9 #include <simgear/debug/logstream.hxx>
10 #include <simgear/math/sg_geodesy.hxx>
11 #include <simgear/misc/sg_path.hxx>
12 #include <simgear/scene/model/placement.hxx>
13 #include <simgear/xml/easyxml.hxx>
15 #include <Main/globals.hxx>
16 #include <Main/fg_props.hxx>
19 #include "Atmosphere.hpp"
21 #include "Airplane.hpp"
23 #include "Integrator.hpp"
27 #include "Launchbar.hpp"
28 #include "FGGround.hpp"
29 #include "PropEngine.hpp"
30 #include "PistonEngine.hpp"
34 using namespace yasim;
37 static const float YASIM_PI = 3.14159265358979323846;
38 static const float RAD2DEG = 180/YASIM_PI;
39 static const float PI2 = YASIM_PI*2;
40 static const float RAD2RPM = 9.54929658551;
41 static const float M2FT = 3.2808399;
42 static const float FT2M = 0.3048;
43 static const float MPS2KTS = 3600.0/1852.0;
44 static const float CM2GALS = 264.172037284; // gallons/cubic meter
45 static const float KG2LBS = 2.20462262185;
46 static const float W2HP = 1.3416e-3;
47 static const float INHG2PA = 3386.389;
48 static const float SLUG2KG = 14.59390;
50 YASim::YASim(double dt) :
58 _fdm->getAirplane()->getModel()->setGroundCallback( new FGGround(this) );
59 _fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
71 Airplane* a = _fdm->getAirplane();
73 float aoa = a->getCruiseAoA() * RAD2DEG;
74 float tail = -1 * a->getTailIncidence() * RAD2DEG;
75 float drag = 1000 * a->getDragCoefficient();
77 SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
78 SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
79 SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
80 SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
81 SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
82 SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
83 SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
87 a->getModel()->getBody()->getCG(cg);
88 sprintf(buf, " CG: %.3f, %.3f, %.3f", 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 //Torsten Dreyer: we shouldn't do this anymore because we don't set these values nomore
104 // Now UNtie the ones that we are going to set ourselves.
105 // fgUntie("/consumables/fuel/tank[0]/level-gal_us");
106 // fgUntie("/consumables/fuel/tank[1]/level-gal_us");
109 for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
110 sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
111 sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
112 sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
113 sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
114 sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i); fgUntie(buf);
118 YASim::GearProps::GearProps(SGPropertyNode_ptr gear_root) :
119 has_brake(gear_root->getNode("has-brake", true)),
120 wow(gear_root->getNode("wow", true)),
121 compression_norm(gear_root->getNode("compression-norm", true)),
122 compression_m(gear_root->getNode("compression-m", true)),
123 caster_angle_deg(gear_root->getNode("caster-angle-deg", true)),
124 rollspeed_ms(gear_root->getNode("rollspeed-ms", true)),
125 ground_is_solid(gear_root->getNode("ground-is-solid", true)),
126 ground_friction_factor(gear_root->getNode("ground-friction-factor", true))
132 Airplane* airplane = _fdm->getAirplane();
133 Model* model = airplane->getModel();
135 _crashed = fgGetNode("/sim/crashed", true);
136 _pressure_inhg = fgGetNode("/environment/pressure-inhg", true);
137 _temp_degc = fgGetNode("/environment/temperature-degc", true);
138 _density_slugft3 = fgGetNode("/environment/density-slugft3", true);
139 _gear_agl_m = fgGetNode("/position/gear-agl-m", true);
