//
// $Id$
+#include <math.h>
+#include <string.h> // strcmp()
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
+#include <simgear/scene/model/location.hxx>
+#include <simgear/scene/model/placement.hxx>
-#include <Scenery/scenery.hxx>
-
-#include <Main/fg_props.hxx>
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.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/LaRCsim/ls_constants.h>
#include <FDM/LaRCsimIC.hxx>
#include <FDM/UIUCModel/uiuc_aircraft.h>
+#include <Main/fg_props.hxx>
+#include <Model/acmodel.hxx>
#include "IO360.hxx"
#include "LaRCsim.hxx"
+
FGLaRCsim::FGLaRCsim( double dt ) {
- set_delta_t( dt );
+// set_delta_t( dt );
speed_up = fgGetNode("/sim/speed-up", true);
aero = fgGetNode("/sim/aero", true);
+ uiuc_type = fgGetNode("/sim/uiuc-type", true);
- ls_toplevel_init( 0.0, (char *)(aero->getStringValue().c_str()) );
+ ls_toplevel_init( 0.0, (char *)(aero->getStringValue()) );
lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
- if ( aero->getStringValue() == "c172" ) {
+ 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
I_xz = 0.000000E+00;
}
- ls_set_model_dt( get_delta_t() );
-
- // Initialize our little engine that hopefully might
- eng.init( get_delta_t() );
+ 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)
}
// Run an iteration of the EOM (equations of motion)
-void FGLaRCsim::update( int multiloop ) {
+void FGLaRCsim::update( double dt ) {
+
+ if (is_suspended())
+ return;
+
+ int multiloop = _calc_multiloop(dt);
- if ( aero->getStringValue() == "c172" ) {
- // set control inputs
- // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
+ // if flying c172-larcsim, do the following
+ 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 );
// update engine model
eng.update();
+ // Fake control-surface positions
+ fgSetDouble("/surface-positions/flap-pos-norm",
+ fgGetDouble("/controls/flight/flaps"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/elevator-pos-norm",
+ fgGetDouble("/controls/flight/elevator"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/left-aileron-pos-norm",
+ fgGetDouble("/controls/flight/aileron"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/right-aileron-pos-norm",
+ -1 * fgGetDouble("/controls/flight/aileron"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/rudder-pos-norm",
+ fgGetDouble("/controls/flight/rudder"));
+
// copy engine state values onto "bus"
fgSetDouble("/engines/engine/rpm", eng.get_RPM());
fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
- * get_delta_t());
+ * 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))
- * get_delta_t());
+ * dt);
}
- F_X_engine = eng.get_prop_thrust_lbs();
+ F_X_engine = eng.get_prop_thrust_lbs();
// cout << "F_X_engine = " << F_X_engine << '\n';
+ // end c172 if block
+
+ Flap_handle = 30.0 * globals->get_controls()->get_flaps();
}
+ // done with c172-larcsim if-block
double save_alt = 0.0;
}
// copy control positions into the LaRCsim structure
- Lat_control = globals->get_controls()->get_aileron() /
- speed_up->getIntValue();
+ 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();
+ Rudder_pedal = globals->get_controls()->get_rudder() / speed_up->getIntValue();
- if ( aero->getStringValue() == "c172" ) {
+ if ( !strcmp(aero->getStringValue(), "c172") ) {
Use_External_Engine = 1;
} else {
- Use_External_Engine = 0;
+ Use_External_Engine = 0;
}
Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
// Inform LaRCsim of the local terrain altitude
// Runway_altitude = get_Runway_altitude();
- Runway_altitude = scenery.get_cur_elev() * SG_METER_TO_FEET;
-
+ Runway_altitude = getACModel()->get3DModel()->getSGLocation()->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);
+
+ // if flying uiuc, set some properties and over-ride some previous ones
+ if ( !strcmp(aero->getStringValue(), "uiuc")) {
+
+ // surface positions
+ fgSetDouble("/surface-positions/rudder-pos-norm", fgGetDouble("/controls/flight/rudder"));
+ fgSetDouble("/surface-positions/elevator-pos-norm", fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/left-aileron-pos-norm", fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
+
+ Flap_handle = flap_max * globals->get_controls()->get_flaps();
+
+ // flaps with transition occuring in uiuc_aerodeflections.cpp
+ if (use_flaps) {
+ fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_pct);
+ }
+
+ // spoilers with transition occurring in uiuc_aerodeflections.cpp
+ if(use_spoilers) {
