#include <FDM/LaRCsim/ls_generic.h>
#include <FDM/LaRCsim/ls_interface.h>
#include <FDM/LaRCsim/ls_constants.h>
-#include <FDM/LaRCsim/atmos_62.h>
-/* #include <FDM/LaRCsim/ls_trim_fs.h> */
-#include <FDM/LaRCsim/c172_aero.h>
-
-#include <math.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-
-//simple "one-at-a-time" longitudinal trimming routine
-typedef struct
-{
- double latitude,longitude,altitude;
- double vc,alpha,beta,gamma;
- double theta,phi,psi;
- double weight,cg;
- int use_gamma_tmg;
-}InitialConditions;
-
-// Units for setIC
-// vc knots (calibrated airspeed, close to indicated)
-// altitude ft
-// all angles in degrees
-// weight lbs
-// cg %MAC
-// if use_gamma_tmg =1 then theta will be computed
-// from theta=alpha+gamma and the value given will
-// be ignored. Otherwise gamma is computed from
-// gamma=theta-alpha
-void setIC(InitialConditions IC)
-{
- SCALAR vtfps,u,v,w,vt_east;
- SCALAR vnu,vnv,vnw,vteu,vtev,vtew,vdu,vdv,vdw;
- SCALAR alphar,betar,thetar,phir,psir,gammar;
- SCALAR sigma,ps,Ts,a;
-
- Mass=IC.weight*INVG;
- Dx_cg=(IC.cg-0.25)*4.9;
-
- Latitude=IC.latitude*DEG_TO_RAD;
- Longitude=IC.longitude*DEG_TO_RAD;
- Altitude=IC.altitude;
- ls_geod_to_geoc( Latitude, Altitude, &Sea_level_radius, &Lat_geocentric);
-
- ls_atmos(IC.altitude,&sigma,&a,&Ts,&ps);
- vtfps=sqrt(1/sigma*IC.vc*IC.vc)*1.68781;
- alphar=IC.alpha*DEG_TO_RAD;
- betar=IC.beta*DEG_TO_RAD;
- gammar=IC.gamma*DEG_TO_RAD;
-
-
- phir=IC.phi*DEG_TO_RAD;
- psir=IC.psi*DEG_TO_RAD;
-
- if(IC.use_gamma_tmg == 1)
- {
- thetar=alphar+gammar;
- }
- else
- {
- thetar=IC.theta*DEG_TO_RAD;
- gammar=thetar-alphar;
- }
-
- u=vtfps*cos(alphar)*cos(betar);
- v=vtfps*sin(betar);
- w=vtfps*sin(alphar)*cos(betar);
-
- vnu=u*cos(thetar)*cos(psir);
- vnv=v*(-sin(psir)*cos(phir)+sin(phir)*sin(thetar)*cos(psir));
- vnw=w*(sin(phir)*sin(psir)+cos(phir)*sin(thetar)*cos(psir));
-
- V_north=vnu+vnv+vnw;
-
- vteu=u*cos(thetar)*sin(psir);
- vtev=v*(cos(phir)*cos(psir)+sin(phir)*sin(thetar)*sin(psir));
- vtew=w*(-sin(phir)*cos(psir)+cos(phir)*sin(thetar)*sin(psir));
-
- vt_east=vteu+vtev+vtew;
- V_east=vt_east+ OMEGA_EARTH*Sea_level_radius*cos(Lat_geocentric);
-
- vdu=u*-sin(thetar);
- vdv=v*cos(thetar)*sin(phir);
- vdw=w*cos(thetar)*cos(phir);
-
- V_down=vdu+vdv+vdw;
-
- Theta=thetar;
- Phi=phir;
- Psi=psir;
-
-}
-
-
-int trim_long(int kmax, InitialConditions IC)
-{
- double elevator,alpha;
- double tol=1E-3;
- double a_tol=tol/10;
- double alpha_step=0.001;
- int k=0,i,j=0,jmax=10,sum=0;
- ls_loop(0.0,-1);
- do{
- //printf("k: %d\n",k);
- while((fabs(W_dot_body) > tol) && (j < jmax))
- {
-
- IC.alpha+=W_dot_body*0.05;
- if((IC.alpha < -5) || (IC.alpha > 21))
- j=jmax;
- setIC(IC);
- ls_loop(0.0,-1);
-/* printf("IC.alpha: %g, Alpha: %g, wdot: %g\n",IC.alpha,Alpha*RAD_TO_DEG,W_dot_body);
- */ j++;
- }
- sum+=j;
-/* printf("\tTheta: %7.4f, Alpha: %7.4f, wdot: %10.6f, j: %d\n",Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,W_dot_body,j);
