"rel-len-blade-start")
712 p2(incidence_stall_zero_speed,"incidence-stall-zero-speed")
713 p2(incidence_stall_half_sonic_speed,"incidence-stall-half-sonic-speed")
714 p2(lift_factor_stall,"lift-factor-stall")
715 p2(stall_change_over,"stall-change-over")
716 p2(drag_factor_stall,"drag-factor-stall")
717 p2(airfoil_lift_coefficient,"airfoil-lift-coefficient")
718 p2(airfoil_drag_coefficient0,"airfoil-drag-coefficient0")
719 p2(airfoil_drag_coefficient1,"airfoil-drag-coefficient1")
720 p2(cyclic_factor,"cyclic-factor")
721 p2(rotor_correction_factor,"rotor-correction-factor")
728 void FGFDM::parsePistonEngine(XMLAttributes* a)
730 float engP = attrf(a, "eng-power") * HP2W;
731 float engS = attrf(a, "eng-rpm") * RPM2RAD;
733 PistonEngine* eng = new PistonEngine(engP, engS);
735 if(a->hasAttribute("displacement"))
736 eng->setDisplacement(attrf(a, "displacement") * CIN2CM);
738 if(a->hasAttribute("compression"))
739 eng->setCompression(attrf(a, "compression"));
741 if(a->hasAttribute("turbo-mul")) {
742 float mul = attrf(a, "turbo-mul");
743 float mp = attrf(a, "wastegate-mp", 1e6) * INHG2PA;
744 eng->setTurboParams(mul, mp);
745 eng->setTurboLag(attrf(a, "turbo-lag", 2));
748 if(a->hasAttribute("supercharger"))
749 eng->setSupercharger(attrb(a, "supercharger"));
751 ((PropEngine*)_currObj)->setEngine(eng);
754 void FGFDM::parseTurbineEngine(XMLAttributes* a)
756 float power = attrf(a, "eng-power") * HP2W;
757 float omega = attrf(a, "eng-rpm") * RPM2RAD;
758 float alt = attrf(a, "alt") * FT2M;
759 float flatRating = attrf(a, "flat-rating") * HP2W;
760 TurbineEngine* eng = new TurbineEngine(power, omega, alt, flatRating);
762 if(a->hasAttribute("n2-low-idle"))
763 eng->setN2Range(attrf(a, "n2-low-idle"), attrf(a, "n2-high-idle"),
766 // Nasty units conversion: lbs/hr per hp -> kg/s per watt
767 if(a->hasAttribute("bsfc"))
768 eng->setFuelConsumption(attrf(a, "bsfc") * (LBS2KG/(3600*HP2W)));
770 ((PropEngine*)_currObj)->setEngine(eng);
773 void FGFDM::parsePropeller(XMLAttributes* a)
775 // Legacy Handling for the old engines syntax:
776 PistonEngine* eng = 0;
777 if(a->hasAttribute("eng-power")) {
778 SG_LOG(SG_FLIGHT,SG_ALERT, "WARNING: "
779 << "Legacy engine definition in YASim configuration file. "
781 float engP = attrf(a, "eng-power") * HP2W;
782 float engS = attrf(a, "eng-rpm") * RPM2RAD;
783 eng = new PistonEngine(engP, engS);
784 if(a->hasAttribute("displacement"))
785 eng->setDisplacement(attrf(a, "displacement") * CIN2CM);
786 if(a->hasAttribute("compression"))
787 eng->setCompression(attrf(a, "compression"));
788 if(a->hasAttribute("turbo-mul")) {
789 float mul = attrf(a, "turbo-mul");
790 float mp = attrf(a, "wastegate-mp", 1e6) * INHG2PA;
791 eng->setTurboParams(mul, mp);
795 // Now parse the actual propeller definition:
797 cg[0] = attrf(a, "x");
798 cg[1] = attrf(a, "y");
799 cg[2] = attrf(a, "z");
800 float mass = attrf(a, "mass") * LBS2KG;
801 float moment = attrf(a, "moment");
802 float radius = attrf(a, "radius");
