#include <FDM/LaRCsim/ls_generic.h>
#include <FDM/LaRCsim/ls_interface.h>
#include <FDM/LaRCsimIC.hxx>
+#include <FDM/UIUCModel/uiuc_aircraft.h>
#include "IO360.hxx"
#include "LaRCsim.hxx"
FGLaRCsim::FGLaRCsim( double dt ) {
set_delta_t( dt );
- ls_toplevel_init( 0.0,
- (char *)fgGetString("/sim/aircraft").c_str() );
- lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
- copy_to_LaRCsim(); // initialize all of LaRCsim's vars
- //this should go away someday -- formerly done in fg_init.cxx
- Mass = 8.547270E+01;
- I_xx = 1.048000E+03;
- I_yy = 3.000000E+03;
- I_zz = 3.530000E+03;
- I_xz = 0.000000E+00;
- //current_aircraft.fdm_state->set_Tank1Fuel(15.0);
- //current_aircraft.fdm_state->set_Tank2Fuel(15.0);
- //Tank1Fuel = 15.0;
- //Tank2Fuel = 15.0;
-}
+ speed_up = fgGetNode("/sim/speed-up", true);
+ aircraft = fgGetNode("/sim/aircraft", true);
+
+ ls_toplevel_init( 0.0, (char *)(aircraft->getStringValue().c_str()) );
-FGLaRCsim::~FGLaRCsim(void) {
- if(lsic != NULL) {
- delete lsic;
+ lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
+ if ( aircraft->getStringValue() == "c172" ) {
+ copy_to_LaRCsim(); // initialize all of LaRCsim's vars
+
+ //this should go away someday -- formerly done in fg_init.cxx
+ Mass = 8.547270E+01;
+ I_xx = 1.048000E+03;
+ I_yy = 3.000000E+03;
+ I_zz = 3.530000E+03;
+ I_xz = 0.000000E+00;
}
-}
-
-// Initialize the LaRCsim flight model, dt is the time increment for
-// each subsequent iteration through the EOM
-void FGLaRCsim::init() {
-
- speed_up = fgGetValue("/sim/speed-up", true);
ls_set_model_dt( get_delta_t() );
- // Initialize our little engine that hopefully might
+
+ // Initialize our little engine that hopefully might
eng.init( get_delta_t() );
// dcl - in passing dt to init rather than update I am assuming
// that the LaRCsim dt is fixed at one value (yes it is 120hz CLO)
set_Tank1Fuel(28.0);
set_Tank2Fuel(28.0);
- // FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::init()" );
- double save_alt = 0.0;
+}
- if ( get_Altitude() < -9000.0 ) {
- save_alt = get_Altitude();
- set_Altitude( 0.0 );
+FGLaRCsim::~FGLaRCsim(void) {
+ if ( lsic != NULL ) {
+ delete lsic;
+ lsic = NULL;
}
+}
- // translate FG to LaRCsim structure
- copy_to_LaRCsim();
-
- // actual LaRCsim top level init
- // ls_toplevel_init( dt, (char *)fgGetString("/sim/aircraft").c_str() );
-
- FG_LOG( FG_FLIGHT, FG_INFO, "FG pos = " <<
- get_Latitude() );
-
- // translate LaRCsim back to FG structure
- copy_from_LaRCsim();
+// Initialize the LaRCsim flight model, dt is the time increment for
+// each subsequent iteration through the EOM
+void FGLaRCsim::init() {
- // but lets restore our original bogus altitude when we are done
- if ( save_alt < -9000.0 ) {
- set_Altitude( save_alt );
- }
+ // Explicitly call the superclass's
+ // init method first.