- */ j=0;
- while((fabs(U_dot_body) > tol) && (j < jmax))
- {
-
- Throttle_pct-=U_dot_body*0.005;
- if((Throttle_pct < 0) || (Throttle_pct > 1))
- Throttle_pct=0.2;
- setIC(IC);
- ls_loop(0.0,-1);
- j++;
- }
- sum+=j;
-/* printf("\tThrottle_pct: %7.4f, udot: %10.6f, j: %d\n",Throttle_pct,U_dot_body,j);
- */ j=0;
- while((fabs(Q_dot_body) > a_tol) && (j < jmax))
- {
-
- Long_control+=Q_dot_body*0.001;
- if((Long_control < -1) || (Long_control > 1))
- j=jmax;
- setIC(IC);
- ls_loop(0.0,-1);
- j++;
- }
- sum+=j;
- if(Long_control >= 0)
- elevator=Long_control*23;
- else
- elevator=Long_control*28;
-/* printf("\televator: %7.4f, qdot: %10.6f, j: %d\n",elevator,Q_dot_body,j);
- */ k++;j=0;
- }while(((fabs(W_dot_body) > tol) || (fabs(U_dot_body) > tol) || (fabs(Q_dot_body) > tol)) && (k < kmax));
- /* printf("Total Iterations: %d\n",sum); */
- return k;
-}
-
-int trim_ground(int kmax, InitialConditions IC)
-{
- double elevator,alpha,qdot_prev,alt_prev,step;
- double tol=1E-3;
- double a_tol=tol/10;
- double alpha_step=0.001;
- int k=0,i,j=0,jmax=40,sum=0,m=0;
- Throttle_pct=0;
- Brake_pct=1;
- Theta=5*DEG_TO_RAD;
- IC.altitude=Runway_altitude;
- printf("udot: %g\n",U_dot_body);
- setIC(IC);
- printf("Altitude: %g, Runway_altitude: %g\n",Altitude,Runway_altitude);
- qdot_prev=1.0E6;
-
- ls_loop(0.0,-1);
-
- do{
- //printf("k: %d\n",k);
- step=1;
- printf("IC.altitude: %g, Altitude: %g, Runway_altitude: %g,wdot: %g,F_Z_gear: %g, M_m_gear: %g,F_Z: %g\n",IC.altitude,Altitude,Runway_altitude,W_dot_body,F_Z_gear,M_m_gear,F_Z);
-
- m=0;
- while((fabs(W_dot_body) > tol) && (m < 10))
- {
-
- j=0;
-
- do{
- alt_prev=IC.altitude;
- IC.altitude+=step;
- setIC(IC);
- ls_loop(0.0,-1);
- printf("IC.altitude: %g, Altitude: %g, Runway_altitude: %g,wdot: %g,F_Z: %g\n",IC.altitude,Altitude,Runway_altitude,W_dot_body,F_Z);
- j++;
- }while((W_dot_body < 0) && (j < jmax));
- IC.altitude-=step;
- step/=10;
- printf("step: %g\n",step);
- m++;
-
- }
- sum+=j;
- printf("IC.altitude: %g, Altitude: %g, Runway_altitude: %g,wdot: %g,F_Z_gear: %g, M_m_gear: %g,F_Z: %g\n",IC.altitude,Altitude,Runway_altitude,W_dot_body,F_Z_gear,M_m_gear,F_Z);
-
- j=0;
-
- while((Q_dot_body <= qdot_prev) && (j < jmax))
- {
-
-
- qdot_prev=Q_dot_body;
- IC.theta+=Q_dot_body;
- setIC(IC);
- ls_loop(0.0,-1);
- j++;
-
- printf("\tTheta: %7.4f, qdot: %10.6f, qdot_prev: %10.6f, j: %d\n",Theta*RAD_TO_DEG,Q_dot_body,qdot_prev,j);
- }
- IC.theta-=qdot_prev;
- sum+=j;
-
- printf("\tTheta: %7.4f, qdot: %10.6f, W_dot_body: %g\n",Theta,Q_dot_body,W_dot_body);
- j=0;
- if(W_dot_body > tol)
- {
- step=1;
- while((W_dot_body > 0) && (j <jmax))
- {
- IC.altitude-=step;
- setIC(IC);
- ls_loop(0.0,-1);
- j++;
- }
- }
- k++;j=0;
- }while(((fabs(W_dot_body) > tol) || (fabs(Q_dot_body) > tol)) && (k < kmax));
- printf("Total Iterations: %d\n",sum);
- return k;
-}
-void do_trims(int kmax,FILE *out,InitialConditions IC)
-{
- int k=0,i;
- double speed,elevator,cmcl;
