//
// $Id$
+#include <string.h> // strcmp()
-#include "LaRCsim.hxx"
+#include <simgear/constants.h>
+#include <simgear/debug/logstream.hxx>
+#include <Main/fg_props.hxx>
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
-#include <Debug/logstream.hxx>
#include <FDM/flight.hxx>
#include <FDM/LaRCsim/ls_cockpit.h>
#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 );
+
+ speed_up = fgGetNode("/sim/speed-up", true);
+ aero = fgGetNode("/sim/aero", true);
+
+ 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;
+ }
+ ls_set_model_dt(dt);
+
+ // 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)
+}
+
+FGLaRCsim::~FGLaRCsim(void) {
+ if ( lsic != NULL ) {
+ delete lsic;
+ lsic = NULL;
+ }
+}
// Initialize the LaRCsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
-int fgLaRCsimInit(double dt) {
- ls_toplevel_init(dt);
-
- return(1);
+void FGLaRCsim::init() {
+ //do init common to all FDM's
+ common_init();
}
// Run an iteration of the EOM (equations of motion)
-int fgLaRCsimUpdate(FGInterface& f, int multiloop) {
+void FGLaRCsim::update( double dt ) {
+
+ if (is_suspended())
+ return;
+
+ 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( 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/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"
+ 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';
+ }
+
double save_alt = 0.0;
// lets try to avoid really screwing up the LaRCsim model
- if ( f.get_Altitude() < -9000.0 ) {
- save_alt = f.get_Altitude();
- f.set_Altitude( 0.0 );
+ if ( get_Altitude() < -9000.0 ) {
+ save_alt = get_Altitude();
+ set_Altitude( 0.0 );
}
// copy control positions into the LaRCsim structure
- Lat_control = controls.get_aileron();
- Long_control = controls.get_elevator();
- Long_trim = controls.get_elevator_trim();
- Rudder_pedal = controls.get_rudder();
- Throttle_pct = controls.get_throttle( 0 ) * 1.0;
- Brake_pct = controls.get_brake( 0 );
+ 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 * globals->get_controls()->get_flaps();
+
+ if ( !strcmp(aero->getStringValue(), "c172") ) {
+ Use_External_Engine = 1;
+ } else {
+ 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 );
// Inform LaRCsim of the local terrain altitude
- Runway_altitude = f.get_Runway_altitude();
+ // Runway_altitude = get_Runway_altitude();
+ 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();
+ V_down_airmass = get_V_down_airmass(); */
+
// old -- FGInterface_2_LaRCsim() not needed except for Init()
// translate FG to LaRCsim structure
// 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);
// 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);
+ copy_from_LaRCsim();
// but lets restore our original bogus altitude when we are done
if ( save_alt < -9000.0 ) {
- f.set_Altitude( save_alt );
+ set_Altitude( save_alt );
}
-
- return 1;
}
// Convert from the FGInterface struct to the LaRCsim generic_ struct
-int FGInterface_2_LaRCsim (FGInterface& f) {
-
- Mass = f.get_Mass();
- I_xx = f.get_I_xx();
- I_yy = f.get_I_yy();
- I_zz = f.get_I_zz();
- I_xz = f.get_I_xz();
- // Dx_pilot = f.get_Dx_pilot();
- // Dy_pilot = f.get_Dy_pilot();
- // Dz_pilot = f.get_Dz_pilot();
- Dx_cg = f.get_Dx_cg();
- Dy_cg = f.get_Dy_cg();
- Dz_cg = f.get_Dz_cg();
- // F_X = f.get_F_X();
- // F_Y = f.get_F_Y();
