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);
98 sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i); fgUntie(buf);
104 Airplane* a = _fdm->getAirplane();
105 Model* m = a->getModel();
110 m->setCrashed(false);
112 // Figure out the initial speed type
113 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
114 if (speed_set == "NED")
116 else if (speed_set == "UVW")
118 else if (speed_set == "knots")
120 else if (speed_set == "mach")
124 SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
127 // Build a filename and parse it
128 SGPath f(fgGetString("/sim/aircraft-dir"));
129 f.append(fgGetString("/sim/aero"));
131 readXML(f.str(), *_fdm);
133 // Compile it into a real airplane, and tell the user what they got
139 // Create some FG{Eng|Gear}Interface objects
141 for(i=0; i<a->numGear(); i++) {
142 Gear* g = a->getGear(i);
143 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
146 node->setDoubleValue("xoffset-in", pos[0] * M2FT * 12);
147 node->setDoubleValue("yoffset-in", pos[1] * M2FT * 12);
148 node->setDoubleValue("zoffset-in", pos[2] * M2FT * 12);
151 // Are we at ground level? If so, lift the plane up so the gear
153 double runway_altitude = get_Runway_altitude();
154 if(get_Altitude() - runway_altitude < 50) {
155 fgSetBool("/controls/gear/gear-down", false);
156 float minGearZ = 1e18;
157 for(i=0; i<a->numGear(); i++) {
158 Gear* g = a->getGear(i);
161 if(pos[2] < minGearZ)
164 _set_Altitude(runway_altitude - minGearZ*M2FT);
165 fgSetBool("/controls/gear/gear-down", true);
168 // Blank the state, and copy in ours
173 _fdm->getExternalInput();
174 _fdm->getAirplane()->initEngines();
179 void YASim::update(double dt)
184 int iterations = _calc_multiloop(dt);
186 // If we're crashed, then we don't care
187 if(_fdm->getAirplane()->getModel()->isCrashed()) {
188 if(!fgGetBool("/sim/crashed"))
189 fgSetBool("/sim/crashed", true);
193 // ground. Calculate a cartesian coordinate for the ground under
194 // us, find the (geodetic) up vector normal to the ground, then
195 // use that to find the final (radius) term of the plane equation.
196 float v[3] = { get_uBody(), get_vBody(), get_wBody() };
197 float lat = get_Latitude(); float lon = get_Longitude();
198 float alt = get_Altitude() * FT2M; double xyz[3];
199 sgGeodToCart(lat, lon, alt, xyz);
200 // build the environment cache.
201 float vr = _fdm->getVehicleRadius();
202 vr += 2.0*FT2M*dt*Math::mag3(v);
203 prepare_ground_cache_m( 0.0, xyz, vr );
205 // Track time increments.
207 = (FGGround*)_fdm->getAirplane()->getModel()->getGroundCallback();
210 for(i=0; i<iterations; i++) {
211 gr->setTimeOffset(i*_dt);
217 // Reset the time increment.
218 gr->setTimeOffset(0.0);
221 void YASim::copyToYASim(bool copyState)
224 float lat = get_Latitude();
225 float lon = get_Longitude();
226 float alt = get_Altitude() * FT2M;
227 float roll = get_Phi();
228 float pitch = get_Theta();
229 float hdg = get_Psi();
233 wind[0] = get_V_north_airmass() * FT2M * -1.0;
234 wind[1] = get_V_east_airmass() * FT2M * -1.0;
235 wind[2] = get_V_down_airmass() * FT2M * -1.0;
237 float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
238 float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
239 float dens = fgGetFloat("/environment/density-slugft3")
240 * SLUG2KG * M2FT*M2FT*M2FT;
243 Model* model = _fdm->getAirplane()->getModel();
246 Glue::xyz2nedMat(lat, lon, xyz2ned);
249 sgGeodToCart(lat, lon, alt, s.pos);
252 Glue::euler2orient(roll, pitch, hdg, s.orient);
253 Math::mmul33(s.orient, xyz2ned, s.orient);
256 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
258 bool needCopy = false;
259 switch (_speed_set) {
261 v[0] = get_V_north() * FT2M * -1.0;
262 v[1] = get_V_east() * FT2M * -1.0;
263 v[2] = get_V_down() * FT2M * -1.0;
266 v[0] = get_uBody() * FT2M;
267 v[1] = get_vBody() * FT2M;
268 v[2] = get_wBody() * FT2M;
269 Math::tmul33(s.orient, v, v);
272 v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
276 Math::tmul33(s.orient, v, v);
280 v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
283 Math::tmul33(s.orient, v, v);
293 _speed_set = UVW; // change to this after initial setting
296 if(copyState || needCopy)
300 Math::tmul33(xyz2ned, wind, wind);
301 model->setWind(wind);
304 model->setAir(pressure, temp, dens);
306 // Query a ground plane for each gear/hook/launchbar and
307 // write that value into the corresponding class.