- out=fopen("trims.out","w");
- speed=55;
-
- for(i=1;i<=5;i++)
- {
- switch(i)
- {
- case 1: IC.weight=1500;IC.cg=0.155;break;
- case 2: IC.weight=1500;IC.cg=0.364;break;
- case 3: IC.weight=1950;IC.cg=0.155;break;
- case 4: IC.weight=2550;IC.cg=0.257;break;
- case 5: IC.weight=2550;IC.cg=0.364;break;
- }
-
- speed=50;
- while(speed <= 150)
- {
- IC.vc=speed;
- Long_control=0;Theta=0;Throttle_pct=0.0;
-
- k=trim_long(kmax,IC);
- if(Long_control <= 0)
- elevator=Long_control*28;
- else
- elevator=Long_control*23;
- if(fabs(CL) > 1E-3)
- {
- cmcl=cm / CL;
- }
- if(k < kmax)
- {
- fprintf(out,"%g,%g,%g,%g,%g,%d",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Gamma_vert_rad,k);
- fprintf(out,",%g,%g,%g,%g,%g\n",CL,cm,cmcl,Weight,Cg);
-/* printf("%g,%g,%g,%g,%g,%g,%g,%g,%g,%g\n",V_calibrated_kts,Alpha*RAD_TO_DEG,elevator,CL,cm,Cmo,Cma,Cmde,Mass*32.174,Dx_cg);
- */ }
- else
- {
- printf("kmax exceeded at: %g knots, %g lbs, %g %%MAC\n",V_calibrated_kts,Weight,Cg);
- printf("wdot: %g, udot: %g, qdot: %g\n\n",W_dot_body,U_dot_body,Q_dot_body);
-
- }
- speed+=10;
- }
- }
- fclose(out);
-}
-
-void do_stick_pull(int kmax, SCALAR tmax,FILE *out,InitialConditions IC)
-{
-
- SCALAR htarget,hgain,hdiffgain,herr,herr_diff,herrprev;
- SCALAR theta_trim,elev_trim,time;
- int k;
- k=trim_long(kmax,IC);
- printf("Trim:\n\tAlpha: %10.6f, elev: %10.6f, Throttle: %10.6f\n\twdot: %10.6f, qdot: %10.6f, udot: %10.6f\n",Alpha*RAD_TO_DEG,Long_control,Throttle_pct,W_dot_body,U_dot_body,Q_dot_body);
-
- htarget=0;
-
- hgain=1;
- hdiffgain=1;
- elev_trim=Long_control;
- out=fopen("stick_pull.out","w");
- herr=Q_body-htarget;
-
- //fly steady-level for 2 seconds, well, zero pitch rate anyway
- while(time < 2.0)
- {
- herrprev=herr;
- ls_update(1);
- herr=Q_body-htarget;
- herr_diff=herr-herrprev;
- Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff);
- time+=0.01;
-/* printf("Time: %7.4f, Alt: %7.4f, Alpha: %7.4f, pelev: %7.4f, qdot: %7.4f, udot: %7.4f, Phi: %7.4f, Psi: %7.4f\n",time,Altitude,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,U_dot_body,Phi,Psi);
- printf("Mcg: %7.4f, Mrp: %7.4f, Maero: %7.4f, Meng: %7.4f, Mgear: %7.4f, Dx_cg: %7.4f, Dz_cg: %7.4f\n\n",M_m_cg,M_m_rp,M_m_aero,M_m_engine,M_m_gear,Dx_cg,Dz_cg);
- */ fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_true_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
- fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
- }
-
- //begin untrimmed climb at theta_trim + 2 degrees
- hgain=4;
- hdiffgain=2;
- theta_trim=Theta;
- htarget=theta_trim;
- herr=Theta-htarget;
- while(time < tmax)
- {
- //ramp in the target theta
- if(htarget < (theta_trim + 2*DEG_TO_RAD))
- {
- htarget+= 0.01*DEG_TO_RAD;
- }
- herrprev=herr;
- ls_update(1);
- herr=Theta-htarget;
- herr_diff=herr-herrprev;
- Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff);
- time+=0.01;