- // F_Z = f.get_F_Z();
- // F_north = f.get_F_north();
- // F_east = f.get_F_east();
- // F_down = f.get_F_down();
- // F_X_aero = f.get_F_X_aero();
- // F_Y_aero = f.get_F_Y_aero();
- // F_Z_aero = f.get_F_Z_aero();
- // F_X_engine = f.get_F_X_engine();
- // F_Y_engine = f.get_F_Y_engine();
- // F_Z_engine = f.get_F_Z_engine();
- // F_X_gear = f.get_F_X_gear();
- // F_Y_gear = f.get_F_Y_gear();
- // F_Z_gear = f.get_F_Z_gear();
- // M_l_rp = f.get_M_l_rp();
- // M_m_rp = f.get_M_m_rp();
- // M_n_rp = f.get_M_n_rp();
- // M_l_cg = f.get_M_l_cg();
- // M_m_cg = f.get_M_m_cg();
- // M_n_cg = f.get_M_n_cg();
- // M_l_aero = f.get_M_l_aero();
- // M_m_aero = f.get_M_m_aero();
- // M_n_aero = f.get_M_n_aero();
- // M_l_engine = f.get_M_l_engine();
- // M_m_engine = f.get_M_m_engine();
- // M_n_engine = f.get_M_n_engine();
- // M_l_gear = f.get_M_l_gear();
- // M_m_gear = f.get_M_m_gear();
- // M_n_gear = f.get_M_n_gear();
- // V_dot_north = f.get_V_dot_north();
- // V_dot_east = f.get_V_dot_east();
- // V_dot_down = f.get_V_dot_down();
- // U_dot_body = f.get_U_dot_body();
- // V_dot_body = f.get_V_dot_body();
- // W_dot_body = f.get_W_dot_body();
- // A_X_cg = f.get_A_X_cg();
- // A_Y_cg = f.get_A_Y_cg();
- // A_Z_cg = f.get_A_Z_cg();
- // A_X_pilot = f.get_A_X_pilot();
- // A_Y_pilot = f.get_A_Y_pilot();
- // A_Z_pilot = f.get_A_Z_pilot();
- // N_X_cg = f.get_N_X_cg();
- // N_Y_cg = f.get_N_Y_cg();
- // N_Z_cg = f.get_N_Z_cg();
- // N_X_pilot = f.get_N_X_pilot();
- // N_Y_pilot = f.get_N_Y_pilot();
- // N_Z_pilot = f.get_N_Z_pilot();
- // P_dot_body = f.get_P_dot_body();
- // Q_dot_body = f.get_Q_dot_body();
- // R_dot_body = f.get_R_dot_body();
- V_north = f.get_V_north();
- V_east = f.get_V_east();
- V_down = f.get_V_down();
- // V_north_rel_ground = f.get_V_north_rel_ground();
- // V_east_rel_ground = f.get_V_east_rel_ground();
- // V_down_rel_ground = f.get_V_down_rel_ground();
- // V_north_airmass = f.get_V_north_airmass();
- // V_east_airmass = f.get_V_east_airmass();
- // V_down_airmass = f.get_V_down_airmass();
- // V_north_rel_airmass = f.get_V_north_rel_airmass();
- // V_east_rel_airmass = f.get_V_east_rel_airmass();
- // V_down_rel_airmass = f.get_V_down_rel_airmass();
- // U_gust = f.get_U_gust();
- // V_gust = f.get_V_gust();
- // W_gust = f.get_W_gust();
- // U_body = f.get_U_body();
- // V_body = f.get_V_body();
- // W_body = f.get_W_body();
- // V_rel_wind = f.get_V_rel_wind();
- // V_true_kts = f.get_V_true_kts();
- // V_rel_ground = f.get_V_rel_ground();
- // V_inertial = f.get_V_inertial();
- // V_ground_speed = f.get_V_ground_speed();
- // V_equiv = f.get_V_equiv();
- // V_equiv_kts = f.get_V_equiv_kts();
- // V_calibrated = f.get_V_calibrated();
- // V_calibrated_kts = f.get_V_calibrated_kts();
- P_body = f.get_P_body();
- Q_body = f.get_Q_body();
- R_body = f.get_R_body();
- // P_local = f.get_P_local();
- // Q_local = f.get_Q_local();
- // R_local = f.get_R_local();
- // P_total = f.get_P_total();
- // Q_total = f.get_Q_total();
- // R_total = f.get_R_total();
- // Phi_dot = f.get_Phi_dot();
- // Theta_dot = f.get_Theta_dot();
- // Psi_dot = f.get_Psi_dot();
- // Latitude_dot = f.get_Latitude_dot();
- // Longitude_dot = f.get_Longitude_dot();
- // Radius_dot = f.get_Radius_dot();