+ FGInterface::init();
}
// Run an iteration of the EOM (equations of motion)
bool FGLaRCsim::update( int multiloop ) {
- if ( fgGetString("/sim/aircraft") == "c172" ) {
+ if ( aircraft->getStringValue() == "c172" ) {
// set control inputs
// cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
eng.set_IAS( V_calibrated_kts );
- eng.set_Throttle_Lever_Pos( controls.get_throttle( 0 ) * 100.0 );
+ eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
+ * 100.0 );
eng.set_Propeller_Lever_Pos( 100 );
- eng.set_Mixture_Lever_Pos( controls.get_mixture( 0 ) * 100.0 );
+ eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
+ * 100.0 );
eng.set_p_amb( Static_pressure );
eng.set_T_amb( Static_temperature );
// copy engine state values onto "bus"
FGEngInterface *e = get_engine( 0 );
- e->set_Throttle( controls.get_throttle( 0 ) * 100.0 );
+ e->set_Throttle( globals->get_controls()->get_throttle( 0 ) * 100.0 );
e->set_Mixture( 80 );
e->set_Prop_Advance( 100 );
e->set_RPM( eng.get_RPM() );
* get_delta_t() );
#if 0
- FG_LOG( FG_FLIGHT, FG_INFO, "Throttle = "
- << controls.get_throttle( 0 ) * 100.0);
- FG_LOG( FG_FLIGHT, FG_INFO, " Mixture = " << 80);
- FG_LOG( FG_FLIGHT, FG_INFO, " RPM = " << eng.get_RPM());
- FG_LOG( FG_FLIGHT, FG_INFO, " MP = " << eng.get_Manifold_Pressure());
- FG_LOG( FG_FLIGHT, FG_INFO, " HP = "
+ SG_LOG( SG_FLIGHT, SG_INFO, "Throttle = "
+ << globals->get_controls()->get_throttle( 0 ) * 100.0);
+ SG_LOG( SG_FLIGHT, SG_INFO, " Mixture = " << 80);
+ SG_LOG( SG_FLIGHT, SG_INFO, " RPM = " << eng.get_RPM());
+ SG_LOG( SG_FLIGHT, SG_INFO, " MP = " << eng.get_Manifold_Pressure());
+ SG_LOG( SG_FLIGHT, SG_INFO, " HP = "
<< ( eng.get_MaxHP() * eng.get_Percentage_Power()/ 100.0) );
- FG_LOG( FG_FLIGHT, FG_INFO, " EGT = " << eng.get_EGT());
- FG_LOG( FG_FLIGHT, FG_INFO, " Thrust (N) "
+ SG_LOG( SG_FLIGHT, SG_INFO, " EGT = " << eng.get_EGT());
+ SG_LOG( SG_FLIGHT, SG_INFO, " Thrust (N) "
<< eng.get_prop_thrust_SI()); // Thrust in Newtons
- FG_LOG( FG_FLIGHT, FG_INFO, '\n');
+ SG_LOG( SG_FLIGHT, SG_INFO, '\n');
#endif
F_X_engine = eng.get_prop_thrust_lbs();
// cout << "F_X_engine = " << F_X_engine << '\n';
}
// copy control positions into the LaRCsim structure
- Lat_control = controls.get_aileron() /
+ Lat_control = globals->get_controls()->get_aileron() /
speed_up->getIntValue();
- Long_control = controls.get_elevator();
- Long_trim = controls.get_elevator_trim();
- Rudder_pedal = controls.get_rudder() /
+ Long_control = globals->get_controls()->get_elevator();
+ Long_trim = globals->get_controls()->get_elevator_trim();
+ Rudder_pedal = globals->get_controls()->get_rudder() /
speed_up->getIntValue();
- Flap_handle = 30.0 * controls.get_flaps();
+ Flap_handle = 30.0 * globals->get_controls()->get_flaps();
- if ( fgGetString("/sim/aircraft") == "c172" ) {
+ if ( aircraft->getStringValue() == "c172" ) {
Use_External_Engine = 1;
} else {
Use_External_Engine = 0;
}
- Throttle_pct = controls.get_throttle( 0 ) * 1.0;
+ Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
- Brake_pct[0] = controls.get_brake( 1 );
- Brake_pct[1] = controls.get_brake( 0 );
+ Brake_pct[0] = globals->get_controls()->get_brake( 1 );
+ Brake_pct[1] = globals->get_controls()->get_brake( 0 );
// Inform LaRCsim of the local terrain altitude
// Runway_altitude = get_Runway_altitude();
- Runway_altitude = scenery.cur_elev * METER_TO_FEET;