-/* printf("Time: %7.4f, Alt: %7.4f, Alpha: %7.4f, pelev: %7.4f, qdot: %7.4f, udot: %7.4f, Phi: %7.4f, Psi: %7.4f\n",time,Altitude,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,U_dot_body,Phi,Psi);
- printf("Mcg: %7.4f, Mrp: %7.4f, Maero: %7.4f, Meng: %7.4f, Mgear: %7.4f, Dx_cg: %7.4f, Dz_cg: %7.4f\n\n",M_m_cg,M_m_rp,M_m_aero,M_m_engine,M_m_gear,Dx_cg,Dz_cg);
- */ fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_true_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
- fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
- }
- printf("%g,%g\n",theta_trim*RAD_TO_DEG,htarget*RAD_TO_DEG);
- fclose(out);
-}
-
-void do_takeoff(FILE *out)
-{
- SCALAR htarget,hgain,hdiffgain,elev_trim,elev_trim_save,herr;
- SCALAR time,herrprev,herr_diff;
-
- htarget=0;
-
- hgain=1;
- hdiffgain=1;
- elev_trim=Long_control;
- elev_trim_save=elev_trim;
-
-
- out=fopen("takeoff.out","w");
- herr=Q_body-htarget;
-
- //attempt to maintain zero pitch rate during the roll
- while((V_calibrated_kts < 61) && (time < 30.0))
- {
- /* herrprev=herr;*/
- ls_update(1);
- /*herr=Q_body-htarget;
- herr_diff=herr-herrprev;
- Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff); */
- time+=0.01;
- printf("Time: %7.4f, Vc: %7.4f, Alpha: %7.4f, pelev: %7.4f, qdot: %7.4f, udot: %7.4f, U: %7.4f, W: %7.4f\n",time,V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,U_dot_body,U_body,W_body);
-// printf("Mcg: %7.4f, Mrp: %7.4f, Maero: %7.4f, Meng: %7.4f, Mgear: %7.4f, Dx_cg: %7.4f, Dz_cg: %7.4f\n\n",M_m_cg,M_m_rp,M_m_aero,M_m_engine,M_m_gear,Dx_cg,Dz_cg);
-// fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_calibrated_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
- fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
-
- }
- //At Vr, ramp in 10% nose up elevator in 0.5 seconds
- elev_trim_save=0;
- printf("At Vr, rotate...\n");
- while((Q_body < 3.0*RAD_TO_DEG) && (time < 30.0))
- {
- Long_control-=0.01;
- ls_update(1);
- printf("Time: %7.4f, Vc: %7.4f, Alpha: %7.4f, pelev: %7.4f, q: %7.4f, cm: %7.4f, U: %7.4f, W: %7.4f\n",time,V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control*100,Q_body*RAD_TO_DEG,cm,U_body,W_body);
-
- fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_calibrated_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
- fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
- time +=0.01;
-
- }
- //Maintain 15 degrees theta for the climbout
- htarget=15*DEG_TO_RAD;
- herr=Theta-htarget;
- hgain=10;
- hdiffgain=1;
- elev_trim=Long_control;
- while(time < 30.0)
- {
- herrprev=herr;
- ls_update(1);
- herr=Theta-htarget;
- herr_diff=herr-herrprev;
- Long_control=elev_trim+(hgain*herr + hdiffgain*herr_diff);
- time+=0.01;
- printf("Time: %7.4f, Alt: %7.4f, Speed: %7.4f, Theta: %7.4f\n",time,Altitude,V_calibrated_kts,Theta*RAD_TO_DEG);
- fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,%20.8f,",time,V_calibrated_kts,Theta*RAD_TO_DEG,Alpha*RAD_TO_DEG,Q_body*RAD_TO_DEG,Alpha_dot*RAD_TO_DEG,Q_dot_body*RAD_TO_DEG,Throttle_pct,elevator*RAD_TO_DEG);