- Lat_geocentric = f.get_Lat_geocentric();
- Lon_geocentric = f.get_Lon_geocentric();
- Radius_to_vehicle = f.get_Radius_to_vehicle();
- Latitude = f.get_Latitude();
- Longitude = f.get_Longitude();
- Altitude = f.get_Altitude();
- Phi = f.get_Phi();
- Theta = f.get_Theta();
- Psi = f.get_Psi();
- // T_local_to_body_11 = f.get_T_local_to_body_11();
- // T_local_to_body_12 = f.get_T_local_to_body_12();
- // T_local_to_body_13 = f.get_T_local_to_body_13();
- // T_local_to_body_21 = f.get_T_local_to_body_21();
- // T_local_to_body_22 = f.get_T_local_to_body_22();
- // T_local_to_body_23 = f.get_T_local_to_body_23();
- // T_local_to_body_31 = f.get_T_local_to_body_31();
- // T_local_to_body_32 = f.get_T_local_to_body_32();
- // T_local_to_body_33 = f.get_T_local_to_body_33();
- // Gravity = f.get_Gravity();
- // Centrifugal_relief = f.get_Centrifugal_relief();
- // Alpha = f.get_Alpha();
- // Beta = f.get_Beta();
- // Alpha_dot = f.get_Alpha_dot();
- // Beta_dot = f.get_Beta_dot();
- // Cos_alpha = f.get_Cos_alpha();
- // Sin_alpha = f.get_Sin_alpha();
- // Cos_beta = f.get_Cos_beta();
- // Sin_beta = f.get_Sin_beta();
- // Cos_phi = f.get_Cos_phi();
- // Sin_phi = f.get_Sin_phi();
- // Cos_theta = f.get_Cos_theta();
- // Sin_theta = f.get_Sin_theta();
- // Cos_psi = f.get_Cos_psi();
- // Sin_psi = f.get_Sin_psi();
- // Gamma_vert_rad = f.get_Gamma_vert_rad();
- // Gamma_horiz_rad = f.get_Gamma_horiz_rad();
- // Sigma = f.get_Sigma();
- // Density = f.get_Density();
- // V_sound = f.get_V_sound();
- // Mach_number = f.get_Mach_number();
- // Static_pressure = f.get_Static_pressure();
- // Total_pressure = f.get_Total_pressure();
- // Impact_pressure = f.get_Impact_pressure();
- // Dynamic_pressure = f.get_Dynamic_pressure();
- // Static_temperature = f.get_Static_temperature();
- // Total_temperature = f.get_Total_temperature();
- Sea_level_radius = f.get_Sea_level_radius();
- Earth_position_angle = f.get_Earth_position_angle();
- Runway_altitude = f.get_Runway_altitude();
- // Runway_latitude = f.get_Runway_latitude();
- // Runway_longitude = f.get_Runway_longitude();
- // Runway_heading = f.get_Runway_heading();
- // Radius_to_rwy = f.get_Radius_to_rwy();
- // D_cg_north_of_rwy = f.get_D_cg_north_of_rwy();
- // D_cg_east_of_rwy = f.get_D_cg_east_of_rwy();
- // D_cg_above_rwy = f.get_D_cg_above_rwy();
- // X_cg_rwy = f.get_X_cg_rwy();
- // Y_cg_rwy = f.get_Y_cg_rwy();
- // H_cg_rwy = f.get_H_cg_rwy();
- // D_pilot_north_of_rwy = f.get_D_pilot_north_of_rwy();
- // D_pilot_east_of_rwy = f.get_D_pilot_east_of_rwy();
- // D_pilot_above_rwy = f.get_D_pilot_above_rwy();
- // X_pilot_rwy = f.get_X_pilot_rwy();
- // Y_pilot_rwy = f.get_Y_pilot_rwy();
- // H_pilot_rwy = f.get_H_pilot_rwy();
-
- return( 0 );
+bool FGLaRCsim::copy_to_LaRCsim () {
+ Mass = get_Mass();
+ I_xx = get_I_xx();
+ I_yy = get_I_yy();
+ I_zz = get_I_zz();
+ I_xz = get_I_xz();
+ // Dx_pilot = get_Dx_pilot();
+ // Dy_pilot = get_Dy_pilot();
+ // Dz_pilot = get_Dz_pilot();
+ Dx_cg = get_Dx_cg();
+ Dy_cg = get_Dy_cg();
+ Dz_cg = get_Dz_cg();
+ // F_X = get_F_X();
+ // F_Y = get_F_Y();
+ // F_Z = get_F_Z();
+ // F_north = get_F_north();
+ // F_east = get_F_east();
+ // F_down = get_F_down();
+ // F_X_aero = get_F_X_aero();
+ // F_Y_aero = get_F_Y_aero();