803 float speed = attrf(a, "cruise-speed") * KTS2MPS;
804 float omega = attrf(a, "cruise-rpm") * RPM2RAD;
805 float power = attrf(a, "cruise-power") * HP2W;
806 float rho = Atmosphere::getStdDensity(attrf(a, "cruise-alt") * FT2M);
808 Propeller* prop = new Propeller(radius, speed, omega, rho, power);
809 PropEngine* thruster = new PropEngine(prop, eng, moment);
810 _airplane.addThruster(thruster, mass, cg);
812 // Set the stops (fine = minimum pitch, coarse = maximum pitch)
813 float fine_stop = attrf(a, "fine-stop", 0.25f);
814 float coarse_stop = attrf(a, "coarse-stop", 4.0f);
815 prop->setStops(fine_stop, coarse_stop);
817 if(a->hasAttribute("takeoff-power")) {
818 float power0 = attrf(a, "takeoff-power") * HP2W;
819 float omega0 = attrf(a, "takeoff-rpm") * RPM2RAD;
820 prop->setTakeoff(omega0, power0);
823 if(a->hasAttribute("max-rpm")) {
824 float max = attrf(a, "max-rpm") * RPM2RAD;
825 float min = attrf(a, "min-rpm") * RPM2RAD;
826 thruster->setVariableProp(min, max);
829 if(attrb(a, "contra"))
830 thruster->setContraPair(true);
832 if(a->hasAttribute("manual-pitch")) {
833 prop->setManualPitch();
836 thruster->setGearRatio(attrf(a, "gear-ratio", 1));
839 sprintf(buf, "/engines/engine[%d]", _nextEngine++);
840 EngRec* er = new EngRec();
842 er->prefix = dup(buf);
848 // Turns a string axis name into an integer for use by the
849 // ControlMap. Creates a new axis if this one hasn't been defined
851 int FGFDM::parseAxis(const char* name)
854 for(i=0; i<_axes.size(); i++) {
855 AxisRec* a = (AxisRec*)_axes.get(i);
856 if(eq(a->name, name))
860 // Not there, make a new one.
861 AxisRec* a = new AxisRec();
863 fgGetNode( a->name, true ); // make sure the property name exists
864 a->handle = _airplane.getControlMap()->newInput();
869 int FGFDM::parseOutput(const char* name)
871 if(eq(name, "THROTTLE")) return ControlMap::THROTTLE;
872 if(eq(name, "MIXTURE")) return ControlMap::MIXTURE;
873 if(eq(name, "CONDLEVER")) return ControlMap::CONDLEVER;
874 if(eq(name, "STARTER")) return ControlMap::STARTER;
875 if(eq(name, "MAGNETOS")) return ControlMap::MAGNETOS;
876 if(eq(name, "ADVANCE")) return ControlMap::ADVANCE;
877 if(eq(name, "REHEAT")) return ControlMap::REHEAT;
878 if(eq(name, "BOOST")) return ControlMap::BOOST;
879 if(eq(name, "VECTOR")) return ControlMap::VECTOR;
880 if(eq(name, "PROP")) return ControlMap::PROP;
881 if(eq(name, "BRAKE")) return ControlMap::BRAKE;
882 if(eq(name, "STEER")) return ControlMap::STEER;
883 if(eq(name, "EXTEND")) return ControlMap::EXTEND;
884 if(eq(name, "HEXTEND")) return ControlMap::HEXTEND;
885 if(eq(name, "LEXTEND")) return ControlMap::LEXTEND;
886 if(eq(name, "INCIDENCE")) return ControlMap::INCIDENCE;
887 if(eq(name, "FLAP0")) return ControlMap::FLAP0;
888 if(eq(name, "FLAP1")) return ControlMap::FLAP1;
889 if(eq(name, "SLAT")) return ControlMap::SLAT;
890 if(eq(name, "SPOILER")) return ControlMap::SPOILER;
891 if(eq(name, "CASTERING")) return ControlMap::CASTERING;
892 if(eq(name, "PROPPITCH")) return ControlMap::PROPPITCH;
