2 #include <simgear/debug/logstream.hxx>
3 #include <simgear/math/sg_geodesy.hxx>
4 #include <simgear/misc/sg_path.hxx>
5 #include <simgear/scene/model/placement.hxx>
6 #include <simgear/xml/easyxml.hxx>
8 #include <Main/globals.hxx>
9 #include <Main/fg_props.hxx>
12 #include "Atmosphere.hpp"
14 #include "Airplane.hpp"
16 #include "Integrator.hpp"
20 #include "Launchbar.hpp"
21 #include "FGGround.hpp"
22 #include "PropEngine.hpp"
23 #include "PistonEngine.hpp"
27 using namespace yasim;
29 static const float YASIM_PI = 3.14159265358979323846;
30 static const float RAD2DEG = 180/YASIM_PI;
31 static const float PI2 = YASIM_PI*2;
32 static const float RAD2RPM = 9.54929658551;
33 static const float M2FT = 3.2808399;
34 static const float FT2M = 0.3048;
35 static const float MPS2KTS = 3600.0/1852.0;
36 static const float CM2GALS = 264.172037284; // gallons/cubic meter
37 static const float KG2LBS = 2.20462262185;
38 static const float W2HP = 1.3416e-3;
39 static const float INHG2PA = 3386.389;
40 static const float SLUG2KG = 14.59390;
42 YASim::YASim(double dt)
49 _fdm->getAirplane()->getModel()->setGroundCallback( new FGGround(this) );
50 _fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
55 Airplane* a = _fdm->getAirplane();
57 float aoa = a->getCruiseAoA() * RAD2DEG;
58 float tail = -1 * a->getTailIncidence() * RAD2DEG;
59 float drag = 1000 * a->getDragCoefficient();
61 SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
62 SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
63 SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
64 SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
65 SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
66 SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
67 SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
72 a->getModel()->getBody()->getCG(cg);
73 sprintf(buf, " CG: %.3f, %.3f, %.3f", cg[0], cg[1], cg[2]);
74 SG_LOG(SG_FLIGHT, SG_INFO, buf);
76 if(a->getFailureMsg()) {
77 SG_LOG(SG_FLIGHT, SG_ALERT, "YASim SOLUTION FAILURE:");
78 SG_LOG(SG_FLIGHT, SG_ALERT, a->getFailureMsg());
85 // Run the superclass bind to set up a bunch of property ties
88 // Now UNtie the ones that we are going to set ourselves.
89 fgUntie("/consumables/fuel/tank[0]/level-gal_us");
90 fgUntie("/consumables/fuel/tank[1]/level-gal_us");
93 for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
94 sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
95 sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
96 sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
97 sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
103 Airplane* a = _fdm->getAirplane();
104 Model* m = a->getModel();
109 m->setCrashed(false);
111 // Figure out the initial speed type
112 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
113 if (speed_set == "NED")
115 else if (speed_set == "UVW")
117 else if (speed_set == "knots")
119 else if (speed_set == "mach")
123 SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
126 // Build a filename and parse it
127 SGPath f(fgGetString("/sim/aircraft-dir"));
128 f.append(fgGetString("/sim/aero"));
130 readXML(f.str(), *_fdm);
132 // Compile it into a real airplane, and tell the user what they got
138 // Create some FG{Eng|Gear}Interface objects
140 for(i=0; i<a->numGear(); i++) {
141 Gear* g = a->getGear(i);
142 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
145 node->setDoubleValue("xoffset-in", pos[0]);
146 node->setDoubleValue("yoffset-in", pos[1]);
147 node->setDoubleValue("zoffset-in", pos[2]);
150 // Are we at ground level? If so, lift the plane up so the gear
152 double runway_altitude = get_Runway_altitude();
153 if(get_Altitude() - runway_altitude < 50) {
154 fgSetBool("/controls/gear/gear-down", false);
155 float minGearZ = 1e18;
156 for(i=0; i<a->numGear(); i++) {
157 Gear* g = a->getGear(i);
160 if(pos[2] < minGearZ)
163 _set_Altitude(runway_altitude - minGearZ*M2FT);
164 fgSetBool("/controls/gear/gear-down", true);
167 // Blank the state, and copy in ours
172 _fdm->getExternalInput();
173 _fdm->getAirplane()->initEngines();
178 void YASim::update(double dt)
183 int iterations = _calc_multiloop(dt);
185 // If we're crashed, then we don't care
186 if(_fdm->getAirplane()->getModel()->isCrashed()) {
187 if(!fgGetBool("/sim/crashed"))
188 fgSetBool("/sim/crashed", true);
192 // ground. Calculate a cartesian coordinate for the ground under
193 // us, find the (geodetic) up vector normal to the ground, then
194 // use that to find the final (radius) term of the plane equation.
