Updated to match changes in radiostack.[ch]xx

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

diff --git a/src/FDM/JSBSim/FGInertial.cpp b/src/FDM/JSBSim/FGInertial.cpp
index db9ffe46ece93d04a0085fc43dee447ceb27443d..b3d3f598954c2d4658d48525bd44b5a5e077b94c 100644 (file)
--- a/src/FDM/JSBSim/FGInertial.cpp
+++ b/src/FDM/JSBSim/FGInertial.cpp
@@ -42,57 +42,64 @@ INCLUDES
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_INERTIAL;
 
-extern short debug_lvl;
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 
-FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex),
-    vForces(3),
-    vOmegaLocal(3),
-    vRadius(3)
+FGInertial::FGInertial(FGFDMExec* fgex) : FGModel(fgex)
 {
   Name = "FGInertial";
 
   vRadius.InitMatrix();
-
-  if (debug_lvl & 2) cout << "Instantiated: FGInertial" << endl;
+  
+  // Defaults
+  RotationRate    = 0.00007272205217;
+  GM              = 14.06252720E15;
+  RadiusReference = 20925650.00;
+  gAccelReference = GM/(RadiusReference*RadiusReference);
+  gAccel          = GM/(RadiusReference*RadiusReference);
+  
+  bind();
+
+  Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGInertial::~FGInertial(void)
 {
-  if (debug_lvl & 2) cout << "Destroyed:    FGInertial" << endl;
+  unbind();
+  Debug(1);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 bool FGInertial::Run(void)
 {
-  float stht, ctht, sphi, cphi;
+  double stht, ctht, sphi, cphi;
 
   if (!FGModel::Run()) {
 
+    gAccel = GM / (Position->GetRadius()*Position->GetRadius());
+
     stht = sin(Rotation->GetEuler(eTht));
     ctht = cos(Rotation->GetEuler(eTht));
     sphi = sin(Rotation->GetEuler(ePhi));
     cphi = cos(Rotation->GetEuler(ePhi));
 
-    vForces(eX) = -GRAVITY*stht;
-    vForces(eY) =  GRAVITY*sphi*ctht;
-    vForces(eZ) =  GRAVITY*cphi*ctht;
+    vGravity(eX) = vForces(eX) = -gravity()*stht;
+    vGravity(eY) = vForces(eY) =  gravity()*sphi*ctht;
+    vGravity(eZ) = vForces(eZ) =  gravity()*cphi*ctht;
     
     // The following equation for vOmegaLocal terms shows the angular velocity
     // calculation _for_the_local_frame_ given the earth's rotation (first set)
     // at the current latitude, and also the component due to the aircraft
     // motion over the curved surface of the earth (second set).
 
-    vOmegaLocal(eX) = OMEGA_EARTH * cos(Position->GetLatitude());
+    vOmegaLocal(eX) = omega() * cos(Position->GetLatitude());
     vOmegaLocal(eY) = 0.0;
-    vOmegaLocal(eZ) = OMEGA_EARTH * -sin(Position->GetLatitude());
+    vOmegaLocal(eZ) = omega() * -sin(Position->GetLatitude());
 
     vOmegaLocal(eX) +=  Position->GetVe() / Position->GetRadius();
     vOmegaLocal(eY) += -Position->GetVn() / Position->GetRadius();
@@ -120,8 +127,69 @@ bool FGInertial::LoadInertial(FGConfigFile* AC_cfg)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGInertial::Debug(void)
+void FGInertial::bind(void)
+{
+  typedef double (FGInertial::*PMF)(int) const;
+  PropertyManager->Tie("forces/fbx-inertial-lbs", this,1,
+                       (PMF)&FGInertial::GetForces);
+  PropertyManager->Tie("forces/fby-inertial-lbs", this,2,
+                       (PMF)&FGInertial::GetForces);
+  PropertyManager->Tie("forces/fbz-inertial-lbs", this,3,
+                       (PMF)&FGInertial::GetForces);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGInertial::unbind(void)
+{
+  PropertyManager->Untie("forces/fbx-inertial-lbs");
+  PropertyManager->Untie("forces/fby-inertial-lbs");
+  PropertyManager->Untie("forces/fbz-inertial-lbs");
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//    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 FGInertial::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: FGInertial" << endl;
+    if (from == 1) cout << "Destroyed:    FGInertial" << 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;
+    }
+  }
 }