1 #include <simgear/misc/sg_path.hxx>
2 #include <simgear/debug/logstream.hxx>
3 #include <simgear/xml/easyxml.hxx>
4 #include <Main/globals.hxx>
5 #include <Main/fg_props.hxx>
8 #include "Atmosphere.hpp"
10 #include "Airplane.hpp"
12 #include "Integrator.hpp"
15 #include "PropEngine.hpp"
16 #include "PistonEngine.hpp"
20 using namespace yasim;
22 static const float RAD2DEG = 180/3.14159265358979323846;
23 static const float RAD2RPM = 9.54929658551;
24 static const float M2FT = 3.2808399;
25 static const float FT2M = 0.3048;
26 static const float MPS2KTS = 3600.0/1852.0;
27 static const float CM2GALS = 264.172037284; // gallons/cubic meter
28 static const float KG2LBS = 2.20462262185;
29 static const float W2HP = 1.3416e-3;
30 static const float INHG2PA = 3386.389;
32 void YASim::printDEBUG()
34 static int debugCount = 0;
40 // printf("N1 %5.1f N2 %5.1f FF %7.1f EPR %4.2f EGT %6.1f\n",
41 // fgGetFloat("/engines/engine[0]/n1"),
42 // fgGetFloat("/engines/engine[0]/n2"),
43 // fgGetFloat("/engines/engine[0]/fuel-flow-gph"),
44 // fgGetFloat("/engines/engine[0]/epr"),
45 // fgGetFloat("/engines/engine[0]/egt"));
47 // printf("gear: %f\n", fgGetFloat("/controls/gear-down"));
49 // printf("alpha %5.1f beta %5.1f\n", get_Alpha()*57.3, get_Beta()*57.3);
51 // printf("pilot: %f %f %f\n",
52 // fgGetDouble("/sim/view/pilot/x-offset-m"),
53 // fgGetDouble("/sim/view/pilot/y-offset-m"),
54 // fgGetDouble("/sim/view/pilot/z-offset-m"));
58 YASim::YASim(double dt)
65 _fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
70 Airplane* a = _fdm->getAirplane();
72 float aoa = a->getCruiseAoA() * RAD2DEG;
73 float tail = -1 * a->getTailIncidence() * RAD2DEG;
74 float drag = 1000 * a->getDragCoefficient();
76 SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
77 SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
78 SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
79 SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
80 SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
81 SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
82 SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
87 a->getModel()->getBody()->getCG(cg);
88 sprintf(buf, " CG: %.1f, %.1f, %.1f", cg[0], cg[1], cg[2]);
89 SG_LOG(SG_FLIGHT, SG_INFO, buf);
91 if(a->getFailureMsg()) {
92 SG_LOG(SG_FLIGHT, SG_ALERT, "YASim SOLUTION FAILURE:");
93 SG_LOG(SG_FLIGHT, SG_ALERT, a->getFailureMsg());
100 // Run the superclass bind to set up a bunch of property ties
103 // Now UNtie the ones that we are going to set ourselves.
104 fgUntie("/consumables/fuel/tank[0]/level-gal_us");
105 fgUntie("/consumables/fuel/tank[1]/level-gal_us");
108 for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
109 sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
110 sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
111 sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
112 sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
119 Airplane* a = _fdm->getAirplane();
120 Model* m = a->getModel();
125 m->setCrashed(false);
127 // Build a filename and parse it
128 SGPath f(globals->get_fg_root());
129 f.append("Aircraft-yasim");
130 f.append(fgGetString("/sim/aero"));
132 readXML(f.str(), *_fdm);
134 // Compile it into a real airplane, and tell the user what they got
140 // Create some FG{Eng|Gear}Interface objects
142 for(i=0; i<a->numGear(); i++) {
143 Gear* g = a->getGear(i);
144 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
147 node->setDoubleValue("xoffset-in", pos[0]);
148 node->setDoubleValue("yoffset-in", pos[1]);
149 node->setDoubleValue("zoffset-in", pos[2]);