- fprintf(out,"%20.8f,%20.8f,%20.8f,%20.8f,%20.8f\n",CL,CLwbh,cm,cd,Altitude);
- }
- fclose(out);
- printf("Speed: %7.4f, Alt: %7.4f, Alpha: %7.4f, pelev: %7.4f, q: %7.4f, udot: %7.4f\n",V_true_kts,Altitude,Alpha*RAD_TO_DEG,Long_control,Q_body*RAD_TO_DEG,U_dot_body);
- printf("F_down_total: %7.4f, F_Z_aero: %7.4f, F_X: %7.4f, M_m_cg: %7.4f\n\n",F_down+Mass*Gravity,F_Z_aero,F_X,M_m_cg);
-
-
-
-
-}
// Initialize the LaRCsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
}
-
// Run an iteration of the EOM (equations of motion)
-int main(int argc, char *argv[]) {
+int main() {
double save_alt = 0.0;
- int multiloop=1,k=0,i;
- double time=0,elev_trim,elev_trim_save,elevator,speed,cmcl;
- FILE *out;
- double hgain,hdiffgain,herr,herrprev,herr_diff,htarget;
- InitialConditions IC;
+ int multiloop=1;
+ double time=0;
- if(argc < 6)
- {
- printf("Need args: $c172 speed alt alpha elev throttle\n");
- exit(1);
- }
+ Altitude=1000; /*BFI as given by airnav*/
+ Latitude=47.5299892;
+ Longitude=122.3019561;
+ Lat_geocentric=Latitude;
+ Lon_geocentric=Longitude;
+ Radius_to_vehicle=Altitude+EQUATORIAL_RADIUS;
+ Lat_control = 0;
+ Long_control = 0;
+ Long_trim = 0;
+ Rudder_pedal = 0;
+ Throttle_pct = 0.0;
+ Brake_pct = 1.0;
+ V_north=200;
+ V_east=0;
+ V_down=0;
- IC.latitude=47.5299892; //BFI
- IC.longitude=122.3019561;
- Runway_altitude = 18.0;
- IC.altitude=strtod(argv[2],NULL);
- IC.vc=strtod(argv[1],NULL);
- IC.alpha=10;
- IC.beta=0;
- IC.theta=strtod(argv[3],NULL);
- IC.use_gamma_tmg=0;
- IC.phi=0;
- IC.psi=0;
- IC.weight=1500;
- IC.cg=0.155;
- Long_control=strtod(argv[4],NULL);
- setIC(IC);
- printf("Out setIC\n");
- ls_ForceAltitude(IC.altitude);
- fgLaRCsimInit(0.01);
+ printf("Calling init...\n");
+ fgLaRCsimInit(0.05);
- while(IC.alpha < 30.0)
- {
- setIC(IC);
- ls_loop(0.0,-1);
- printf("CL: %g ,Alpha: %g\n",CL,IC.alpha);
- IC.alpha+=1.0;
- }
-
- /*trim_ground(10,IC);*/
- /* printf("%g,%g\n",Theta,Gamma_vert_rad);
- printf("trim_long():\n");
- k=trim_long(200,IC);
- Throttle_pct=Throttle_pct-0.2;
- printf("%g,%g\n",Theta,Gamma_vert_rad);
- out=fopen("dive.out","w");
- time=0;
- while(time < 30.0)
- {
- ls_update(1);
-
- cmcl=cm/CL;
- fprintf(out,"%g,%g,%g,%g,%g,%d",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Gamma_vert_rad,k);
- fprintf(out,",%g,%g,%g\n",CL,cm,cmcl);
- time+=0.01;
- }
- fclose(out);
- printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG);
- printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG);
- printf("V_north: %8.2f, V_east_rel_ground: %8.2f, V_east: %8.2f, V_down: %8.2f\n",V_north,V_east_rel_ground,V_east,V_down);
- printf("Long_control: %8.2f, Throttle_pct: %8.2f\n",Long_control,Throttle_pct);
- printf("k: %d, udot: %8.4f, wdot: %8.4f, qdot: %8.5f\n",k,U_dot_body,W_dot_body,Q_dot_body);
+ /* copy control positions into the LaRCsim structure */
- printf("\nls_update():\n");
- ls_update(1);
- printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG);
- printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG);
- */
-
+
/* Inform LaRCsim of the local terrain altitude */
+ Runway_altitude = 18.0;
+ printf("Entering Loop\n");
+ printf("Speed: %7.4f, Lat: %7.4f, Long: %7.4f, Alt: %7.4f\n\n",V_true_kts,Latitude,Longitude,Altitude);
+ while (time < 0.2)
+ {
+ time=time+0.05;
+ ls_update(multiloop);
+ printf("Speed: %7.4f, Fxeng: %7.4f, Fxaero: %7.4f, Fxgear: %7.4f Alt: %7.4f\n\n",V_true_kts,F_X_engine,F_X_aero,F_X_gear,Altitude);
+
+
+
+ }
+ /* // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
+ // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
-
+ // translate LaRCsim back to FG structure so that the
+ // autopilot (and the rest of the sim can use the updated
+ // values
+ //fgLaRCsim_2_FGInterface(f); */
+
+
+
return 1;
}
return( 0 );
}
-*/
+// Convert from the LaRCsim generic_ struct to the FGInterface struct
+int fgLaRCsim_2_FGInterface (FGInterface& f) {
+
+ // Mass properties and geometry values
+ f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
+ // f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
+ f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
+
+ // Forces
+ // f.set_Forces_Body_Total( F_X, F_Y, F_Z );
+ // f.set_Forces_Local_Total( F_north, F_east, F_down );
+ // f.set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
+ // f.set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
+ // f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
+
+ // Moments
+ // f.set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
+ // f.set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
+ // f.set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
+ // f.set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
+ // f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
+
+ // Accelerations
+ // f.set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
+ // f.set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
+ // f.set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
+ // f.set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
+ // f.set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
+ // f.set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
+ // f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
+
+ // Velocities
+ f.set_Velocities_Local( V_north, V_east, V_down );
+ // f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
+ // V_down_rel_ground );
+ // f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
+ // V_down_airmass );
+ // f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
+ // V_east_rel_airmass, V_down_rel_airmass );
+ // f.set_Velocities_Gust( U_gust, V_gust, W_gust );
+ // f.set_Velocities_Wind_Body( U_body, V_body, W_body );
+
+ // f.set_V_rel_wind( V_rel_wind );
+ // f.set_V_true_kts( V_true_kts );
+ // f.set_V_rel_ground( V_rel_ground );
+ // f.set_V_inertial( V_inertial );
+ // f.set_V_ground_speed( V_ground_speed );
+ // f.set_V_equiv( V_equiv );