195 float v[3] = { get_uBody(), get_vBody(), get_wBody() };
196 float lat = get_Latitude(); float lon = get_Longitude();
197 float alt = get_Altitude() * FT2M; double xyz[3];
198 sgGeodToCart(lat, lon, alt, xyz);
199 // build the environment cache.
200 float vr = _fdm->getVehicleRadius();
201 vr += 2.0*FT2M*dt*Math::mag3(v);
202 prepare_ground_cache_m( 0.0, xyz, vr );
204 // Track time increments.
206 = (FGGround*)_fdm->getAirplane()->getModel()->getGroundCallback();
209 for(i=0; i<iterations; i++) {
210 gr->setTimeOffset(i*_dt);
216 // Reset the time increment.
217 gr->setTimeOffset(0.0);
220 void YASim::copyToYASim(bool copyState)
223 float lat = get_Latitude();
224 float lon = get_Longitude();
225 float alt = get_Altitude() * FT2M;
226 float roll = get_Phi();
227 float pitch = get_Theta();
228 float hdg = get_Psi();
232 wind[0] = get_V_north_airmass() * FT2M * -1.0;
233 wind[1] = get_V_east_airmass() * FT2M * -1.0;
234 wind[2] = get_V_down_airmass() * FT2M * -1.0;
236 float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
237 float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
238 float dens = fgGetFloat("/environment/density-slugft3")
239 * SLUG2KG * M2FT*M2FT*M2FT;
242 Model* model = _fdm->getAirplane()->getModel();
245 Glue::xyz2nedMat(lat, lon, xyz2ned);
248 sgGeodToCart(lat, lon, alt, s.pos);
251 Glue::euler2orient(roll, pitch, hdg, s.orient);
252 Math::mmul33(s.orient, xyz2ned, s.orient);
255 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
257 bool needCopy = false;
258 switch (_speed_set) {
260 v[0] = get_V_north() * FT2M * -1.0;
261 v[1] = get_V_east() * FT2M * -1.0;
262 v[2] = get_V_down() * FT2M * -1.0;
265 v[0] = get_uBody() * FT2M;
266 v[1] = get_vBody() * FT2M;
267 v[2] = get_wBody() * FT2M;
268 Math::tmul33(s.orient, v, v);
271 v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
275 Math::tmul33(s.orient, v, v);
279 v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
282 Math::tmul33(s.orient, v, v);
292 _speed_set = UVW; // change to this after initial setting
295 if(copyState || needCopy)
299 Math::tmul33(xyz2ned, wind, wind);
300 model->setWind(wind);
303 model->setAir(pressure, temp, dens);
305 // Query a ground plane for each gear/hook/launchbar and
306 // write that value into the corresponding class.
307 _fdm->getAirplane()->getModel()->updateGround(&s);
309 Launchbar* l = model->getLaunchbar();
311 l->setLaunchCmd(0.0<fgGetFloat("/controls/gear/catapult-launch-cmd"));
314 // All the settables:
316 // These are set below:
319 // _set_Accels_CG_Body
320 // _set_Accels_Pilot_Body
321 // _set_Accels_CG_Body_N
322 // _set_Velocities_Local
323 // _set_Velocities_Ground
324 // _set_Velocities_Wind_Body
329 // _set_V_ground_speed
331 // _set_V_calibrated_kts
339 // _set_Geodetic_Position
340 // _set_Runway_altitude
342 // Ignoring these, because they're unused:
343 // _set_Geocentric_Position
344 // _set_Geocentric_Rates
347 // _set_Earth_position_angle (WTF?)