151 for(i=0; i<m->numThrusters(); i++) {
152 // Sanify the initial input conditions
154 sprintf(buf, "/controls/throttle[%d]", i); fgSetFloat(buf, 0);
155 sprintf(buf, "/controls/mixture[%d]", i); fgSetFloat(buf, 1);
156 sprintf(buf, "/controls/propeller-pitch[%d]", i); fgSetFloat(buf, 1);
157 sprintf(buf, "/controls/afterburner[%d]", i); fgSetFloat(buf, 0);
160 fgSetFloat("/controls/slats", 0);
161 fgSetFloat("/controls/spoilers", 0);
163 // Are we at ground level? If so, lift the plane up so the gear
165 double runway_altitude = get_Runway_altitude();
166 fgSetBool("/controls/gear-down", false);
167 if(get_Altitude() - runway_altitude < 50) {
168 float minGearZ = 1e18;
169 for(i=0; i<a->numGear(); i++) {
170 Gear* g = a->getGear(i);
173 if(pos[2] < minGearZ)
176 _set_Altitude(runway_altitude - minGearZ*M2FT);
177 fgSetBool("/controls/gear-down", true);
180 // The pilot's eyepoint
182 a->getPilotPos(pilot);
183 // fgSetFloat("/sim/view/pilot/x-offset-m", -pilot[0]);
184 // fgSetFloat("/sim/view/pilot/y-offset-m", -pilot[1]);
185 // fgSetFloat("/sim/view/pilot/z-offset-m", pilot[2]);
187 // Blank the state, and copy in ours
192 _fdm->getExternalInput();
193 _fdm->getAirplane()->initEngines();
198 void YASim::update(double dt)
203 int iterations = _calc_multiloop(dt);
205 // If we're crashed, then we don't care
206 if(_fdm->getAirplane()->getModel()->isCrashed())
210 for(i=0; i<iterations; i++) {
219 void YASim::copyToYASim(bool copyState)
222 float lat = get_Latitude();
223 float lon = get_Longitude();
224 float alt = get_Altitude() * FT2M;
225 float roll = get_Phi();
226 float pitch = get_Theta();
227 float hdg = get_Psi();
231 wind[0] = get_V_north_airmass() * FT2M * -1.0;
232 wind[1] = get_V_east_airmass() * FT2M * -1.0;
233 wind[2] = get_V_down_airmass() * FT2M * -1.0;
235 // Get ground elevation from the FGinterface's FGlocation data
236 double ground = getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m();
237 // cout << "YASIM: ground = " << ground << endl;
239 float pressure = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
240 float temp = fgGetDouble("/environment/temperature-degC") + 273.15;
243 Model* model = _fdm->getAirplane()->getModel();
246 Glue::xyz2nedMat(lat, lon, xyz2ned);
249 Glue::geod2xyz(lat, lon, alt, s.pos);
252 Glue::euler2orient(roll, pitch, hdg, s.orient);
253 Math::mmul33(s.orient, xyz2ned, s.orient);
255 // Copy in the existing velocity for now...
256 Math::set3(model->getState()->v, s.v);
262 Math::tmul33(xyz2ned, wind, wind);
263 model->setWind(wind);
265 // ground. Calculate a cartesian coordinate for the ground under
266 // us, find the (geodetic) up vector normal to the ground, then
267 // use that to find the final (radius) term of the plane equation.
268 double xyz[3], gplane[3]; float up[3];
269 Glue::geod2xyz(lat, lon, ground, xyz);
270 Glue::geodUp(xyz, up); // FIXME, needless reverse computation...
272 for(i=0; i<3; i++) gplane[i] = up[i];
273 double rad = gplane[0]*xyz[0] + gplane[1]*xyz[1] + gplane[2]*xyz[2];
274 model->setGroundPlane(gplane, rad);
277 model->setAir(pressure, temp);
280 // All the settables:
282 // These are set below:
285 // _set_Accels_CG_Body
286 // _set_Accels_Pilot_Body
287 // _set_Accels_CG_Body_N
288 // _set_Velocities_Local
289 // _set_Velocities_Ground
290 // _set_Velocities_Wind_Body
295 // _set_V_ground_speed
297 // _set_V_calibrated_kts
305 // _set_Geodetic_Position
306 // _set_Runway_altitude
308 // Ignoring these, because they're unused:
309 // _set_Geocentric_Position
310 // _set_Geocentric_Rates
313 // _set_Earth_position_angle (WTF?)