+ // F_Z_aero = get_F_Z_aero();
+ // F_X_engine = get_F_X_engine();
+ // F_Y_engine = get_F_Y_engine();
+ // F_Z_engine = get_F_Z_engine();
+ // F_X_gear = get_F_X_gear();
+ // F_Y_gear = get_F_Y_gear();
+ // F_Z_gear = get_F_Z_gear();
+ // M_l_rp = get_M_l_rp();
+ // M_m_rp = get_M_m_rp();
+ // M_n_rp = get_M_n_rp();
+ // M_l_cg = get_M_l_cg();
+ // M_m_cg = get_M_m_cg();
+ // M_n_cg = get_M_n_cg();
+ // M_l_aero = get_M_l_aero();
+ // M_m_aero = get_M_m_aero();
+ // M_n_aero = get_M_n_aero();
+ // M_l_engine = get_M_l_engine();
+ // M_m_engine = get_M_m_engine();
+ // M_n_engine = get_M_n_engine();
+ // M_l_gear = get_M_l_gear();
+ // M_m_gear = get_M_m_gear();
+ // M_n_gear = get_M_n_gear();
+ // V_dot_north = get_V_dot_north();
+ // V_dot_east = get_V_dot_east();
+ // V_dot_down = get_V_dot_down();
+ // U_dot_body = get_U_dot_body();
+ // V_dot_body = get_V_dot_body();
+ // W_dot_body = get_W_dot_body();
+ // A_X_cg = get_A_X_cg();
+ // A_Y_cg = get_A_Y_cg();
+ // A_Z_cg = get_A_Z_cg();
+ // A_X_pilot = get_A_X_pilot();
+ // A_Y_pilot = get_A_Y_pilot();
+ // A_Z_pilot = get_A_Z_pilot();
+ // N_X_cg = get_N_X_cg();
+ // N_Y_cg = get_N_Y_cg();
+ // N_Z_cg = get_N_Z_cg();
+ // N_X_pilot = get_N_X_pilot();
+ // N_Y_pilot = get_N_Y_pilot();
+ // N_Z_pilot = get_N_Z_pilot();
+ // P_dot_body = get_P_dot_body();
+ // Q_dot_body = get_Q_dot_body();
+ // R_dot_body = get_R_dot_body();
+ // V_north = get_V_north();
+ // V_east = get_V_east();
+ // V_down = get_V_down();
+ // V_north_rel_ground = get_V_north_rel_ground();
+ // V_east_rel_ground = get_V_east_rel_ground();
+ // V_down_rel_ground = get_V_down_rel_ground();
+ // V_north_airmass = get_V_north_airmass();
+ // V_east_airmass = get_V_east_airmass();
+ // V_down_airmass = get_V_down_airmass();
+ // V_north_rel_airmass = get_V_north_rel_airmass();
+ // V_east_rel_airmass = get_V_east_rel_airmass();
+ // V_down_rel_airmass = get_V_down_rel_airmass();
+ // U_gust = get_U_gust();
+ // V_gust = get_V_gust();
+ // W_gust = get_W_gust();
+ // U_body = get_U_body();
+ // V_body = get_V_body();
+ // W_body = get_W_body();
+ // V_rel_wind = get_V_rel_wind();
+ // V_true_kts = get_V_true_kts();
+ // V_rel_ground = get_V_rel_ground();
+ // V_inertial = get_V_inertial();
+ // V_ground_speed = get_V_ground_speed();
+ // V_equiv = get_V_equiv();
+ // V_equiv_kts = get_V_equiv_kts();
+ // V_calibrated = get_V_calibrated();
+ // V_calibrated_kts = get_V_calibrated_kts();
+ // P_body = get_P_body();
+ // Q_body = get_Q_body();
+ // R_body = get_R_body();
+ // P_local = get_P_local();
+ // Q_local = get_Q_local();
+ // R_local = get_R_local();
+ // P_total = get_P_total();
+ // Q_total = get_Q_total();
+ // R_total = get_R_total();
+ // Phi_dot = get_Phi_dot();
+ // Theta_dot = get_Theta_dot();
+ // Psi_dot = get_Psi_dot();
+ // Latitude_dot = get_Latitude_dot();
+ // Longitude_dot = get_Longitude_dot();
+ // Radius_dot = get_Radius_dot();
+ // Lat_geocentric = get_Lat_geocentric();
+ // Lon_geocentric = get_Lon_geocentric();
+ // Radius_to_vehicle = get_Radius_to_vehicle();
+ // Latitude = get_Latitude();
+ // Longitude = get_Longitude();
+ // Altitude = get_Altitude();
+ // Phi = get_Phi();
+ // Theta = get_Theta();
+ // Psi = get_Psi();
+ // T_local_to_body_11 = get_T_local_to_body_11();