140 _gear_agl_ft = fgGetNode("/position/gear-agl-ft", true);
141 _pilot_g = fgGetNode("/accelerations/pilot-g", true);
142 _speed_setprop = fgGetNode("/sim/presets/speed-set", true);
147 model->setCrashed(false);
148 _crashed->setBoolValue(false);
150 // Figure out the initial speed type
151 string speed_set = _speed_setprop->getStringValue();
152 if ((speed_set == "") || (speed_set == "UVW"))
154 else if (speed_set == "NED")
156 else if (speed_set == "knots")
158 else if (speed_set == "mach")
162 SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
165 // Build a filename and parse it
166 SGPath f(fgGetString("/sim/aircraft-dir"));
167 f.append(fgGetString("/sim/aero"));
170 readXML(f.str(), *_fdm);
171 } catch (const sg_exception &e) {
172 SG_LOG(SG_FLIGHT, SG_ALERT,
173 "Error reading YASim FDM: '" << f.str() << "'" << std::endl
174 << e.getFormattedMessage());
178 // Compile it into a real airplane, and tell the user what they got
184 if (model->getLaunchbar())
186 _catapult_launch_cmd = fgGetNode("/controls/gear/catapult-launch-cmd", true);
187 _launchbar_position_norm = fgGetNode("/gear/launchbar/position-norm", true);
188 _launchbar_holdback_pos_norm = fgGetNode("/gear/launchbar/holdback-position-norm", true);
189 _launchbar_state = fgGetNode("/gear/launchbar/state", true);
190 _launchbar_strop = fgGetNode("/gear/launchbar/strop", true);
192 if (airplane->getHook())
194 _tailhook_position_norm = fgGetNode("/gear/tailhook/position-norm", 0, true);
197 // Create some FG{Eng|Gear}Interface objects
198 for(int i=0; i<airplane->numGear(); i++) {
199 Gear* g = airplane->getGear(i);
200 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
203 node->setDoubleValue("xoffset-in", pos[0] * M2FT * 12);
204 node->setDoubleValue("yoffset-in", pos[1] * M2FT * 12);
205 node->setDoubleValue("zoffset-in", pos[2] * M2FT * 12);
207 _gearProps.push_back(GearProps(node));
210 // Are we at ground level? If so, lift the plane up so the gear
212 double runway_altitude = get_Runway_altitude();
213 if(get_Altitude() - runway_altitude < 50) {
214 fgSetBool("/controls/gear/gear-down", false);
215 float minGearZ = 1e18;
216 for(int i=0; i<airplane->numGear(); i++) {
217 Gear* g = airplane->getGear(i);
220 if(pos[2] < minGearZ)
223 _set_Altitude(runway_altitude - minGearZ*M2FT);
224 // ground start-up: gear down
225 fgSetBool("/controls/gear/gear-down", true);
229 // airborne start-up: gear up
230 fgSetBool("/controls/gear/gear-down", false);
233 // Blank the state, and copy in ours
238 _fdm->getExternalInput();
239 _fdm->getAirplane()->initEngines();
244 void YASim::update(double dt)
249 int iterations = _calc_multiloop(dt);
251 // If we're crashed, then we don't care
252 if(_crashed->getBoolValue() || _fdm->getAirplane()->getModel()->isCrashed()) {
253 if(!_crashed->getBoolValue())
254 _crashed->setBoolValue(true);
255 _fdm->getAirplane()->getModel()->setCrashed(false);
259 // ground. Calculate a cartesian coordinate for the ground under
260 // us, find the (geodetic) up vector normal to the ground, then
261 // use that to find the final (radius) term of the plane equation.
263 static_cast<float>(get_uBody()),
264 static_cast<float>(get_vBody()),
265 static_cast<float>(get_wBody())
267 float lat = get_Latitude(); float lon = get_Longitude();
268 float alt = get_Altitude() * FT2M; double xyz[3];
269 sgGeodToCart(lat, lon, alt, xyz);
270 // build the environment cache.
271 float vr = _fdm->getVehicleRadius();
272 vr += 2.0*FT2M*dt*Math::mag3(v);
273 prepare_ground_cache_m( _simTime, _simTime + dt, xyz, vr );
275 // Track time increments.