308 _fdm->getAirplane()->getModel()->updateGround(&s);
310 Launchbar* l = model->getLaunchbar();
312 l->setLaunchCmd(0.0<fgGetFloat("/controls/gear/catapult-launch-cmd"));
315 // All the settables:
317 // These are set below:
320 // _set_Accels_CG_Body
321 // _set_Accels_Pilot_Body
322 // _set_Accels_CG_Body_N
323 // _set_Velocities_Local
324 // _set_Velocities_Ground
325 // _set_Velocities_Wind_Body
330 // _set_V_ground_speed
332 // _set_V_calibrated_kts
340 // _set_Geodetic_Position
341 // _set_Runway_altitude
343 // Ignoring these, because they're unused:
344 // _set_Geocentric_Position
345 // _set_Geocentric_Rates
348 // _set_Earth_position_angle (WTF?)
349 // _set_Gamma_vert_rad
351 // _set_T_Local_to_Body
353 // _set_Sea_Level_Radius
355 // Externally set via the weather code:
356 // _set_Velocities_Local_Airmass
358 // _set_Static_pressure
359 // _set_Static_temperature
360 void YASim::copyFromYASim()
362 Airplane* airplane = _fdm->getAirplane();
363 Model* model = airplane->getModel();
364 State* s = model->getState();
367 double lat, lon, alt;
368 sgCartToGeod(s->pos, &lat, &lon, &alt);
369 _set_Geodetic_Position(lat, lon, alt*M2FT);
370 _update_ground_elev_at_pos();
373 //_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
375 _set_Altitude_AGL(model->getAGL() * M2FT);
377 // useful conversion matrix
379 Glue::xyz2nedMat(lat, lon, xyz2ned);
383 Math::vmul33(xyz2ned, s->v, v);
384 _set_Velocities_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
385 _set_V_ground_speed(Math::sqrt(M2FT*v[0]*M2FT*v[0] +
386 M2FT*v[1]*M2FT*v[1]));
387 _set_Climb_Rate(-M2FT*v[2]);
389 // The HUD uses this, but inverts down (?!)
390 _set_Velocities_Ground(M2FT*v[0], M2FT*v[1], -M2FT*v[2]);
392 // _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
396 wind[0] = get_V_north_airmass() * FT2M * -1.0; // Wind in NED
397 wind[1] = get_V_east_airmass() * FT2M * -1.0;
398 wind[2] = get_V_down_airmass() * FT2M * -1.0;
399 Math::tmul33(xyz2ned, wind, wind); // Wind in global
400 Math::sub3(s->v, wind, v); // V - wind in global
401 Math::vmul33(s->orient, v, v); // to body coordinates
402 _set_Velocities_Wind_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
403 _set_V_rel_wind(Math::mag3(v)*M2FT); // units?
405 float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
406 float T = fgGetDouble("/environment/temperature-degC") + 273.15;
407 float D = fgGetFloat("/environment/density-slugft3")
408 *SLUG2KG * M2FT*M2FT*M2FT;
409 _set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T, D)*MPS2KTS);
410 _set_V_calibrated_kts(Atmosphere::calcVCAS(v[0], P, T)*MPS2KTS);
411 _set_Mach_number(Atmosphere::calcMach(v[0], T));
414 Math::vmul33(xyz2ned, s->acc, v);
415 _set_Accels_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
417 Math::vmul33(s->orient, s->acc, v);
418 _set_Accels_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
419 _set_Accels_CG_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
421 _fdm->getAirplane()->getPilotAccel(v);
422 _set_Accels_Pilot_Body(-M2FT*v[0], M2FT*v[1], M2FT*v[2]);
424 // There is no property for pilot G's, but I need it for a panel
425 // instrument. Hack this in here, and REMOVE IT WHEN IT FINDS A
427 fgSetFloat("/accelerations/pilot-g", -v[2]/9.8);
429 // The one appears (!) to want inverted pilot acceleration
430 // numbers, in G's...
431 Math::mul3(1.0/9.8, v, v);
432 _set_Accels_CG_Body_N(v[0], -v[1], -v[2]);
436 Glue::calcAlphaBeta(s, &alpha, &beta);
441 Math::trans33(xyz2ned, tmp);
442 Math::mmul33(s->orient, tmp, tmp);
443 float roll, pitch, hdg;
444 Glue::orient2euler(tmp, &roll, &pitch, &hdg);
445 // make heading positive value
446 if(hdg < 0.0) hdg += PI2;
447 _set_Euler_Angles(roll, pitch, hdg);
450 Math::vmul33(s->orient, s->rot, v);
451 _set_Omega_Body(v[0], -v[1], -v[2]);
453 Glue::calcEulerRates(s, &roll, &pitch, &hdg);
454 _set_Euler_Rates(roll, pitch, hdg);
456 // Fill out our engine and gear objects
458 for(i=0; i<airplane->numGear(); i++) {
459 Gear* g = airplane->getGear(i);
460 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
461 node->setBoolValue("has-brake", g->getBrake() != 0);
462 node->setBoolValue("wow", g->getCompressFraction() != 0);
463 node->setFloatValue("compression-norm", g->getCompressFraction());
464 node->setFloatValue("caster-angle-deg", g->getCasterAngle() * RAD2DEG);
465 node->setFloatValue("rollspeed-ms", g->getRollSpeed());
468 Hook* h = airplane->getHook();
470 SGPropertyNode * node = fgGetNode("gear/tailhook", 0, true);
471 node->setFloatValue("position-norm", h->getCompressFraction());
474 Launchbar* l = airplane->getLaunchbar();
476 SGPropertyNode * node = fgGetNode("gear/launchbar", 0, true);
477 node->setFloatValue("position-norm", l->getCompressFraction());