+ // T_local_to_body_12 = get_T_local_to_body_12();
+ // T_local_to_body_13 = get_T_local_to_body_13();
+ // T_local_to_body_21 = get_T_local_to_body_21();
+ // T_local_to_body_22 = get_T_local_to_body_22();
+ // T_local_to_body_23 = get_T_local_to_body_23();
+ // T_local_to_body_31 = get_T_local_to_body_31();
+ // T_local_to_body_32 = get_T_local_to_body_32();
+ // T_local_to_body_33 = get_T_local_to_body_33();
+ // Gravity = get_Gravity();
+ // Centrifugal_relief = get_Centrifugal_relief();
+ // Alpha = get_Alpha();
+ // Beta = get_Beta();
+ // Alpha_dot = get_Alpha_dot();
+ // Beta_dot = get_Beta_dot();
+ // Cos_alpha = get_Cos_alpha();
+ // Sin_alpha = get_Sin_alpha();
+ // Cos_beta = get_Cos_beta();
+ // Sin_beta = get_Sin_beta();
+ // Cos_phi = get_Cos_phi();
+ // Sin_phi = get_Sin_phi();
+ // Cos_theta = get_Cos_theta();
+ // Sin_theta = get_Sin_theta();
+ // Cos_psi = get_Cos_psi();
+ // Sin_psi = get_Sin_psi();
+ // Gamma_vert_rad = get_Gamma_vert_rad();
+ // Gamma_horiz_rad = get_Gamma_horiz_rad();
+ // Sigma = get_Sigma();
+ // Density = get_Density();
+ // V_sound = get_V_sound();
+ // Mach_number = get_Mach_number();
+ // Static_pressure = get_Static_pressure();
+ // Total_pressure = get_Total_pressure();
+ // Impact_pressure = get_Impact_pressure();
+ // Dynamic_pressure = get_Dynamic_pressure();
+ // Static_temperature = get_Static_temperature();
+ // Total_temperature = get_Total_temperature();
+ // Sea_level_radius = get_Sea_level_radius();
+ // Earth_position_angle = get_Earth_position_angle();
+ // Runway_altitude = get_Runway_altitude();
+ // Runway_latitude = get_Runway_latitude();
+ // Runway_longitude = get_Runway_longitude();
+ // Runway_heading = get_Runway_heading();
+ // Radius_to_rwy = get_Radius_to_rwy();
+ // D_cg_north_of_rwy = get_D_cg_north_of_rwy();
+ // D_cg_east_of_rwy = get_D_cg_east_of_rwy();
+ // D_cg_above_rwy = get_D_cg_above_rwy();
+ // X_cg_rwy = get_X_cg_rwy();
+ // Y_cg_rwy = get_Y_cg_rwy();
+ // H_cg_rwy = get_H_cg_rwy();
+ // D_pilot_north_of_rwy = get_D_pilot_north_of_rwy();
+ // D_pilot_east_of_rwy = get_D_pilot_east_of_rwy();
+ // D_pilot_above_rwy = get_D_pilot_above_rwy();
+ // X_pilot_rwy = get_X_pilot_rwy();
+ // Y_pilot_rwy = get_Y_pilot_rwy();
+ // H_pilot_rwy = get_H_pilot_rwy();
+
+ return true;
}
// Convert from the LaRCsim generic_ struct to the FGInterface struct
-int fgLaRCsim_2_FGInterface (FGInterface& f) {
+bool FGLaRCsim::copy_from_LaRCsim() {
// 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 );
+ _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
+ // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
+ _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 );
+ // set_Forces_Body_Total( F_X, F_Y, F_Z );
+ // set_Forces_Local_Total( F_north, F_east, F_down );
+ // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
+ // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
+ // 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 );
+ // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
+ // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
+ // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
+ // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
+ // 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 );
