Updated to match changes in radiostack.[ch]xx

[flightgear.git] / src / FDM / JSBSim / FGAuxiliary.cpp

diff --git a/src/FDM/JSBSim/FGAuxiliary.cpp b/src/FDM/JSBSim/FGAuxiliary.cpp
index 4657cb34c16ea652b3908a5669935d292e49a552..698c7faab654b4bf97aac98e4f0328a8ef9e45e9 100644 (file)
--- a/src/FDM/JSBSim/FGAuxiliary.cpp
+++ b/src/FDM/JSBSim/FGAuxiliary.cpp
@@ -54,6 +54,7 @@ INCLUDES
 #include "FGMatrix33.h"
 #include "FGColumnVector3.h"
 #include "FGColumnVector4.h"
+#include "FGPropertyManager.h"
 
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_AUXILIARY;
@@ -70,14 +71,16 @@ FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex)
   psl = rhosl = 1;
   earthPosAngle = 0.0;
   
-  if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
+  vPilotAccelN.InitMatrix();
+  
+  Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGAuxiliary::~FGAuxiliary()
 {
-  if (debug_lvl & 2) cout << "Destroyed:    FGAuxiliary" << endl;
+  Debug(1);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -145,14 +148,20 @@ bool FGAuxiliary::Run()
     // mass, the acceleration vector is calculated. The term wdot is equivalent
     // to the JSBSim vPQRdot vector, and the w parameter is equivalent to vPQR.
     // The radius R is calculated below in the vector vToEyePt.
-        
-    vToEyePt = Aircraft->GetXYZep() - MassBalance->GetXYZcg();
-
-    vPilotAccel = Aircraft->GetBodyAccel()
-                  + Rotation->GetPQRdot() * vToEyePt
-                  + Rotation->GetPQR() * (Rotation->GetPQR() * vToEyePt)
-                  + Inertial->GetGravity();
-
+    
+    vPilotAccel.InitMatrix();   
+    if ( Translation->GetVt() > 1 ) {
+      vToEyePt = Aircraft->GetXYZep() - MassBalance->GetXYZcg();
+      vToEyePt *= inchtoft;
+      vPilotAccel =  Aerodynamics->GetForces() 
+                  +  Propulsion->GetForces()
+                  +  GroundReactions->GetForces();
+      vPilotAccel /= MassBalance->GetMass();
+      vPilotAccel += Rotation->GetPQRdot() * vToEyePt;
+      vPilotAccel += Rotation->GetPQR() * (Rotation->GetPQR() * vToEyePt);
+      //vPilotAccel(2)*=-1;
+      vPilotAccelN = vPilotAccel/Inertial->gravity();
+    }
     earthPosAngle += State->Getdt()*Inertial->omega();
     return false;
   } else {
@@ -188,16 +197,57 @@ double FGAuxiliary::GetCrossWind(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGColumnVector3 FGAuxiliary::GetNpilot(void)
+void FGAuxiliary::bind(void)
 {
-  return vPilotAccel/Inertial->gravity();
+  typedef double (FGAuxiliary::*PMF)(int) const;
+  PropertyManager->Tie("velocities/vc-fps", this,
+                       &FGAuxiliary::GetVcalibratedFPS);
+  PropertyManager->Tie("velocities/vc-kts", this,
+                       &FGAuxiliary::GetVcalibratedKTS);
+  PropertyManager->Tie("velocities/ve-fps", this,
+                       &FGAuxiliary::GetVequivalentFPS);
+  PropertyManager->Tie("velocities/ve-kts", this,
+                       &FGAuxiliary::GetVequivalentKTS);
+  PropertyManager->Tie("accelerations/a-pilot-x-ft_sec2", this,1,
+                       (PMF)&FGAuxiliary::GetPilotAccel);
+  PropertyManager->Tie("accelerations/a-pilot-y-ft_sec2", this,2,
+                       (PMF)&FGAuxiliary::GetPilotAccel);
+  PropertyManager->Tie("accelerations/a-pilot-z-ft_sec2", this,3,
+                       (PMF)&FGAuxiliary::GetPilotAccel);
+  PropertyManager->Tie("accelerations/n-pilot-x-norm", this,1,
+                       (PMF)&FGAuxiliary::GetNpilot);
+  PropertyManager->Tie("accelerations/n-pilot-y-norm", this,2,
+                       (PMF)&FGAuxiliary::GetNpilot);
+  PropertyManager->Tie("accelerations/n-pilot-z-norm", this,3,
+                       (PMF)&FGAuxiliary::GetNpilot);
+  PropertyManager->Tie("position/epa-rad", this,
+                       &FGAuxiliary::GetEarthPositionAngle);
+  /* PropertyManager->Tie("atmosphere/headwind-fps", this,
+                       &FGAuxiliary::GetHeadWind,
+                       true);
+  PropertyManager->Tie("atmosphere/crosswind-fps", this,
+                       &FGAuxiliary::GetCrossWind,
+                       true); */
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-double FGAuxiliary::GetNpilot(int idx)
+void FGAuxiliary::unbind(void)
 {
-  return (vPilotAccel/Inertial->gravity())(idx);
+  PropertyManager->Untie("velocities/vc-fps");
+  PropertyManager->Untie("velocities/vc-kts");
+  PropertyManager->Untie("velocities/ve-fps");
+  PropertyManager->Untie("velocities/ve-kts");
+  PropertyManager->Untie("accelerations/a-pilot-x-ft_sec2");
+  PropertyManager->Untie("accelerations/a-pilot-y-ft_sec2");
+  PropertyManager->Untie("accelerations/a-pilot-z-ft_sec2");
+  PropertyManager->Untie("accelerations/n-pilot-x-norm");
+  PropertyManager->Untie("accelerations/n-pilot-y-norm");
+  PropertyManager->Untie("accelerations/n-pilot-z-norm");
+  PropertyManager->Untie("position/epa-rad");
+  /* PropertyManager->Untie("atmosphere/headwind-fps");
+  PropertyManager->Untie("atmosphere/crosswind-fps"); */
+
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -212,9 +262,48 @@ void FGAuxiliary::GetState(void)
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//    The bitmasked value choices are as follows:
+//    unset: In this case (the default) JSBSim would only print
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
 
 void FGAuxiliary::Debug(int from)
 {
-    //TODO: Add your source code here
+  if (debug_lvl <= 0) return;
+
+  if (debug_lvl & 1) { // Standard console startup message output
+    if (from == 0) { // Constructor
+
+    }
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGAuxiliary" << endl;
+    if (from == 1) cout << "Destroyed:    FGAuxiliary" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
+  }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
 }