1 #include <simgear/debug/logstream.hxx>
2 #include <simgear/math/sg_geodesy.hxx>
3 #include <simgear/misc/sg_path.hxx>
4 #include <simgear/scene/model/location.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>
10 #include <Model/acmodel.hxx>
13 #include "Atmosphere.hpp"
15 #include "Airplane.hpp"
17 #include "Integrator.hpp"
20 #include "PropEngine.hpp"
21 #include "PistonEngine.hpp"
25 using namespace yasim;
27 static const float YASIM_PI = 3.14159265358979323846;
28 static const float RAD2DEG = 180/YASIM_PI;
29 static const float PI2 = YASIM_PI*2;
30 static const float RAD2RPM = 9.54929658551;
31 static const float M2FT = 3.2808399;
32 static const float FT2M = 0.3048;
33 static const float MPS2KTS = 3600.0/1852.0;
34 static const float CM2GALS = 264.172037284; // gallons/cubic meter
35 static const float KG2LBS = 2.20462262185;
36 static const float W2HP = 1.3416e-3;
37 static const float INHG2PA = 3386.389;
38 static const float SLUG2KG = 14.59390;
40 YASim::YASim(double dt)
47 _fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
52 Airplane* a = _fdm->getAirplane();
54 float aoa = a->getCruiseAoA() * RAD2DEG;
55 float tail = -1 * a->getTailIncidence() * RAD2DEG;
56 float drag = 1000 * a->getDragCoefficient();
58 SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
59 SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
60 SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
61 SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
62 SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
63 SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
64 SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
69 a->getModel()->getBody()->getCG(cg);
70 sprintf(buf, " CG: %.3f, %.3f, %.3f", cg[0], cg[1], cg[2]);
71 SG_LOG(SG_FLIGHT, SG_INFO, buf);
73 if(a->getFailureMsg()) {
74 SG_LOG(SG_FLIGHT, SG_ALERT, "YASim SOLUTION FAILURE:");
75 SG_LOG(SG_FLIGHT, SG_ALERT, a->getFailureMsg());
82 // Run the superclass bind to set up a bunch of property ties
85 // Now UNtie the ones that we are going to set ourselves.
86 fgUntie("/consumables/fuel/tank[0]/level-gal_us");
87 fgUntie("/consumables/fuel/tank[1]/level-gal_us");
90 for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
91 sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
92 sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
93 sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
94 sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
100 Airplane* a = _fdm->getAirplane();
101 Model* m = a->getModel();
106 m->setCrashed(false);
108 // Figure out the initial speed type
109 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
110 if (speed_set == "NED")
112 else if (speed_set == "UVW")
114 else if (speed_set == "knots")
116 else if (speed_set == "mach")
120 SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
123 // Build a filename and parse it
124 SGPath f(fgGetString("/sim/aircraft-dir"));
125 f.append(fgGetString("/sim/aero"));
127 readXML(f.str(), *_fdm);
129 // Compile it into a real airplane, and tell the user what they got
135 // Create some FG{Eng|Gear}Interface objects
137 for(i=0; i<a->numGear(); i++) {
138 Gear* g = a->getGear(i);
139 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
142 node->setDoubleValue("xoffset-in", pos[0]);
143 node->setDoubleValue("yoffset-in", pos[1]);
144 node->setDoubleValue("zoffset-in", pos[2]);
146 // for(i=0; i<m->numThrusters(); i++) {
147 // // Sanify the initial input conditions
149 // sprintf(buf, "/controls/engines/engine[%d]/throttle", i); fgSetFloat(buf, 0);
150 // sprintf(buf, "/controls/engines/engine[%d]/mixture", i); fgSetFloat(buf, 1);
151 // sprintf(buf, "/controls/engines/engine[%d]/propeller-pitch", i); fgSetFloat(buf, 1);
152 // sprintf(buf, "/controls/engines/engine[%d]/augmentation", i); fgSetFloat(buf, 0);
155 // fgSetFloat("/controls/flight/slats", 0);
156 // fgSetFloat("/controls/flight/spoilers", 0);
158 // Are we at ground level? If so, lift the plane up so the gear