348 // _set_Gamma_vert_rad
350 // _set_T_Local_to_Body
352 // _set_Sea_Level_Radius
354 // Externally set via the weather code:
355 // _set_Velocities_Local_Airmass
357 // _set_Static_pressure
358 // _set_Static_temperature
359 void YASim::copyFromYASim()
361 Airplane* airplane = _fdm->getAirplane();
362 Model* model = airplane->getModel();
363 State* s = model->getState();
366 double lat, lon, alt;
367 sgCartToGeod(s->pos, &lat, &lon, &alt);
368 _set_Geodetic_Position(lat, lon, alt*M2FT);
371 //_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
373 _set_Altitude_AGL(model->getAGL() * M2FT);
375 // useful conversion matrix
377 Glue::xyz2nedMat(lat, lon, xyz2ned);
381 Math::vmul33(xyz2ned, s->v, v);
382 _set_Velocities_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
383 _set_V_ground_speed(Math::sqrt(M2FT*v[0]*M2FT*v[0] +
384 M2FT*v[1]*M2FT*v[1]));
385 _set_Climb_Rate(-M2FT*v[2]);
387 // The HUD uses this, but inverts down (?!)
388 _set_Velocities_Ground(M2FT*v[0], M2FT*v[1], -M2FT*v[2]);
390 // _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
394 wind[0] = get_V_north_airmass() * FT2M * -1.0; // Wind in NED
395 wind[1] = get_V_east_airmass() * FT2M * -1.0;
396 wind[2] = get_V_down_airmass() * FT2M * -1.0;
397 Math::tmul33(xyz2ned, wind, wind); // Wind in global
398 Math::sub3(s->v, wind, v); // V - wind in global
399 Math::vmul33(s->orient, v, v); // to body coordinates
400 _set_Velocities_Wind_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
401 _set_V_rel_wind(Math::mag3(v)*M2FT); // units?
403 float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
404 float T = fgGetDouble("/environment/temperature-degC") + 273.15;
405 float D = fgGetFloat("/environment/density-slugft3")
406 *SLUG2KG * M2FT*M2FT*M2FT;
407 _set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T, D)*MPS2KTS);
408 _set_V_calibrated_kts(Atmosphere::calcVCAS(v[0], P, T)*MPS2KTS);
409 _set_Mach_number(Atmosphere::calcMach(v[0], T));
412 Math::vmul33(xyz2ned, s->acc, v);
413 _set_Accels_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
415 Math::vmul33(s->orient, s->acc, v);
416 _set_Accels_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
417 _set_Accels_CG_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
419 _fdm->getAirplane()->getPilotAccel(v);
420 _set_Accels_Pilot_Body(-M2FT*v[0], M2FT*v[1], M2FT*v[2]);
422 // There is no property for pilot G's, but I need it for a panel
423 // instrument. Hack this in here, and REMOVE IT WHEN IT FINDS A
425 fgSetFloat("/accelerations/pilot-g", -v[2]/9.8);
427 // The one appears (!) to want inverted pilot acceleration
428 // numbers, in G's...
429 Math::mul3(1.0/9.8, v, v);
430 _set_Accels_CG_Body_N(v[0], -v[1], -v[2]);
434 Glue::calcAlphaBeta(s, &alpha, &beta);
439 Math::trans33(xyz2ned, tmp);
440 Math::mmul33(s->orient, tmp, tmp);
441 float roll, pitch, hdg;
442 Glue::orient2euler(tmp, &roll, &pitch, &hdg);
443 // make heading positive value
444 if(hdg < 0.0) hdg += PI2;
445 _set_Euler_Angles(roll, pitch, hdg);
448 Math::vmul33(s->orient, s->rot, v);
449 _set_Omega_Body(v[0], -v[1], -v[2]);
451 Glue::calcEulerRates(s, &roll, &pitch, &hdg);
452 _set_Euler_Rates(roll, pitch, hdg);
454 // Fill out our engine and gear objects
456 for(i=0; i<airplane->numGear(); i++) {
457 Gear* g = airplane->getGear(i);
458 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
459 node->setBoolValue("has-brake", g->getBrake() != 0);
460 node->setBoolValue("wow", g->getCompressFraction() != 0);
461 node->setFloatValue("compression-norm", g->getCompressFraction());
462 node->setFloatValue("caster-angle-deg", g->getCasterAngle() * RAD2DEG);
463 node->setFloatValue("rollspeed-ms", g->getRollSpeed());
466 Hook* h = airplane->getHook();
468 SGPropertyNode * node = fgGetNode("gear/tailhook", 0, true);
469 node->setFloatValue("position-norm", h->getCompressFraction());
472 Launchbar* l = airplane->getLaunchbar();
474 SGPropertyNode * node = fgGetNode("gear/launchbar", 0, true);
475 node->setFloatValue("position-norm", l->getCompressFraction());