//
// $Id$
+#include <string.h> // strcmp()
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <Scenery/scenery.hxx>
-
#include <Main/fg_props.hxx>
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
#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 );
+// 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);
+ aero = fgGetNode("/sim/aero", true);
-FGLaRCsim::~FGLaRCsim(void) {
- if(lsic != NULL) {
- delete lsic;
+ ls_toplevel_init( 0.0, (char *)(aero->getStringValue()) );
+
+ lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
+ if ( !strcmp(aero->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() {
+ ls_set_model_dt(dt);
- speed_up = fgGetValue("/sim/speed-up", true);
-
- ls_set_model_dt( get_delta_t() );
- // Initialize our little engine that hopefully might
- eng.init( get_delta_t() );
+ // Initialize our little engine that hopefully might
+ eng.init(dt);
// 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)
+}
- // update the engines interface
- FGEngInterface e;
- add_engine( e );
-
- // Fill the fuel tanks
- // Hardwired to C172 full tanks for now - need to fix this sometime
- // Also note that this is the max quantity - the usable quantity
- // is slightly less
- 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();
-
- // but lets restore our original bogus altitude when we are done
- if ( save_alt < -9000.0 ) {
- set_Altitude( save_alt );
- }
+// Initialize the LaRCsim flight model, dt is the time increment for
+// each subsequent iteration through the EOM
+void FGLaRCsim::init() {
+ //do init common to all FDM's
+ common_init();
}
// Run an iteration of the EOM (equations of motion)
-bool FGLaRCsim::update( int multiloop ) {
+void FGLaRCsim::update( double dt ) {
+
+ if (is_suspended())
+ return;
- if ( fgGetString("/sim/aircraft") == "c172" ) {
+ int multiloop = _calc_multiloop(dt);
+
+ if ( !strcmp(aero->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_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/flaps"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/elevator-pos-norm",
+ fgGetDouble("/controls/elevator"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/left-aileron-pos-norm",
+ fgGetDouble("/controls/aileron"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/right-aileron-pos-norm",
+ -1 * fgGetDouble("/controls/aileron"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/rudder-pos-norm",
+ fgGetDouble("/controls/rudder"));
+
// copy engine state values onto "bus"
- FGEngInterface *e = get_engine( 0 );
- e->set_Throttle( controls.get_throttle( 0 ) * 100.0 );
- e->set_Mixture( 80 );
- e->set_Prop_Advance( 100 );
- e->set_RPM( eng.get_RPM() );
- e->set_Manifold_Pressure( eng.get_Manifold_Pressure() );
- e->set_MaxHP( eng.get_MaxHP() );
- e->set_Percentage_Power( eng.get_Percentage_Power() );
- e->set_EGT( eng.get_EGT() );
- e->set_CHT( eng.get_CHT() );
- e->set_prop_thrust( eng.get_prop_thrust_SI() );
- e->set_Fuel_Flow( eng.get_fuel_flow_gals_hr() );
-
- //Assume we are using both tanks equally for now
- reduce_Tank1Fuel( (eng.get_fuel_flow_gals_hr() / (2 * 3600))
- * get_delta_t() );
- reduce_Tank2Fuel( (eng.get_fuel_flow_gals_hr() / (2 * 3600))
- * 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 = "
- << ( 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) "
- << eng.get_prop_thrust_SI()); // Thrust in Newtons
- FG_LOG( FG_FLIGHT, FG_INFO, '\n');
-#endif
+ 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);
+ }
+
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() /
- speed_up->getIntValue();
- Long_control = controls.get_elevator();
- Long_trim = controls.get_elevator_trim();
- Rudder_pedal = controls.get_rudder() /
+ Lat_control = globals->get_controls()->get_aileron() /
+ speed_up->getIntValue();
+ 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" ) {
- Use_External_Engine = 1;
+ if ( !strcmp(aero->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 = getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET;
// Weather
/* V_north_airmass = get_V_north_airmass();
V_east_airmass = get_V_east_airmass();
// printf("Altitude = %.2f\n", Altitude * 0.3048);
// printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
+ // for engine functions (sounds and instruments)
+ // drive the rpm gauge
+ fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
+ // manifold air pressure, which drives the sound (see *sound.xml file)
+ fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
+ // make the engine cranking and running sounds when fgfs starts up
+ fgSetDouble("/engines/engine/cranking", 1);
+ fgSetDouble("/engines/engine/running", 1);
+
ls_update(multiloop);
// printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
if ( save_alt < -9000.0 ) {
set_Altitude( save_alt );
}
-
- return true;
}
_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 ( !strcmp(aero->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;
}
Latitude=lsic->GetLatitudeGDRadIC();
Longitude=lsic->GetLongitudeRadIC();
Runway_altitude=lsic->GetRunwayAltitudeFtIC();
- V_north_airmass = lsic->GetVnorthAirmassFpsIC();
- V_east_airmass = lsic->GetVeastAirmassFpsIC();
- V_down_airmass = lsic->GetVdownAirmassFpsIC();
+ V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1;
+ V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1;
+ V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1;
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 );
-}
+}
void FGLaRCsim::snap_shot(void) {
lsic->SetLatitudeGDRadIC( get_Latitude() );
//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();
copy_from_LaRCsim(); //update the bus
-}
+}
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();
copy_from_LaRCsim(); //update the bus
-}
+}
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);
set_ls();
copy_from_LaRCsim(); //update the bus
-}
+}
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();
copy_from_LaRCsim(); //update the bus
-}
+}
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);
set_ls();
copy_from_LaRCsim(); //update the bus
-}
+}
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);
set_ls();
copy_from_LaRCsim(); //update the bus
-}
+}
//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();
lsic->SetRollAngleRadIC(phi);
lsic->SetHeadingRadIC(psi);
set_ls();
- copy_from_LaRCsim(); //update the bus
-}
+ copy_from_LaRCsim(); //update the bus
+}
//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();
- copy_from_LaRCsim(); //update the bus
-}
+ copy_from_LaRCsim(); //update the bus
+}
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();
- copy_from_LaRCsim(); //update the bus
-}
-
-void FGLaRCsim::set_Runway_altitude(double ralt) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt );
- snap_shot();
- lsic->SetRunwayAltitudeFtIC(ralt);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
+ copy_from_LaRCsim(); //update the bus
+}
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();
copy_from_LaRCsim();
}
+/* getting a namespace conflict...
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 );
set_ls();
copy_from_LaRCsim();
-}
+}
+*/
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,
+void FGLaRCsim::set_Density(double rho) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
+ SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}
projects / flightgear.git / blobdiff