#include "LaRCsim.hxx"
FGLaRCsim::FGLaRCsim(void) {
- ls_toplevel_init( 0.0, (char *)globals->get_options()->get_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;
-
-
-
+ ls_toplevel_init( 0.0,
+ (char *)globals->get_options()->get_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;
}
FGLaRCsim::~FGLaRCsim(void) {
- if(lsic != NULL) {
- delete lsic;
- }
+ if(lsic != NULL) {
+ delete lsic;
+ }
}
// Initialize the LaRCsim flight model, dt is the time increment for
// update the engines interface
FGEngInterface e;
add_engine( e );
-
+
// FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::init()" );
// actual LaRCsim top level init
// ls_toplevel_init( dt, (char *)globals->get_options()->get_aircraft().c_str() );
-
FG_LOG( FG_FLIGHT, FG_INFO, "FG pos = " <<
get_Latitude() );
eng.set_Throttle_Lever_Pos( controls.get_throttle( 0 ) * 100.0 );
eng.set_Propeller_Lever_Pos( 100 );
if ( controls.get_mixture( 0 ) > 0.60 ) {
- eng.set_Mixture_Lever_Pos( controls.get_mixture( 0 ) * 100.0 );
+ eng.set_Mixture_Lever_Pos( controls.get_mixture( 0 ) * 100.0 );
} else {
- eng.set_Mixture_Lever_Pos( 60.0 );
+ eng.set_Mixture_Lever_Pos( 60.0 );
}
// update engine model
e->set_prop_thrust( eng.get_prop_thrust_SI() );
#if 0
- FG_LOG( FG_FLIGHT, FG_INFO, "Throttle = " << controls.get_throttle( 0 ) * 100.0);
+ 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, " 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, " Thrust (N) "
+ << eng.get_prop_thrust_SI()); // Thrust in Newtons
FG_LOG( FG_FLIGHT, FG_INFO, '\n');
#endif
// Hmm .. Newtons to lbs is 0.2248 ...
// Weather
/* V_north_airmass = get_V_north_airmass();
- V_east_airmass = get_V_east_airmass();
- V_down_airmass = get_V_down_airmass(); */
+ V_east_airmass = get_V_east_airmass();
+ V_down_airmass = get_V_down_airmass(); */
// old -- FGInterface_2_LaRCsim() not needed except for Init()
ls_update(multiloop);
- if(isnan(Phi)) {
- busdump();
- exit(1);
- }
-
// 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
_set_Velocities_Local( V_north, V_east, V_down );
// set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
// V_down_rel_ground );
- // set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
- // V_down_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 );
// 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_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_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 );
// Positions
_set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
- Radius_to_vehicle );
+ Radius_to_vehicle );
_set_Geodetic_Position( Latitude, tmp_lon, Altitude );
_set_Euler_Angles( Phi, Theta, Psi );
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();
- V_east_airmass = lsic->GetVeastAirmassFpsIC();
- 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 );
+ 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();
+ V_east_airmass = lsic->GetVeastAirmassFpsIC();
+ 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 );
}
- //Positions
+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) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Latitude: " << lat );
- lsic->SetLatitudeGDRadIC(lat);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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 );
- lsic->SetLongitudeRadIC(lon);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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 );
- lsic->SetAltitudeFtIC(alt);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_V_calibrated_kts: " << vc );
- lsic->SetVcalibratedKtsIC(vc);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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 );
- lsic->SetMachIC(mach);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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: "
- << north << " " << east << " " << down );
- lsic->SetVnorthFpsIC(north);
- lsic->SetVeastFpsIC(east);
- lsic->SetVdownFpsIC(down);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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: "
- << u << " " << v << " " << w );
-
- lsic->SetUBodyFpsIC(u);
- lsic->SetVBodyFpsIC(v);
- lsic->SetWBodyFpsIC(w);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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: "
- << phi << " " << theta << " " << psi );
-
- lsic->SetPitchAngleRadIC(theta);
- lsic->SetRollAngleRadIC(phi);
- lsic->SetHeadingRadIC(psi);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
- lsic->SetClimbRateFpsIC(roc);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
- lsic->SetFlightPathAngleRadIC(gamma);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_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 );
- lsic->SetRunwayAltitudeFtIC(ralt);
- set_ls();
- copy_from_LaRCsim(); //update the bus
+ FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt );
+ snap_shot();
+ lsic->SetRunwayAltitudeFtIC(ralt);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_AltitudeAGL(double altagl) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
- lsic->SetAltitudeAGLFtIC(altagl);
- set_ls();
- copy_from_LaRCsim();
+ FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
+ snap_shot();
+ lsic->SetAltitudeAGLFtIC(altagl);
+ set_ls();
+ copy_from_LaRCsim();
}
void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
- double weast,
- double wdown ) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
- << wnorth << " " << weast << " " << wdown );
- _set_Velocities_Local_Airmass( wnorth, weast, wdown );
- set_ls();
- copy_from_LaRCsim();
+ double weast,
+ double wdown ) {
+ FG_LOG( FG_FLIGHT, FG_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, "FGLaRCsim::set_Static_pressure: " << p );
- FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" );
+ FG_LOG( FG_FLIGHT, FG_INFO,
+ "FGLaRCsim::set_Static_pressure: " << p );
+ FG_LOG( FG_FLIGHT, FG_INFO,
+ "LaRCsim does not support externally supplied atmospheric data" );
}
void FGLaRCsim::set_Static_temperature(double T) {
- FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Static_temperature: " << T );
- FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" );
+ FG_LOG( FG_FLIGHT, FG_INFO,
+ "FGLaRCsim::set_Static_temperature: " << T );
+ FG_LOG( FG_FLIGHT, FG_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, "LaRCsim does not support externally supplied atmospheric data" );
+ FG_LOG( FG_FLIGHT, FG_INFO,
+ "LaRCsim does not support externally supplied atmospheric data" );
}
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