277 = (FGGround*)_fdm->getAirplane()->getModel()->getGroundCallback();
280 for(i=0; i<iterations; i++) {
281 gr->setTimeOffset(_simTime + i*_dt);
287 // Increment the local sim time
289 gr->setTimeOffset(_simTime);
292 void YASim::copyToYASim(bool copyState)
295 double lat = get_Latitude();
296 double lon = get_Longitude();
297 float alt = get_Altitude() * FT2M;
298 float roll = get_Phi();
299 float pitch = get_Theta();
300 float hdg = get_Psi();
304 wind[0] = get_V_north_airmass() * FT2M * -1.0;
305 wind[1] = get_V_east_airmass() * FT2M * -1.0;
306 wind[2] = get_V_down_airmass() * FT2M * -1.0;
308 float pressure = _pressure_inhg->getFloatValue() * INHG2PA;
309 float temp = _temp_degc->getFloatValue() + 273.15;
310 float dens = _density_slugft3->getFloatValue() *
311 SLUG2KG * M2FT*M2FT*M2FT;
314 Model* model = _fdm->getAirplane()->getModel();
317 Glue::xyz2nedMat(lat, lon, xyz2ned);
320 sgGeodToCart(lat, lon, alt, s.pos);
322 // allow setting of /position/[lat|long|alti]tude
323 double * dp = &model->getState()->pos[0];
324 dp[0] = s.pos[0]; dp[1] = s.pos[1]; dp[2] = s.pos[2];
328 Glue::euler2orient(roll, pitch, hdg, s.orient);
329 Math::mmul33(s.orient, xyz2ned, s.orient);
333 bool needCopy = false;
334 switch (_speed_set) {
336 v[0] = get_V_north() * FT2M * -1.0;
337 v[1] = get_V_east() * FT2M * -1.0;
338 v[2] = get_V_down() * FT2M * -1.0;
341 v[0] = get_uBody() * FT2M;
342 v[1] = get_vBody() * FT2M;
343 v[2] = get_wBody() * FT2M;
344 Math::tmul33(s.orient, v, v);
347 v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
351 Math::tmul33(s.orient, v, v);
355 v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
358 Math::tmul33(s.orient, v, v);
368 _speed_set = UVW; // change to this after initial setting
371 if(copyState || needCopy)
375 Math::tmul33(xyz2ned, wind, wind);
376 model->setWind(wind);
379 model->setAir(pressure, temp, dens);
381 // Query a ground plane for each gear/hook/launchbar and
382 // write that value into the corresponding class.
383 _fdm->getAirplane()->getModel()->updateGround(&s);
385 Launchbar* l = model->getLaunchbar();
387 l->setLaunchCmd(0.0 < _catapult_launch_cmd->getFloatValue());
390 // All the settables:
392 // These are set below:
395 // _set_Accels_CG_Body
396 // _set_Accels_Pilot_Body
397 // _set_Accels_CG_Body_N
398 // _set_Velocities_Local
399 // _set_Velocities_Ground
400 // _set_Velocities_Body
405 // _set_V_ground_speed
407 // _set_V_calibrated_kts
415 // _set_Geodetic_Position
416 // _set_Runway_altitude
418 // Ignoring these, because they're unused:
419 // _set_Geocentric_Position
420 // _set_Geocentric_Rates
423 // _set_Earth_position_angle (WTF?)
424 // _set_Gamma_vert_rad
426 // _set_T_Local_to_Body
428 // _set_Sea_Level_Radius
430 // Externally set via the weather code:
431 // _set_Velocities_Local_Airmass
433 // _set_Static_pressure
434 // _set_Static_temperature
435 void YASim::copyFromYASim()
437 Airplane* airplane = _fdm->getAirplane();
438 Model* model = airplane->getModel();
439 State* s = model->getState();
442 double lat, lon, alt;
443 sgCartToGeod(s->pos, &lat, &lon, &alt);
444 _set_Geodetic_Position(lat, lon, alt*M2FT);
445 double groundlevel_m = get_groundlevel_m(lat, lon, alt);
446 _set_Runway_altitude(groundlevel_m*SG_METER_TO_FEET);
447 _set_Altitude_AGL((alt-groundlevel_m)*SG_METER_TO_FEET);
449 // the smallest agl of all gears
450 _gear_agl_m->setFloatValue(model->getAGL());
451 _gear_agl_ft->setFloatValue(model->getAGL()*M2FT);
454 //_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
456 // useful conversion matrix
458 Glue::xyz2nedMat(lat, lon, xyz2ned);
462 Math::vmul33(xyz2ned, s->v, v);
463 _set_Velocities_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
464 _set_V_ground_speed(Math::sqrt(M2FT*v[0]*M2FT*v[0] +
465 M2FT*v[1]*M2FT*v[1]));
466 _set_Climb_Rate(-M2FT*v[2]);
468 // The HUD uses this, but inverts down (?!)