+ Spoiler_handle = spoiler_max * fgGetDouble("/controls/spoilers");
+ }
+ // gear with transition occurring here in LaRCsim.cxx
+ if (use_gear) {
+ if(fgGetBool("/controls/gear-down")) {
+ Gear_handle = 1.0;
+ }
+ else {
+ Gear_handle = 0.;
+ }
+ // commanded gear is 0 or 1
+ gear_cmd_norm = Gear_handle;
+ // amount gear moves per time step [relative to 1]
+ gear_increment_per_timestep = gear_rate * dt;
+ // determine gear position with respect to gear command
+ if (gear_pos_norm < gear_cmd_norm) {
+ gear_pos_norm += gear_increment_per_timestep;
+ if (gear_pos_norm > gear_cmd_norm)
+ gear_pos_norm = gear_cmd_norm;
+ } else if (gear_pos_norm > gear_cmd_norm) {
+ gear_pos_norm -= gear_increment_per_timestep;
+ if (gear_pos_norm < gear_cmd_norm)
+ gear_pos_norm = gear_cmd_norm;
+ }
+ // set the gear position
+ fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
+ fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
+ fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
+ }
+
+
+ // 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
+ 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);
+ if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
+ // uiuc prop driven airplane, e.g. Wright Flyer
+ }
+ else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
+ // uiuc jet aircraft, e.g. a4d
+ fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
+ fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
+ }
+ else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
+ // uiuc sailplane, e.g. asw20
+ fgSetDouble("/engines/engine/cranking", 0);
+ // set the wind speed for use in setting wind sound level
+ fgSetDouble("/velocities/V_rel_wind_kts", (V_rel_wind * 1.274));
+ }
+ else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
+ // uiuc sailplane, e.g. asw20
+ fgSetDouble("/engines/engine/cranking", 0);
+ }
+ else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
+ // mechanical flapping wings
+ // flapping wings (using seahawk for now)
+ fgSetDouble("/canopy/position-norm", 0);
+ fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
+ // fgSetDouble("/wing-phase/position-norm", fgGetDouble("/controls/rudder"));
+ fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
+ fgSetDouble("/wing-phase/position-one", 1);
+ fgSetDouble("/thorax/volume", 0);
+ fgSetDouble("/thorax/rpm", 0);
+ // fgSetDouble("/wing-phase/position-norm", ((1+cos(flapper_phi - LS_PI/2))/2 -.36 ));
+ // fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
+ // fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
+ }
+ }
+
+
+ // add Gamma_horiz_deg to properties, mss 021213
+ if (use_gamma_horiz_on_speed) {
+ if (V_rel_wind > gamma_horiz_on_speed) {
+ fgSetDouble("/orientation/Gamma_horiz_deg", (Gamma_horiz_rad * RAD_TO_DEG));
+ }
+ else {
+ fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
+ }
+ }
+ else {
+ fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
+ }
ls_update(multiloop);
// printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
_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_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 );
_set_Climb_Rate( -1 * V_down );
// cout << "climb rate = " << -V_down * 60 << endl;
- if ( aero->getStringValue() == "uiuc" ) {
+ if ( !strcmp(aero->getStringValue(), "uiuc") ) {
if (pilot_elev_no) {
globals->get_controls()->set_elevator(Long_control);
globals->get_controls()->set_elevator_trim(Long_trim);
globals->get_controls()->set_rudder(Rudder_pedal);
// controls.set_rudder(Rudder_pedal);
}
- if (Throttle_pct_input) {
+ if (pilot_throttle_no) {
globals->get_controls()->set_throttle(0,Throttle_pct);
// controls.set_throttle(0,Throttle_pct);
}
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();
}
void FGLaRCsim::set_Latitude(double lat) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
snap_shot();
- _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
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();
-
- _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
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();
- _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
lsic->SetAltitudeFtIC(alt);
set_ls();
copy_from_LaRCsim(); //update the bus
copy_from_LaRCsim();
}
+/* getting a namespace conflict...
void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown ) {
set_ls();
copy_from_LaRCsim();
}
+*/
void FGLaRCsim::set_Static_pressure(double p) {
SG_LOG( SG_FLIGHT, SG_INFO,
projects / flightgear.git / blobdiff