Integrated autopilot.

[flightgear.git] / LaRCsim / ls_interface.c

diff --git a/LaRCsim/ls_interface.c b/LaRCsim/ls_interface.c
index 59feea8e687c43d5e9485eb6e9d141cacf43902a..95eb04fdc624ff379898781d8d0543df3839e615 100644 (file)
--- a/LaRCsim/ls_interface.c
+++ b/LaRCsim/ls_interface.c
@@ -242,6 +242,9 @@ $Original log: LaRCsim.c,v $
 #include "ls_init.h"
 #include <Flight/flight.h>
 #include <Aircraft/aircraft.h>
+#include <Autopilot/autopilot.h>
+#include <Debug/fg_debug.h>
+
 
 /* global variable declarations */
 
@@ -545,15 +548,32 @@ int fgLaRCsimInit(double dt) {
 
 
 /* Run an iteration of the EOM (equations of motion) */
-int fgLaRCsimUpdate(int multiloop) {
+int fgLaRCsimUpdate(fgFLIGHT *f, int multiloop) {
     int        i;
 
     if (speedup > 0) {
        ls_cockpit();
     }
 
+    // translate FG to LaRCsim structure
+    fgFlight_2_LaRCsim(f);
+
     for ( i = 0; i < multiloop; i++ ) {
+       //Insertion by Jeff Goeke-Smith for Autopilot.
+       
+       // run Autopilot system
+       fgPrintf( FG_ALL, FG_BULK,"Attempting autopilot run\n");
+                     
+       fgAPRun();
+       
+       // end of insertion 
+       
        ls_loop( model_dt, 0);
+
+       // translate LaRCsim back to FG structure so that the
+       // autopilot (and the rest of the sim can use the updated
+       // values
+       fgLaRCsim_2_Flight(f);
     }
 
     return(1);
@@ -914,6 +934,10 @@ int fgLaRCsim_2_Flight (fgFLIGHT *f) {
 /* Flight Gear Modification Log
  *
  * $Log$
+ * Revision 1.18  1998/04/21 16:59:38  curt
+ * Integrated autopilot.
+ * Prepairing for C++ integration.
+ *
  * Revision 1.17  1998/02/23 19:07:58  curt
  * Incorporated Durk's Astro/ tweaks.  Includes unifying the sun position
  * calculation code between sun display, and other FG sections that use this