893 if(eq(name, "PROPFEATHER")) return ControlMap::PROPFEATHER;
894 if(eq(name, "COLLECTIVE")) return ControlMap::COLLECTIVE;
895 if(eq(name, "CYCLICAIL")) return ControlMap::CYCLICAIL;
896 if(eq(name, "CYCLICELE")) return ControlMap::CYCLICELE;
897 if(eq(name, "ROTORGEARENGINEON")) return ControlMap::ROTORENGINEON;
898 if(eq(name, "ROTORBRAKE")) return ControlMap::ROTORBRAKE;
899 if(eq(name, "REVERSE_THRUST")) return ControlMap::REVERSE_THRUST;
900 if(eq(name, "WASTEGATE")) return ControlMap::WASTEGATE;
901 SG_LOG(SG_FLIGHT,SG_ALERT,"Unrecognized control type '"
902 << name << "' in YASim aircraft description.");
907 void FGFDM::parseWeight(XMLAttributes* a)
909 WeightRec* wr = new WeightRec();
912 v[0] = attrf(a, "x");
913 v[1] = attrf(a, "y");
914 v[2] = attrf(a, "z");
916 wr->prop = dup(a->getValue("mass-prop"));
917 wr->size = attrf(a, "size", 0);
918 wr->handle = _airplane.addWeight(v, wr->size);
923 bool FGFDM::eq(const char* a, const char* b)
925 // Figure it out for yourself. :)
926 while(*a && *b && *a == *b) { a++; b++; }
930 char* FGFDM::dup(const char* s)
934 char* s2 = new char[len+1];
936 while((*p++ = *s++));
941 int FGFDM::attri(XMLAttributes* atts, char* attr)
943 if(!atts->hasAttribute(attr)) {
944 SG_LOG(SG_FLIGHT,SG_ALERT,"Missing '" << attr <<
945 "' in YASim aircraft description");
948 return attri(atts, attr, 0);
951 int FGFDM::attri(XMLAttributes* atts, char* attr, int def)
953 const char* val = atts->getValue(attr);
954 if(val == 0) return def;
955 else return atol(val);
958 float FGFDM::attrf(XMLAttributes* atts, char* attr)
960 if(!atts->hasAttribute(attr)) {
961 SG_LOG(SG_FLIGHT,SG_ALERT,"Missing '" << attr <<
962 "' in YASim aircraft description");
965 return attrf(atts, attr, 0);
968 float FGFDM::attrf(XMLAttributes* atts, char* attr, float def)
970 const char* val = atts->getValue(attr);
971 if(val == 0) return def;
972 else return (float)atof(val);
975 // ACK: the dreaded ambiguous string boolean. Remind me to shoot Maik
976 // when I have a chance. :). Unless you have a parser that can check
977 // symbol constants (we don't), this kind of coding is just a Bad
978 // Idea. This implementation, for example, silently returns a boolean
979 // falsehood for values of "1", "yes", "True", and "TRUE". Which is
980 // especially annoying preexisting boolean attributes in the same
981 // parser want to see "1" and will choke on a "true"...
983 // Unfortunately, this usage creeped into existing configuration files
984 // while I wasn't active, and it's going to be hard to remove. Issue
985 // a warning to nag people into changing their ways for now...
986 bool FGFDM::attrb(XMLAttributes* atts, char* attr)
988 const char* val = atts->getValue(attr);
989 if(val == 0) return false;
992 SG_LOG(SG_FLIGHT, SG_ALERT, "Warning: " <<
993 "deprecated 'true' boolean in YASim configuration file. " <<
994 "Use numeric booleans (attribute=\"1\") instead");
997 return attri(atts, attr, 0) ? true : false;
1000 }; // namespace yasim