6 #include <simgear/debug/logstream.hxx>
7 #include <simgear/math/sg_geodesy.hxx>
8 #include <simgear/misc/sg_path.hxx>
9 #include <simgear/scene/model/placement.hxx>
10 #include <simgear/xml/easyxml.hxx>
12 #include <Main/globals.hxx>
13 #include <Main/fg_props.hxx>
16 #include "Atmosphere.hpp"
18 #include "Airplane.hpp"
20 #include "Integrator.hpp"
24 #include "Launchbar.hpp"
25 #include "FGGround.hpp"
26 #include "PropEngine.hpp"
27 #include "PistonEngine.hpp"
31 using namespace yasim;
33 static const float YASIM_PI = 3.14159265358979323846;
34 static const float RAD2DEG = 180/YASIM_PI;
35 static const float PI2 = YASIM_PI*2;
36 static const float RAD2RPM = 9.54929658551;
37 static const float M2FT = 3.2808399;
38 static const float FT2M = 0.3048;
39 static const float MPS2KTS = 3600.0/1852.0;
40 static const float CM2GALS = 264.172037284; // gallons/cubic meter
41 static const float KG2LBS = 2.20462262185;
42 static const float W2HP = 1.3416e-3;
43 static const float INHG2PA = 3386.389;
44 static const float SLUG2KG = 14.59390;
46 YASim::YASim(double dt) :
54 _fdm->getAirplane()->getModel()->setGroundCallback( new FGGround(this) );
55 _fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
65 Airplane* a = _fdm->getAirplane();
67 float aoa = a->getCruiseAoA() * RAD2DEG;
68 float tail = -1 * a->getTailIncidence() * RAD2DEG;
69 float drag = 1000 * a->getDragCoefficient();
71 SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
72 SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
73 SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
74 SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
75 SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
76 SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
77 SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
82 a->getModel()->getBody()->getCG(cg);
83 sprintf(buf, " CG: %.3f, %.3f, %.3f", cg[0], cg[1], cg[2]);
84 SG_LOG(SG_FLIGHT, SG_INFO, buf);
86 if(a->getFailureMsg()) {
87 SG_LOG(SG_FLIGHT, SG_ALERT, "YASim SOLUTION FAILURE:");
88 SG_LOG(SG_FLIGHT, SG_ALERT, a->getFailureMsg());
95 // Run the superclass bind to set up a bunch of property ties
98 // Now UNtie the ones that we are going to set ourselves.
99 fgUntie("/consumables/fuel/tank[0]/level-gal_us");
100 fgUntie("/consumables/fuel/tank[1]/level-gal_us");
103 for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
104 sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
105 sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
106 sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
107 sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
108 sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i); fgUntie(buf);
114 Airplane* a = _fdm->getAirplane();
115 Model* m = a->getModel();
120 m->setCrashed(false);
122 // Figure out the initial speed type
123 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
124 if (speed_set == "NED")
126 else if (speed_set == "UVW")
128 else if (speed_set == "knots")
130 else if (speed_set == "mach")
134 SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
137 // Build a filename and parse it
138 SGPath f(fgGetString("/sim/aircraft-dir"));
139 f.append(fgGetString("/sim/aero"));
141 readXML(f.str(), *_fdm);
143 // Compile it into a real airplane, and tell the user what they got
149 // Create some FG{Eng|Gear}Interface objects
151 for(i=0; i<a->numGear(); i++) {
152 Gear* g = a->getGear(i);
153 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
156 node->setDoubleValue("xoffset-in", pos[0] * M2FT * 12);
157 node->setDoubleValue("yoffset-in", pos[1] * M2FT * 12);
158 node->setDoubleValue("zoffset-in", pos[2] * M2FT * 12);
161 // Are we at ground level? If so, lift the plane up so the gear
163 double runway_altitude = get_Runway_altitude();
164 if(get_Altitude() - runway_altitude < 50) {
165 fgSetBool("/controls/gear/gear-down", false);
166 float minGearZ = 1e18;
167 for(i=0; i<a->numGear(); i++) {
168 Gear* g = a->getGear(i);
171 if(pos[2] < minGearZ)
174 _set_Altitude(runway_altitude - minGearZ*M2FT);
175 fgSetBool("/controls/gear/gear-down", true);
178 // Blank the state, and copy in ours
183 _fdm->getExternalInput();
184 _fdm->getAirplane()->initEngines();
189 void YASim::update(double dt)
194 int iterations = _calc_multiloop(dt);
196 // If we're crashed, then we don't care
197 if(_fdm->getAirplane()->getModel()->isCrashed()) {
198 if(!fgGetBool("/sim/crashed"))
199 fgSetBool("/sim/crashed", true);
203 // ground. Calculate a cartesian coordinate for the ground under
204 // us, find the (geodetic) up vector normal to the ground, then
205 // use that to find the final (radius) term of the plane equation.