+ _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
+ _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
+ _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
+ _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
+ // set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
+ // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
+ // 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,
+ _set_Velocities_Local( V_north, V_east, V_down );
+ // 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,
+ _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
+ V_down_airmass );
+ // 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
+ // set_Velocities_Gust( U_gust, V_gust, W_gust );
+ _set_Velocities_Wind_Body( U_body, V_body, W_body );
+
+ _set_V_rel_wind( V_rel_wind );
+ // set_V_true_kts( V_true_kts );
+ // set_V_rel_ground( V_rel_ground );
+ // set_V_inertial( V_inertial );
+ _set_V_ground_speed( V_ground_speed );
+ // set_V_equiv( V_equiv );
+ _set_V_equiv_kts( V_equiv_kts );
+ // set_V_calibrated( V_calibrated );
+ _set_V_calibrated_kts( V_calibrated_kts );
+
+ _set_Omega_Body( P_body, Q_body, R_body );
+ // set_Omega_Local( P_local, Q_local, R_local );
+ // set_Omega_Total( P_total, Q_total, R_total );
+
+ _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
+ _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
+
+ _set_Mach_number( Mach_number );
+
+ 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 );
-
+
+ double tmp_lon_geoc = Lon_geocentric;
+ while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
+ while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
+
+ double tmp_lon = Longitude;
+ while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
+ while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
+
// 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 );
+ _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
+ Radius_to_vehicle );
+ _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
+ _set_Euler_Angles( Phi, Theta, Psi );
+
+ _set_Altitude_AGL( Altitude - Runway_altitude );
// 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,
+ _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_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_Sin_phi( Sin_phi );
+ _set_Cos_theta( Cos_theta );
+ // set_Sin_theta( Sin_theta );
+ // set_Cos_psi( Cos_psi );
+ // set_Sin_psi( Sin_psi );
+
+ _set_Gamma_vert_rad( Gamma_vert_rad );
+ // set_Gamma_horiz_rad( Gamma_horiz_rad );
+
+ // set_Sigma( Sigma );
+ _set_Density( Density );
+ // set_V_sound( V_sound );
+ // set_Mach_number( Mach_number );
+
+ _set_Static_pressure( Static_pressure );
+ // set_Total_pressure( Total_pressure );
+ // set_Impact_pressure( Impact_pressure );
+ // set_Dynamic_pressure( Dynamic_pressure );
+
+ _set_Static_temperature( Static_temperature );
+ // set_Total_temperature( Total_temperature );
+
+ _set_Sea_level_radius( Sea_level_radius );
+ _set_Earth_position_angle( Earth_position_angle );
+
+ _set_Runway_altitude( Runway_altitude );
+ // set_Runway_latitude( Runway_latitude );
+ // set_Runway_longitude( Runway_longitude );
+ // set_Runway_heading( Runway_heading );
+ // set_Radius_to_rwy( Radius_to_rwy );
+
+ // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
+ // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
+ // 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 );
+ // 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);
+ _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",
- // f.get_sin_latitude(), f.get_cos_latitude());
+ // get_sin_latitude(), get_cos_latitude());
// printf("sin_lon %f cos_lon %f\n",
- // f.get_sin_longitude(), f.get_cos_longitude());
+ // 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 0;
+ return true;
}
+void FGLaRCsim::set_ls(void) {
+ Phi=lsic->GetRollAngleRadIC();
+ Theta=lsic->GetPitchAngleRadIC();
+ Psi=lsic->GetHeadingRadIC();
+ V_north=lsic->GetVnorthFpsIC();
+ V_east=lsic->GetVeastFpsIC();
+ V_down=lsic->GetVdownFpsIC();
+ Altitude=lsic->GetAltitudeFtIC();
+ Latitude=lsic->GetLatitudeGDRadIC();
+ Longitude=lsic->GetLongitudeRadIC();
+ Runway_altitude=lsic->GetRunwayAltitudeFtIC();
+ 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();
+}
+
+void FGLaRCsim::snap_shot(void) {
+ lsic->SetLatitudeGDRadIC( get_Latitude() );
+ lsic->SetLongitudeRadIC( get_Longitude() );
+ lsic->SetAltitudeFtIC( get_Altitude() );
+ lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
+ lsic->SetVtrueFpsIC( get_V_rel_wind() );
+ lsic->SetPitchAngleRadIC( get_Theta() );
+ lsic->SetRollAngleRadIC( get_Phi() );
+ lsic->SetHeadingRadIC( get_Psi() );
+ lsic->SetClimbRateFpsIC( get_Climb_Rate() );
+ lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
+ get_V_east_airmass(),
+ get_V_down_airmass() );
+}
+
+//Positions
+void FGLaRCsim::set_Latitude(double 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) {
+ 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) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
+ snap_shot();
+ lsic->SetAltitudeFtIC(alt);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+void FGLaRCsim::set_V_calibrated_kts(double vc) {
+ 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) {
+ 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 ){
+ 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){
+ 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 ) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
+ << phi << " " << theta << " " << psi );
+
+ snap_shot();
+ lsic->SetPitchAngleRadIC(theta);
+ lsic->SetRollAngleRadIC(phi);
+ lsic->SetHeadingRadIC(psi);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+//Flight Path
+void FGLaRCsim::set_Climb_Rate( double 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
+}
+
+void FGLaRCsim::set_Gamma_vert_rad( double 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_AltitudeAGL(double 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 ) {
+ 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) {
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "FGLaRCsim::set_Static_pressure: " << p );
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "LaRCsim does not support externally supplied atmospheric data" );
+}
+
+void FGLaRCsim::set_Static_temperature(double T) {
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "FGLaRCsim::set_Static_temperature: " << T );
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "LaRCsim does not support externally supplied atmospheric data" );
+
+}
+
+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