314 // _set_Gamma_vert_rad
316 // _set_T_Local_to_Body
318 // _set_Sea_Level_Radius
320 // Externally set via the weather code:
321 // _set_Velocities_Local_Airmass
323 // _set_Static_pressure
324 // _set_Static_temperature
325 void YASim::copyFromYASim()
327 Airplane* airplane = _fdm->getAirplane();
328 Model* model = airplane->getModel();
329 State* s = model->getState();
332 double lat, lon, alt;
333 Glue::xyz2geod(s->pos, &lat, &lon, &alt);
334 _set_Geodetic_Position(lat, lon, alt*M2FT);
337 //_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
339 _set_Altitude_AGL(model->getAGL() * M2FT);
341 // useful conversion matrix
343 Glue::xyz2nedMat(lat, lon, xyz2ned);
347 Math::vmul33(xyz2ned, s->v, v);
348 _set_Velocities_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
349 _set_V_ground_speed(Math::sqrt(M2FT*v[0]*M2FT*v[0] +
350 M2FT*v[1]*M2FT*v[1]));
351 _set_Climb_Rate(-M2FT*v[2]);
353 // The HUD uses this, but inverts down (?!)
354 _set_Velocities_Ground(M2FT*v[0], M2FT*v[1], -M2FT*v[2]);
356 // _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
360 wind[0] = get_V_north_airmass() * FT2M * -1.0; // Wind in NED
361 wind[1] = get_V_east_airmass() * FT2M * -1.0;
362 wind[2] = get_V_down_airmass() * FT2M * -1.0;
363 Math::tmul33(xyz2ned, wind, wind); // Wind in global
364 Math::sub3(s->v, wind, v); // V - wind in global
365 Math::vmul33(s->orient, s->v, v); // to body coordinates
366 _set_Velocities_Wind_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
367 _set_V_rel_wind(Math::mag3(v)*M2FT); // units?
370 float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
371 float T = fgGetDouble("/environment/temperature-degC") + 273.15;
372 _set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T)*MPS2KTS);
373 _set_V_calibrated_kts(Atmosphere::calcVCAS(v[0], P, T)*MPS2KTS);
374 _set_Mach_number(Atmosphere::calcMach(v[0], T));
377 Math::vmul33(xyz2ned, s->acc, v);
378 _set_Accels_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
380 Math::vmul33(s->orient, s->acc, v);
381 _set_Accels_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
382 _set_Accels_CG_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
384 _fdm->getAirplane()->getPilotAccel(v);
385 _set_Accels_Pilot_Body(M2FT*v[0], M2FT*v[1], -M2FT*v[2]);
387 // The one appears (!) to want inverted pilot acceleration
388 // numbers, in G's...
389 Math::mul3(1.0/9.8, v, v);
390 _set_Accels_CG_Body_N(v[0], -v[1], -v[2]);
394 Glue::calcAlphaBeta(s, &alpha, &beta);
399 Math::trans33(xyz2ned, tmp);
400 Math::mmul33(s->orient, tmp, tmp);
401 float roll, pitch, hdg;
402 Glue::orient2euler(tmp, &roll, &pitch, &hdg);
403 _set_Euler_Angles(roll, pitch, hdg);
406 Math::vmul33(s->orient, s->rot, v);
407 _set_Omega_Body(v[0], -v[1], -v[2]);
409 Glue::calcEulerRates(s, &roll, &pitch, &hdg);
410 _set_Euler_Rates(roll, pitch, hdg);
412 // Fill out our engine and gear objects
414 for(i=0; i<airplane->numGear(); i++) {
415 Gear* g = airplane->getGear(i);
416 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
417 node->setBoolValue("has-brake", g->getBrake() != 0);
418 node->setBoolValue("wow", g->getCompressFraction() != 0);
419 node->setFloatValue("compression-norm", g->getCompressFraction());
422 for(i=0; i<model->numThrusters(); i++) {
423 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
424 Thruster* t = model->getThruster(i);
426 node->setBoolValue("running", t->isRunning());
427 node->setBoolValue("cranking", t->isCranking());
429 // Note: assumes all tanks have the same fuel density!
430 node->setDoubleValue("fuel-flow-gph", CM2GALS * t->getFuelFlow()
431 / airplane->getFuelDensity(0));
435 node->setDoubleValue("prop-thrust", Math::mag3(tmp) * KG2LBS / 9.8);
437 PropEngine* pe = t->getPropEngine();
439 node->setDoubleValue("rpm", pe->getOmega() * RAD2RPM);
442 float power = Math::mag3(tmp) * pe->getOmega();
443 float maxPower = pe->getPistonEngine()->getMaxPower();
445 node->setDoubleValue("max-hp", maxPower * W2HP);
446 node->setDoubleValue("power-pct", 100 * power/maxPower);