206 float v[3] = { get_uBody(), get_vBody(), get_wBody() };
207 float lat = get_Latitude(); float lon = get_Longitude();
208 float alt = get_Altitude() * FT2M; double xyz[3];
209 sgGeodToCart(lat, lon, alt, xyz);
210 // build the environment cache.
211 float vr = _fdm->getVehicleRadius();
212 vr += 2.0*FT2M*dt*Math::mag3(v);
213 prepare_ground_cache_m( _simTime, _simTime + dt, xyz, vr );
215 // Track time increments.
217 = (FGGround*)_fdm->getAirplane()->getModel()->getGroundCallback();
220 for(i=0; i<iterations; i++) {
221 gr->setTimeOffset(_simTime + i*_dt);
227 // Increment the local sim time
229 gr->setTimeOffset(_simTime);
232 void YASim::copyToYASim(bool copyState)
235 double lat = get_Latitude();
236 double lon = get_Longitude();
237 float alt = get_Altitude() * FT2M;
238 float roll = get_Phi();
239 float pitch = get_Theta();
240 float hdg = get_Psi();
244 wind[0] = get_V_north_airmass() * FT2M * -1.0;
245 wind[1] = get_V_east_airmass() * FT2M * -1.0;
246 wind[2] = get_V_down_airmass() * FT2M * -1.0;
248 float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
249 float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
250 float dens = fgGetFloat("/environment/density-slugft3")
251 * SLUG2KG * M2FT*M2FT*M2FT;
254 Model* model = _fdm->getAirplane()->getModel();
257 Glue::xyz2nedMat(lat, lon, xyz2ned);
260 sgGeodToCart(lat, lon, alt, s.pos);
263 Glue::euler2orient(roll, pitch, hdg, s.orient);
264 Math::mmul33(s.orient, xyz2ned, s.orient);
267 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
269 bool needCopy = false;
270 switch (_speed_set) {
272 v[0] = get_V_north() * FT2M * -1.0;
273 v[1] = get_V_east() * FT2M * -1.0;
274 v[2] = get_V_down() * FT2M * -1.0;
277 v[0] = get_uBody() * FT2M;
278 v[1] = get_vBody() * FT2M;
279 v[2] = get_wBody() * FT2M;
280 Math::tmul33(s.orient, v, v);
283 v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
287 Math::tmul33(s.orient, v, v);
291 v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
294 Math::tmul33(s.orient, v, v);
304 _speed_set = UVW; // change to this after initial setting
307 if(copyState || needCopy)
311 Math::tmul33(xyz2ned, wind, wind);
312 model->setWind(wind);
315 model->setAir(pressure, temp, dens);
317 // Query a ground plane for each gear/hook/launchbar and
318 // write that value into the corresponding class.
319 _fdm->getAirplane()->getModel()->updateGround(&s);
321 Launchbar* l = model->getLaunchbar();
323 l->setLaunchCmd(0.0<fgGetFloat("/controls/gear/catapult-launch-cmd"));
326 // All the settables:
328 // These are set below:
331 // _set_Accels_CG_Body
332 // _set_Accels_Pilot_Body
333 // _set_Accels_CG_Body_N
334 // _set_Velocities_Local
335 // _set_Velocities_Ground
336 // _set_Velocities_Wind_Body
341 // _set_V_ground_speed
343 // _set_V_calibrated_kts
351 // _set_Geodetic_Position
352 // _set_Runway_altitude
354 // Ignoring these, because they're unused:
355 // _set_Geocentric_Position
356 // _set_Geocentric_Rates
359 // _set_Earth_position_angle (WTF?)
360 // _set_Gamma_vert_rad
362 // _set_T_Local_to_Body
364 // _set_Sea_Level_Radius
366 // Externally set via the weather code:
367 // _set_Velocities_Local_Airmass
369 // _set_Static_pressure
370 // _set_Static_temperature
371 void YASim::copyFromYASim()
373 Airplane* airplane = _fdm->getAirplane();
374 Model* model = airplane->getModel();
375 State* s = model->getState();
378 double lat, lon, alt;
379 sgCartToGeod(s->pos, &lat, &lon, &alt);
380 _set_Geodetic_Position(lat, lon, alt*M2FT);
381 double groundlevel_m = get_groundlevel_m(lat, lon, alt);
382 _set_Runway_altitude(groundlevel_m*SG_METER_TO_FEET);
383 _set_Altitude_AGL((alt-groundlevel_m)*SG_METER_TO_FEET);
385 // the smallest agl of all gears
386 fgSetFloat("/position/gear-agl-m", model->getAGL());
387 fgSetFloat("/position/gear-agl-ft", model->getAGL()*M2FT);
390 //_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
392 // useful conversion matrix
394 Glue::xyz2nedMat(lat, lon, xyz2ned);
398 Math::vmul33(xyz2ned, s->v, v);
399 _set_Velocities_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
400 _set_V_ground_speed(Math::sqrt(M2FT*v[0]*M2FT*v[0] +
401 M2FT*v[1]*M2FT*v[1]));
402 _set_Climb_Rate(-M2FT*v[2]);
404 // The HUD uses this, but inverts down (?!)