+ Runway_altitude = scenery.cur_elev * SG_METER_TO_FEET;
// Weather
/* V_north_airmass = get_V_north_airmass();
_set_Mach_number( Mach_number );
- FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << Longitude
+ SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
<< " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
<< " alt = " << Altitude << " sl_radius = " << Sea_level_radius
<< " radius_to_vehicle = " << Radius_to_vehicle );
_set_Geodetic_Position( Latitude, tmp_lon, Altitude );
_set_Euler_Angles( Phi, Theta, Psi );
- _set_Altitude_AGL( Altitude-Runway_altitude );
+ _set_Altitude_AGL( Altitude - Runway_altitude );
// Miscellaneous quantities
_set_T_Local_to_Body(T_local_to_body_m);
// get_sin_longitude(), get_cos_longitude());
_set_Climb_Rate( -1 * V_down );
+ // cout << "climb rate = " << -V_down * 60 << endl;
+
+ if ( aircraft->getStringValue() == "uiuc" ) {
+ if (pilot_elev_no) {
+ globals->get_controls()->set_elevator(Long_control);
+ globals->get_controls()->set_elevator_trim(Long_trim);
+ // controls.set_elevator(Long_control);
+ // controls.set_elevator_trim(Long_trim);
+ }
+ if (pilot_ail_no) {
+ globals->get_controls()->set_aileron(Lat_control);
+ // controls.set_aileron(Lat_control);
+ }
+ if (pilot_rud_no) {
+ globals->get_controls()->set_rudder(Rudder_pedal);
+ // controls.set_rudder(Rudder_pedal);
+ }
+ if (Throttle_pct_input) {
+ globals->get_controls()->set_throttle(0,Throttle_pct);
+ // controls.set_throttle(0,Throttle_pct);
+ }
+ }
return true;
}
V_down_airmass = lsic->GetVdownAirmassFpsIC();
ls_loop(0.0,-1);
copy_from_LaRCsim();
- FG_LOG( FG_FLIGHT, FG_INFO, " FGLaRCsim::set_ls(): " );
- FG_LOG( FG_FLIGHT, FG_INFO, " Phi: " << Phi );
- FG_LOG( FG_FLIGHT, FG_INFO, " Theta: " << Theta );
- FG_LOG( FG_FLIGHT, FG_INFO, " Psi: " << Psi );
- FG_LOG( FG_FLIGHT, FG_INFO, " V_north: " << V_north );
- FG_LOG( FG_FLIGHT, FG_INFO, " V_east: " << V_east );
- FG_LOG( FG_FLIGHT, FG_INFO, " V_down: " << V_down );
- FG_LOG( FG_FLIGHT, FG_INFO, " Altitude: " << Altitude );
- FG_LOG( FG_FLIGHT, FG_INFO, " Latitude: " << Latitude );
- FG_LOG( FG_FLIGHT, FG_INFO, " Longitude: " << Longitude );
- FG_LOG( FG_FLIGHT, FG_INFO, " Runway_altitude: " << Runway_altitude );
- FG_LOG( FG_FLIGHT, FG_INFO, " V_north_airmass: " << V_north_airmass );
- FG_LOG( FG_FLIGHT, FG_INFO, " V_east_airmass: " << V_east_airmass );
- FG_LOG( FG_FLIGHT, FG_INFO, " V_down_airmass: " << V_down_airmass );
+ SG_LOG( SG_FLIGHT, SG_INFO, " FGLaRCsim::set_ls(): " );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Phi: " << Phi );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Theta: " << Theta );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Psi: " << Psi );
+ SG_LOG( SG_FLIGHT, SG_INFO, " V_north: " << V_north );
+ SG_LOG( SG_FLIGHT, SG_INFO, " V_east: " << V_east );
+ SG_LOG( SG_FLIGHT, SG_INFO, " V_down: " << V_down );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: " << Altitude );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: " << Latitude );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: " << Longitude );
+ SG_LOG( SG_FLIGHT, SG_INFO, " Runway_altitude: " << Runway_altitude );
+ SG_LOG( SG_FLIGHT, SG_INFO, " V_north_airmass: " << V_north_airmass );
+ SG_LOG( SG_FLIGHT, SG_INFO, " V_east_airmass: " << V_east_airmass );