160 double runway_altitude = get_Runway_altitude();
161 if(get_Altitude() - runway_altitude < 50) {
162 fgSetBool("/controls/gear/gear-down", false);
163 float minGearZ = 1e18;
164 for(i=0; i<a->numGear(); i++) {
165 Gear* g = a->getGear(i);
168 if(pos[2] < minGearZ)
171 _set_Altitude(runway_altitude - minGearZ*M2FT);
172 fgSetBool("/controls/gear/gear-down", true);
175 // The pilot's eyepoint
177 a->getPilotPos(pilot);
178 // fgSetFloat("/sim/view/pilot/x-offset-m", -pilot[0]);
179 // fgSetFloat("/sim/view/pilot/y-offset-m", -pilot[1]);
180 // fgSetFloat("/sim/view/pilot/z-offset-m", pilot[2]);
182 // Blank the state, and copy in ours
187 _fdm->getExternalInput();
188 _fdm->getAirplane()->initEngines();
193 void YASim::update(double dt)
198 int iterations = _calc_multiloop(dt);
200 // If we're crashed, then we don't care
201 if(_fdm->getAirplane()->getModel()->isCrashed()) {
202 if(!fgGetBool("/sim/crashed"))
203 fgSetBool("/sim/crashed", true);
208 for(i=0; i<iterations; i++) {
215 void YASim::copyToYASim(bool copyState)
218 float lat = get_Latitude();
219 float lon = get_Longitude();
220 float alt = get_Altitude() * FT2M;
221 float roll = get_Phi();
222 float pitch = get_Theta();
223 float hdg = get_Psi();
227 wind[0] = get_V_north_airmass() * FT2M * -1.0;
228 wind[1] = get_V_east_airmass() * FT2M * -1.0;
229 wind[2] = get_V_down_airmass() * FT2M * -1.0;
231 // Get ground elevation from the FGinterface's FGlocation data
232 double ground = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m();
233 // cout << "YASIM: ground = " << ground << endl;
235 float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
236 float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
237 float dens = fgGetFloat("/environment/density-slugft3")
238 * SLUG2KG * M2FT*M2FT*M2FT;
241 Model* model = _fdm->getAirplane()->getModel();
244 Glue::xyz2nedMat(lat, lon, xyz2ned);
247 sgGeodToCart(lat, lon, alt, s.pos);
250 Glue::euler2orient(roll, pitch, hdg, s.orient);
251 Math::mmul33(s.orient, xyz2ned, s.orient);
254 string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
256 bool needCopy = false;
257 switch (_speed_set) {
259 v[0] = get_V_north() * FT2M * -1.0;
260 v[1] = get_V_east() * FT2M * -1.0;
261 v[2] = get_V_down() * FT2M * -1.0;
264 v[0] = get_uBody() * FT2M;
265 v[1] = get_vBody() * FT2M;
266 v[2] = get_wBody() * FT2M;
267 Math::tmul33(s.orient, v, v);
270 v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
274 Math::tmul33(s.orient, v, v);
278 v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
281 Math::tmul33(s.orient, v, v);
291 _speed_set = UVW; // change to this after initial setting
294 if(copyState || needCopy)
298 Math::tmul33(xyz2ned, wind, wind);
299 model->setWind(wind);
301 // ground. Calculate a cartesian coordinate for the ground under
302 // us, find the (geodetic) up vector normal to the ground, then
303 // use that to find the final (radius) term of the plane equation.
304 double xyz[3], gplane[3]; float up[3];
305 sgGeodToCart(lat, lon, ground, xyz);
306 Glue::geodUp(lat, lon, up); // FIXME, needless reverse computation...
308 for(i=0; i<3; i++) gplane[i] = up[i];
309 double rad = gplane[0]*xyz[0] + gplane[1]*xyz[1] + gplane[2]*xyz[2];
310 model->setGroundPlane(gplane, rad);
313 model->setAir(pressure, temp, dens);
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());
466 for(i=0; i<model->numThrusters(); i++) {
467 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
468 Thruster* t = model->getThruster(i);
470 node->setBoolValue("running", t->isRunning());
471 node->setBoolValue("cranking", t->isCranking());
475 node->setDoubleValue("prop-thrust", Math::mag3(tmp) * KG2LBS / 9.8);
477 PropEngine* pe = t->getPropEngine();
479 node->setDoubleValue("rpm", pe->getOmega() * RAD2RPM);
482 float power = Math::mag3(tmp) * pe->getOmega();
483 float maxPower = pe->getPistonEngine()->getMaxPower();
485 node->setDoubleValue("max-hp", maxPower * W2HP);
486 node->setDoubleValue("power-pct", 100 * power/maxPower);