405 _set_Velocities_Ground(M2FT*v[0], M2FT*v[1], -M2FT*v[2]);
407 // _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
411 wind[0] = get_V_north_airmass() * FT2M * -1.0; // Wind in NED
412 wind[1] = get_V_east_airmass() * FT2M * -1.0;
413 wind[2] = get_V_down_airmass() * FT2M * -1.0;
414 Math::tmul33(xyz2ned, wind, wind); // Wind in global
415 Math::sub3(s->v, wind, v); // V - wind in global
416 Math::vmul33(s->orient, v, v); // to body coordinates
417 _set_Velocities_Wind_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
418 _set_V_rel_wind(Math::mag3(v)*M2FT); // units?
420 float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
421 float T = fgGetDouble("/environment/temperature-degc") + 273.15;
422 float D = fgGetFloat("/environment/density-slugft3")
423 *SLUG2KG * M2FT*M2FT*M2FT;
424 _set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T, D)*MPS2KTS);
425 _set_V_calibrated_kts(Atmosphere::calcVCAS(v[0], P, T)*MPS2KTS);
426 _set_Mach_number(Atmosphere::calcMach(v[0], T));
429 Math::vmul33(xyz2ned, s->acc, v);
430 _set_Accels_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
432 Math::vmul33(s->orient, s->acc, v);
433 _set_Accels_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
434 _set_Accels_CG_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
436 _fdm->getAirplane()->getPilotAccel(v);
437 _set_Accels_Pilot_Body(-M2FT*v[0], M2FT*v[1], M2FT*v[2]);
439 // There is no property for pilot G's, but I need it for a panel
440 // instrument. Hack this in here, and REMOVE IT WHEN IT FINDS A
442 fgSetFloat("/accelerations/pilot-g", -v[2]/9.8);
444 // The one appears (!) to want inverted pilot acceleration
445 // numbers, in G's...
446 Math::mul3(1.0/9.8, v, v);
447 _set_Accels_CG_Body_N(v[0], -v[1], -v[2]);
451 Glue::calcAlphaBeta(s, wind, &alpha, &beta);
456 Math::trans33(xyz2ned, tmp);
457 Math::mmul33(s->orient, tmp, tmp);
458 float roll, pitch, hdg;
459 Glue::orient2euler(tmp, &roll, &pitch, &hdg);
460 // make heading positive value
461 if(hdg < 0.0) hdg += PI2;
462 _set_Euler_Angles(roll, pitch, hdg);
465 Math::vmul33(s->orient, s->rot, v);
466 _set_Omega_Body(v[0], -v[1], -v[2]);
468 Glue::calcEulerRates(s, &roll, &pitch, &hdg);
469 _set_Euler_Rates(roll, pitch, hdg);
471 // Fill out our engine and gear objects
473 for(i=0; i<airplane->numGear(); i++) {
474 Gear* g = airplane->getGear(i);
475 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
476 node->setBoolValue("has-brake", g->getBrake() != 0);
477 node->setBoolValue("wow", g->getCompressFraction() != 0);
478 node->setFloatValue("compression-norm", g->getCompressFraction());
479 node->setFloatValue("compression-m", g->getCompressDist());
480 node->setFloatValue("caster-angle-deg", g->getCasterAngle() * RAD2DEG);
481 node->setFloatValue("rollspeed-ms", g->getRollSpeed());
482 node->setBoolValue("ground-is-solid", g->getGroundIsSolid()!=0);
483 node->setFloatValue("ground-friction-factor", g->getGroundFrictionFactor());
486 Hook* h = airplane->getHook();
488 SGPropertyNode * node = fgGetNode("gear/tailhook", 0, true);
489 node->setFloatValue("position-norm", h->getCompressFraction());
492 Launchbar* l = airplane->getLaunchbar();
494 SGPropertyNode * node = fgGetNode("gear/launchbar", 0, true);
495 node->setFloatValue("position-norm", l->getCompressFraction());
496 node->setFloatValue("holdback-position-norm", l->getHoldbackCompressFraction());
497 node->setStringValue("state", l->getState());
498 node->setBoolValue("strop", l->getStrop());