+ f.set_V_equiv_kts( V_equiv_kts );
+ // f.set_V_calibrated( V_calibrated );
+ // f.set_V_calibrated_kts( V_calibrated_kts );
+
+ f.set_Omega_Body( P_body, Q_body, R_body );
+ // f.set_Omega_Local( P_local, Q_local, R_local );
+ // f.set_Omega_Total( P_total, Q_total, R_total );
+
+ // f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
+ f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
+
+ FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << Longitude
+ << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
+ << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
+ << " radius_to_vehicle = " << Radius_to_vehicle );
+
+ // Positions
+ f.set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
+ Radius_to_vehicle );
+ f.set_Geodetic_Position( Latitude, Longitude, Altitude );
+ f.set_Euler_Angles( Phi, Theta, Psi );
+
+ // Miscellaneous quantities
+ f.set_T_Local_to_Body(T_local_to_body_m);
+ // f.set_Gravity( Gravity );
+ // f.set_Centrifugal_relief( Centrifugal_relief );
+
+ f.set_Alpha( Alpha );
+ f.set_Beta( Beta );
+ // f.set_Alpha_dot( Alpha_dot );
+ // f.set_Beta_dot( Beta_dot );
+
+ // f.set_Cos_alpha( Cos_alpha );
+ // f.set_Sin_alpha( Sin_alpha );
+ // f.set_Cos_beta( Cos_beta );
+ // f.set_Sin_beta( Sin_beta );
+
+ // f.set_Cos_phi( Cos_phi );
+ // f.set_Sin_phi( Sin_phi );
+ // f.set_Cos_theta( Cos_theta );
+ // f.set_Sin_theta( Sin_theta );
+ // f.set_Cos_psi( Cos_psi );
+ // f.set_Sin_psi( Sin_psi );
+
+ f.set_Gamma_vert_rad( Gamma_vert_rad );
+ // f.set_Gamma_horiz_rad( Gamma_horiz_rad );
+
+ // f.set_Sigma( Sigma );
+ // f.set_Density( Density );
+ // f.set_V_sound( V_sound );
+ // f.set_Mach_number( Mach_number );
+
+ // f.set_Static_pressure( Static_pressure );
+ // f.set_Total_pressure( Total_pressure );
+ // f.set_Impact_pressure( Impact_pressure );
+ // f.set_Dynamic_pressure( Dynamic_pressure );
+
+ // f.set_Static_temperature( Static_temperature );
+ // f.set_Total_temperature( Total_temperature );
+
+ f.set_Sea_level_radius( Sea_level_radius );
+ f.set_Earth_position_angle( Earth_position_angle );
+
+ f.set_Runway_altitude( Runway_altitude );
+ // f.set_Runway_latitude( Runway_latitude );
+ // f.set_Runway_longitude( Runway_longitude );
+ // f.set_Runway_heading( Runway_heading );
+ // f.set_Radius_to_rwy( Radius_to_rwy );
+
+ // f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
+ // f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
+ // f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
+ // D_pilot_above_rwy );
+ // f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
+
+ f.set_sin_lat_geocentric(Lat_geocentric);
+ f.set_cos_lat_geocentric(Lat_geocentric);
+ f.set_sin_cos_longitude(Longitude);
+ f.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",
+ // f.get_sin_latitude(), f.get_cos_latitude());
+ // printf("sin_lon %f cos_lon %f\n",
+ // f.get_sin_longitude(), f.get_cos_longitude());
+
+ return 0;
+} */
projects / flightgear.git / blobdiff