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 #include <fenv.h> // SIGFPE DEBUG
29 using namespace yasim;
31 static const float YASIM_PI = 3.14159265358979323846;
32 static const float RAD2DEG = 180/YASIM_PI;
33 static const float PI2 = YASIM_PI*2;
34 static const float RAD2RPM = 9.54929658551;
35 static const float M2FT = 3.2808399;
36 static const float FT2M = 0.3048;
37 static const float MPS2KTS = 3600.0/1852.0;
38 static const float CM2GALS = 264.172037284; // gallons/cubic meter
39 static const float KG2LBS = 2.20462262185;
40 static const float W2HP = 1.3416e-3;
41 static const float INHG2PA = 3386.389;
42 static const float SLUG2KG = 14.59390;
44 YASim::YASim(double dt)
51 _fdm->getAirplane()->getModel()->setGroundCallback( new FGGround(this) );
52 _fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
57 Airplane* a = _fdm->getAirplane();
59 float aoa = a->getCruiseAoA() * RAD2DEG;
60 float tail = -1 * a->getTailIncidence() * RAD2DEG;
61 float drag = 1000 * a->getDragCoefficient();
63 SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
64 SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
65 SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
66 SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
67 SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
68 SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
69 SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
74 a->getModel()->getBody()->getCG(cg);
75 sprintf(buf, " CG: %.3f, %.3f, %.3f", cg[0], cg[1], cg[2]);
76 SG_LOG(SG_FLIGHT, SG_INFO, buf);
78 if(a->getFailureMsg()) {
79 SG_LOG(SG_FLIGHT, SG_ALERT, "YASim SOLUTION FAILURE:");
80 SG_LOG(SG_FLIGHT, SG_ALERT, a->getFailureMsg());
87 // Run the superclass bind to set up a bunch of property ties
90 // Now UNtie the ones that we are going to set ourselves.
91 fgUntie("/consumables/fuel/tank[0]/level-gal_us");
92 fgUntie("/consumables/fuel/tank[1]/level-gal_us");
95 for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
96 sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
97 sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
98 sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
99 sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
105 Airplane* a = _fdm->getAirplane();
106 Model* m = a->getModel();
111 m->setCrashed(false);
113 // Figure out the initial speed type
114 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
115 if (speed_set == "NED")
117 else if (speed_set == "UVW")
119 else if (speed_set == "knots")
121 else if (speed_set == "mach")
125 SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
128 // Build a filename and parse it
129 SGPath f(fgGetString("/sim/aircraft-dir"));
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]);
152 // Are we at ground level? If so, lift the plane up so the gear
154 double runway_altitude = get_Runway_altitude();
155 if(get_Altitude() - runway_altitude < 50) {
156 fgSetBool("/controls/gear/gear-down", false);
157 float minGearZ = 1e18;
158 for(i=0; i<a->numGear(); i++) {
159 Gear* g = a->getGear(i);
162 if(pos[2] < minGearZ)
165 _set_Altitude(runway_altitude - minGearZ*M2FT);
166 fgSetBool("/controls/gear/gear-down", true);
169 // Blank the state, and copy in ours
174 _fdm->getExternalInput();
175 _fdm->getAirplane()->initEngines();
180 void YASim::update(double dt)
185 int iterations = _calc_multiloop(dt);
187 // If we're crashed, then we don't care
188 if(_fdm->getAirplane()->getModel()->isCrashed()) {
189 if(!fgGetBool("/sim/crashed"))
190 fgSetBool("/sim/crashed", true);
194 // ground. Calculate a cartesian coordinate for the ground under
195 // us, find the (geodetic) up vector normal to the ground, then
196 // use that to find the final (radius) term of the plane equation.
197 float v[3] = { get_uBody()*FT2M, get_vBody()*FT2M, get_wBody()*FT2M };
198 float lat = get_Latitude(); float lon = get_Longitude();
200 sgGeodToCart(lat, lon, 0.0, xyz);
201 // build the environment cache.
