//
// Written by Curtis Olson, started October 1998.
//
-// Copyright (C) 1998 Curtis L. Olson - curt@me.umn.edu
+// Copyright (C) 1998 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
+
#include <math.h>
#include <string.h> // strcmp()
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/scene/model/location.hxx>
#include <simgear/scene/model/placement.hxx>
-#include <Aircraft/aircraft.hxx>
-#include <Controls/controls.hxx>
+#include <Aircraft/controls.hxx>
#include <FDM/flight.hxx>
-#include <FDM/IO360.hxx>
-#include <FDM/LaRCsimIC.hxx>
#include <FDM/UIUCModel/uiuc_aircraft.h>
#include <Main/fg_props.hxx>
#include <Model/acmodel.hxx>
#include "ls_interface.h"
#include "ls_constants.h"
+#include "IO360.hxx"
+#include "LaRCsimIC.hxx"
#include "LaRCsim.hxx"
FGLaRCsim::FGLaRCsim( double dt ) {
+ mass=i_xx=i_yy=i_zz=i_xz=0;
+
// set_delta_t( dt );
speed_up = fgGetNode("/sim/speed-up", true);
I_xz = 0.000000E+00;
}
+ if ( !strcmp(aero->getStringValue(), "basic") ) {
+ copy_to_LaRCsim(); // initialize all of LaRCsim's vars
+
+ //this should go away someday -- formerly done in fg_init.cxx
+ Mass = 2./32.174;
+ I_xx = 0.0454;
+ I_yy = 0.0191;
+ I_zz = 0.0721;
+ I_xz = 0;
+// Mass = 8.547270E+01;
+// I_xx = 1.048000E+03;
+// I_yy = 3.000000E+03;
+// I_zz = 3.530000E+03;
+// I_xz = 0.000000E+00;
+ }
+
ls_set_model_dt(dt);
// Initialize our little engine that hopefully might
* dt);
}
+ // Apparently the IO360 thrust model is not working.
+ // F_X_engine is zero here.
F_X_engine = eng.get_prop_thrust_lbs();
- // cout << "F_X_engine = " << F_X_engine << '\n';
- // end c172 if block
Flap_handle = 30.0 * globals->get_controls()->get_flaps();
}
// done with c172-larcsim if-block
+ if ( !strcmp(aero->getStringValue(), "basic") ) {
+ // set control inputs
+ // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
+ eng.set_IAS( V_calibrated_kts );
+ eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
+ * 100.0 );
+ eng.set_Propeller_Lever_Pos( 100 );
+ eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
+ * 100.0 );
+ eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
+ eng.setStarterFlag( globals->get_controls()->get_starter(0) );
+ eng.set_p_amb( Static_pressure );
+ eng.set_T_amb( Static_temperature );
+
+ // update engine model
+ eng.update();
+
+ // Fake control-surface positions
+ fgSetDouble("/surface-positions/flap-pos-norm",
+ fgGetDouble("/controls/flight/flaps"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/elevator-pos-norm",
+ fgGetDouble("/controls/flight/elevator"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/left-aileron-pos-norm",
+ fgGetDouble("/controls/flight/aileron"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/right-aileron-pos-norm",
+ -1 * fgGetDouble("/controls/flight/aileron"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/rudder-pos-norm",
+ fgGetDouble("/controls/flight/rudder"));
+
+ // copy engine state values onto "bus"
+ fgSetDouble("/engines/engine/rpm", eng.get_RPM());
+ fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
+ fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
+ fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
+ fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
+ fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
+ fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
+ fgSetDouble("/engines/engine/fuel-flow-gph",
+ eng.get_fuel_flow_gals_hr());
+ fgSetDouble("/engines/engine/oil-temperature-degf",
+ eng.get_oil_temp());
+ fgSetDouble("/engines/engine/running", eng.getRunningFlag());
+ fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
+
+ static const SGPropertyNode *fuel_freeze
+ = fgGetNode("/sim/freeze/fuel");
+
+ if ( ! fuel_freeze->getBoolValue() ) {
+ //Assume we are using both tanks equally for now
+ fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
+ fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
+ - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
+ * dt);
+ fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
+ fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
+ - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
+ * dt);
+ }
+
+ // Apparently the IO360 thrust model is not working.
+ // F_X_engine is zero here.
+ F_X_engine = eng.get_prop_thrust_lbs();
+
+ Flap_handle = 30.0 * globals->get_controls()->get_flaps();
+ }
+ // done with basic-larcsim if-block
+
double save_alt = 0.0;
// lets try to avoid really screwing up the LaRCsim model
Long_trim = globals->get_controls()->get_elevator_trim();
Rudder_pedal = globals->get_controls()->get_rudder() / speed_up->getIntValue();
- if ( !strcmp(aero->getStringValue(), "c172") ) {
- Use_External_Engine = 1;
- } else {
- Use_External_Engine = 0;
- }
+ // IO360.cxx for the C172 thrust is broken (not sure why).
+ // So force C172 to use engine model in c172_engine.c instead of the IO360.cxx.