+ SG_LOG( SG_FLIGHT, SG_INFO, " V_down_airmass: " << V_down_airmass );
}
void FGLaRCsim::snap_shot(void) {
//Positions
void FGLaRCsim::set_Latitude(double lat) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Latitude: " << lat );
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
snap_shot();
lsic->SetLatitudeGDRadIC(lat);
set_ls();
}
void FGLaRCsim::set_Longitude(double lon) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Longitude: " << lon );
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon );
snap_shot();
lsic->SetLongitudeRadIC(lon);
set_ls();
}
void FGLaRCsim::set_Altitude(double alt) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Altitude: " << alt );
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
snap_shot();
lsic->SetAltitudeFtIC(alt);
set_ls();
}
void FGLaRCsim::set_V_calibrated_kts(double vc) {
- FG_LOG( FG_FLIGHT, FG_INFO,
+ SG_LOG( SG_FLIGHT, SG_INFO,
"FGLaRCsim::set_V_calibrated_kts: " << vc );
snap_shot();
lsic->SetVcalibratedKtsIC(vc);
}
void FGLaRCsim::set_Mach_number(double mach) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
snap_shot();
lsic->SetMachIC(mach);
set_ls();
}
void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_local: "
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
<< north << " " << east << " " << down );
snap_shot();
lsic->SetVNEDFpsIC(north, east, down);
}
void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
<< u << " " << v << " " << w );
snap_shot();
lsic->SetUVWFpsIC(u,v,w);
//Euler angles
void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Euler_angles: "
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
<< phi << " " << theta << " " << psi );
snap_shot();
//Flight Path
void FGLaRCsim::set_Climb_Rate( double roc) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
snap_shot();
lsic->SetClimbRateFpsIC(roc);
set_ls();
}
void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
snap_shot();
lsic->SetFlightPathAngleRadIC(gamma);
set_ls();
}
void FGLaRCsim::set_Runway_altitude(double ralt) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt );
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt );
snap_shot();
lsic->SetRunwayAltitudeFtIC(ralt);
set_ls();
}
void FGLaRCsim::set_AltitudeAGL(double altagl) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
snap_shot();
lsic->SetAltitudeAGLFtIC(altagl);
set_ls();
void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown ) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
<< wnorth << " " << weast << " " << wdown );
snap_shot();
lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
}
void FGLaRCsim::set_Static_pressure(double p) {
- FG_LOG( FG_FLIGHT, FG_INFO,
+ SG_LOG( SG_FLIGHT, SG_INFO,
"FGLaRCsim::set_Static_pressure: " << p );
- FG_LOG( FG_FLIGHT, FG_INFO,
+ SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}
void FGLaRCsim::set_Static_temperature(double T) {
- FG_LOG( FG_FLIGHT, FG_INFO,
+ SG_LOG( SG_FLIGHT, SG_INFO,
"FGLaRCsim::set_Static_temperature: " << T );
- FG_LOG( FG_FLIGHT, FG_INFO,
+ SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}
void FGLaRCsim::set_Density(double rho) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Density: " << rho );
- FG_LOG( FG_FLIGHT, FG_INFO,
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
+ SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}
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