202 float vr = _fdm->getVehicleRadius();
203 vr += 2.0*dt*Math::mag3(v);
204 prepare_ground_cache_m( 0.0, xyz, vr );
206 // Track time increments.
208 = (FGGround*)_fdm->getAirplane()->getModel()->getGroundCallback();
211 for(i=0; i<iterations; i++) {
212 gr->setTimeOffset(iterations*_dt);
218 // Reset the time increment.
219 gr->setTimeOffset(0.0);
222 void YASim::copyToYASim(bool copyState)
225 float lat = get_Latitude();
226 float lon = get_Longitude();
227 float alt = get_Altitude() * FT2M;
228 float roll = get_Phi();
229 float pitch = get_Theta();
230 float hdg = get_Psi();
234 wind[0] = get_V_north_airmass() * FT2M * -1.0;
235 wind[1] = get_V_east_airmass() * FT2M * -1.0;
236 wind[2] = get_V_down_airmass() * FT2M * -1.0;
238 float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
239 float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
240 float dens = fgGetFloat("/environment/density-slugft3")
241 * SLUG2KG * M2FT*M2FT*M2FT;
244 Model* model = _fdm->getAirplane()->getModel();
247 Glue::xyz2nedMat(lat, lon, xyz2ned);
250 sgGeodToCart(lat, lon, alt, s.pos);
253 Glue::euler2orient(roll, pitch, hdg, s.orient);
254 Math::mmul33(s.orient, xyz2ned, s.orient);
257 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
259 bool needCopy = false;
260 switch (_speed_set) {
262 v[0] = get_V_north() * FT2M * -1.0;
263 v[1] = get_V_east() * FT2M * -1.0;
264 v[2] = get_V_down() * FT2M * -1.0;
267 v[0] = get_uBody() * FT2M;
268 v[1] = get_vBody() * FT2M;
269 v[2] = get_wBody() * FT2M;
270 Math::tmul33(s.orient, v, v);
273 v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
277 Math::tmul33(s.orient, v, v);
281 v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
284 Math::tmul33(s.orient, v, v);
294 _speed_set = UVW; // change to this after initial setting
297 if(copyState || needCopy)
301 Math::tmul33(xyz2ned, wind, wind);
302 model->setWind(wind);
305 model->setAir(pressure, temp, dens);
307 // Query a ground plane for each gear/hook/launchbar and
308 // write that value into the corresponding class.
309 _fdm->getAirplane()->getModel()->updateGround(&s);
311 Launchbar* l = model->getLaunchbar();
313 l->setLaunchCmd(0.0<fgGetFloat("/controls/gear/catapult-launch-cmd"));
316 // All the settables:
318 // These are set below:
321 // _set_Accels_CG_Body
322 // _set_Accels_Pilot_Body
323 // _set_Accels_CG_Body_N
324 // _set_Velocities_Local
325 // _set_Velocities_Ground
326 // _set_Velocities_Wind_Body
331 // _set_V_ground_speed
333 // _set_V_calibrated_kts
341 // _set_Geodetic_Position
342 // _set_Runway_altitude
344 // Ignoring these, because they're unused:
345 // _set_Geocentric_Position
346 // _set_Geocentric_Rates
349 // _set_Earth_position_angle (WTF?)
350 // _set_Gamma_vert_rad
352 // _set_T_Local_to_Body
354 // _set_Sea_Level_Radius
356 // Externally set via the weather code:
357 // _set_Velocities_Local_Airmass
359 // _set_Static_pressure
360 // _set_Static_temperature
361 void YASim::copyFromYASim()
363 Airplane* airplane = _fdm->getAirplane();
364 Model* model = airplane->getModel();
365 State* s = model->getState();
368 double lat, lon, alt;
369 sgCartToGeod(s->pos, &lat, &lon, &alt);
370 _set_Geodetic_Position(lat, lon, alt*M2FT);
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());