+ // if ( !strcmp(aero->getStringValue(), "c172") ) {
+ // Use_External_Engine = 1;
+ // } else {
+ // Use_External_Engine = 0;
+ // }
+ Use_External_Engine = 0;
Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
- Brake_pct[0] = globals->get_controls()->get_brake( 1 );
- Brake_pct[1] = globals->get_controls()->get_brake( 0 );
+ Brake_pct[0] = globals->get_controls()->get_brake_right();
+ Brake_pct[1] = globals->get_controls()->get_brake_left();
// Inform LaRCsim of the local terrain altitude
- // Runway_altitude = get_Runway_altitude();
- Runway_altitude = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m() * SG_METER_TO_FEET;
+ Runway_altitude
+ = get_groundlevel_m(Latitude, Longitude, Altitude * SG_FEET_TO_METER)
+ * SG_METER_TO_FEET;
+
// Weather
/* V_north_airmass = get_V_north_airmass();
V_east_airmass = get_V_east_airmass();
// if flying uiuc, set some properties and over-ride some previous ones
if ( !strcmp(aero->getStringValue(), "uiuc")) {
- // surface positions
- fgSetDouble("/surface-positions/rudder-pos-norm", fgGetDouble("/controls/flight/rudder"));
- fgSetDouble("/surface-positions/elevator-pos-norm", fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
- fgSetDouble("/surface-positions/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
- fgSetDouble("/surface-positions/left-aileron-pos-norm", fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
+ // surface positions and other general properties
+ fgSetDouble("/surface-positions/flight/rudder-pos-norm", fgGetDouble("/controls/flight/rudder"));
+ fgSetDouble("/surface-positions/flight/elevator-pos-norm", fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/flight/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/flight/left-aileron-pos-norm", fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
+
+ // used by Instruments/accel.xml
+ fgSetDouble("/accelerations/pilot-g", -N_Z_cg);
Flap_handle = flap_max * globals->get_controls()->get_flaps();
// flaps with transition occuring in uiuc_aerodeflections.cpp
if (use_flaps) {
- fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_pct);
+ fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_norm);
}
// spoilers with transition occurring in uiuc_aerodeflections.cpp
if(use_spoilers) {
- Spoiler_handle = spoiler_max * fgGetDouble("/controls/spoilers");
+ Spoiler_handle = spoiler_max * fgGetDouble("/controls/flight/spoilers");
}
// gear with transition occurring here in LaRCsim.cxx
if (use_gear) {
- if(fgGetBool("/controls/gear-down")) {
+ if(fgGetBool("/controls/gear/gear-down")) {
Gear_handle = 1.0;
}
else {
}
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
// uiuc jet aircraft, e.g. a4d
+ // used for setting the sound
fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
+ // used for setting the instruments
+ fgSetDouble("/engines/engine[0]/n1", (50 + (globals->get_controls()->get_throttle( 0 ) * 50)));
}
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
// uiuc sailplane, e.g. asw20
fgSetDouble("/engines/engine/cranking", 0);
- // set the wind speed for use in setting wind sound level
- fgSetDouble("/velocities/V_rel_wind_kts", (V_rel_wind * 1.274));
}
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
- // uiuc sailplane, e.g. asw20
+ // uiuc hang glider, e.g. airwave
fgSetDouble("/engines/engine/cranking", 0);
}
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
- // mechanical flapping wings
- // flapping wings (using seahawk for now)
+ // flapping wings
fgSetDouble("/canopy/position-norm", 0);
fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
- // fgSetDouble("/wing-phase/position-norm", fgGetDouble("/controls/rudder"));
fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
fgSetDouble("/wing-phase/position-one", 1);
fgSetDouble("/thorax/volume", 0);
fgSetDouble("/thorax/rpm", 0);
- // fgSetDouble("/wing-phase/position-norm", ((1+cos(flapper_phi - LS_PI/2))/2 -.36 ));
// fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
// fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
}
// add Gamma_horiz_deg to properties, mss 021213
if (use_gamma_horiz_on_speed) {
if (V_rel_wind > gamma_horiz_on_speed) {
- fgSetDouble("/orientation/Gamma_horiz_deg", (Gamma_horiz_rad * RAD_TO_DEG));
+ fgSetDouble("/orientation/gamma-horiz-deg", (Gamma_horiz_rad * RAD_TO_DEG));
}
else {
- fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
+ fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
}
}
else {
- fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
+ fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
}
ls_update(multiloop);
_set_Altitude_AGL( Altitude - Runway_altitude );
// Miscellaneous quantities
- _set_T_Local_to_Body(T_local_to_body_m);
// set_Gravity( Gravity );
// set_Centrifugal_relief( Centrifugal_relief );
- _set_Alpha( Alpha );
- _set_Beta( Beta );
- // set_Alpha_dot( Alpha_dot );
- // set_Beta_dot( Beta_dot );
+ _set_Alpha( Std_Alpha );
+ _set_Beta( Std_Beta );
+ // set_Alpha_dot( Std_Alpha_dot );
+ // set_Beta_dot( Std_Beta_dot );
// set_Cos_alpha( Cos_alpha );
// set_Sin_alpha( Sin_alpha );
// set_Cos_beta( Cos_beta );
// set_Sin_beta( Sin_beta );
- _set_Cos_phi( Cos_phi );
+ // _set_Cos_phi( Cos_phi );
// set_Sin_phi( Sin_phi );
- _set_Cos_theta( Cos_theta );
+ // _set_Cos_theta( Cos_theta );
// set_Sin_theta( Sin_theta );
// set_Cos_psi( Cos_psi );
// set_Sin_psi( Sin_psi );
// D_pilot_above_rwy );
// set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
- _set_sin_lat_geocentric(Lat_geocentric);
- _set_cos_lat_geocentric(Lat_geocentric);
- _set_sin_cos_longitude(Longitude);
- _set_sin_cos_latitude(Latitude);
-
// printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
// printf("sin_lat %f cos_lat %f\n",
// get_sin_latitude(), get_cos_latitude());
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