469 _set_Velocities_Ground(M2FT*v[0], M2FT*v[1], -M2FT*v[2]);
471 // _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
473 // ecef speed in body axis
474 Math::vmul33(s->orient, s->v, v);
475 _set_Velocities_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
479 wind[0] = get_V_north_airmass() * FT2M * -1.0; // Wind in NED
480 wind[1] = get_V_east_airmass() * FT2M * -1.0;
481 wind[2] = get_V_down_airmass() * FT2M * -1.0;
482 Math::tmul33(xyz2ned, wind, wind); // Wind in global
483 Math::sub3(s->v, wind, v); // V - wind in global
484 Math::vmul33(s->orient, v, v); // to body coordinates
485 _set_V_rel_wind(Math::mag3(v)*M2FT); // units?
487 float P = _pressure_inhg->getFloatValue() * INHG2PA;
488 float T = _temp_degc->getFloatValue() + 273.15;
489 float D = _density_slugft3->getFloatValue()
490 *SLUG2KG * M2FT*M2FT*M2FT;
491 _set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T, D)*MPS2KTS);
492 _set_V_calibrated_kts(Atmosphere::calcVCAS(v[0], P, T)*MPS2KTS);
493 _set_Mach_number(Atmosphere::calcMach(Math::mag3(v), T));
496 Math::vmul33(xyz2ned, s->acc, v);
497 _set_Accels_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
499 Math::vmul33(s->orient, s->acc, v);
500 _set_Accels_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
501 _set_Accels_CG_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
503 _fdm->getAirplane()->getPilotAccel(v);
504 _set_Accels_Pilot_Body(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
506 // There is no property for pilot G's, but I need it for a panel
507 // instrument. Hack this in here, and REMOVE IT WHEN IT FINDS A
509 _pilot_g->setFloatValue(-v[2]/9.8);
511 // The one appears (!) to want inverted pilot acceleration
512 // numbers, in G's...
513 Math::mul3(1.0/9.8, v, v);
514 _set_Accels_CG_Body_N(v[0], -v[1], -v[2]);
518 Glue::calcAlphaBeta(s, wind, &alpha, &beta);
523 Math::trans33(xyz2ned, tmp);
524 Math::mmul33(s->orient, tmp, tmp);
525 float roll, pitch, hdg;
526 Glue::orient2euler(tmp, &roll, &pitch, &hdg);
527 // make heading positive value
528 if(hdg < 0.0) hdg += PI2;
529 _set_Euler_Angles(roll, pitch, hdg);
532 Math::vmul33(s->orient, s->rot, v);
533 _set_Omega_Body(v[0], -v[1], -v[2]);
535 Glue::calcEulerRates(s, &roll, &pitch, &hdg);
536 _set_Euler_Rates(roll, pitch, hdg);
538 // Fill out our engine and gear objects
539 for(int i=0; i<airplane->numGear(); i++) {
540 Gear* g = airplane->getGear(i);
541 GearProps& gearProps = _gearProps[i];
542 gearProps.has_brake->setBoolValue(
544 gearProps.wow->setBoolValue(
545 g->getCompressFraction() != 0);
546 gearProps.compression_norm->setFloatValue(
547 g->getCompressFraction());
548 gearProps.compression_m->setFloatValue(
549 g->getCompressDist());
550 gearProps.caster_angle_deg->setFloatValue(
551 g->getCasterAngle() * RAD2DEG);
552 gearProps.rollspeed_ms->setFloatValue(
554 gearProps.ground_is_solid->setBoolValue(
555 g->getGroundIsSolid()!=0);
556 gearProps.ground_friction_factor->setFloatValue(
557 g->getGroundFrictionFactor());
560 Hook* h = airplane->getHook();
562 _tailhook_position_norm->setFloatValue(h->getCompressFraction());
565 Launchbar* l = airplane->getLaunchbar();
567 _launchbar_position_norm->setFloatValue(l->getCompressFraction());
568 _launchbar_holdback_pos_norm->setFloatValue(l->getHoldbackCompressFraction());
569 _launchbar_state->setStringValue(l->getState());
570 _launchbar_strop->setBoolValue(l->getStrop());
575 * This is only used after a replay session and when the user requested to resume at
576 * a past point of time. In this case the FDM must reload all values from the property
577 * tree (as given by the replay system). */
580 // Process inputs. Use excessive value for dt to make sure all transition effects
581 // have reached their final state (i.e. gear is extended/retracted) - which is vital
582 // for many properties to be complete before the first FDM run (otherwise the gear may
583 // still be up, thrust-reversers/speed-brakes/... may still be partially deployed...).
584 _fdm->getExternalInput(1000);
586 // get current FDM values from the property tree