#endif
#include <simgear/math/sg_geodesy.hxx>
-#include <simgear/math/point3d.hxx>
-#include <simgear/math/polar3d.hxx>
#include <Aircraft/controls.hxx>
#include <Main/globals.hxx>
#include "UFO.hxx"
+double FGUFO::lowpass::_dt;
+
FGUFO::FGUFO( double dt ) :
- Throttle(new lowpass(fgGetDouble("/controls/damping/throttle", 0.3))),
+ Throttle(new lowpass(fgGetDouble("/controls/damping/throttle", 0.1))),
Aileron(new lowpass(fgGetDouble("/controls/damping/aileron", 0.65))),
Elevator(new lowpass(fgGetDouble("/controls/damping/elevator", 0.65))),
Rudder(new lowpass(fgGetDouble("/controls/damping/rudder", 0.05))),
// Run an iteration of the EOM (equations of motion)
void FGUFO::update( double dt ) {
- // cout << "FGLaRCsim::update()" << endl;
if (is_suspended())
return;
+ lowpass::set_delta(dt);
double time_step = dt;
+ FGControls *ctrl = globals->get_controls();
// read the throttle
- double throttle = globals->get_controls()->get_throttle( 0 );
- double brake_left = globals->get_controls()->get_brake_left();
- double brake_right = globals->get_controls()->get_brake_right();
+ double throttle = ctrl->get_throttle( 0 );
+ double brake_left = ctrl->get_brake_left();
+ double brake_right = ctrl->get_brake_right();
if (brake_left > 0.5 || brake_right > 0.5)
throttle = -throttle;
- throttle = Throttle->filter(dt, throttle);
+ double velocity = Throttle->filter(throttle) * Speed_Max->getDoubleValue(); // meters/sec
- // read and lowpass-filter the state of the control surfaces
- double aileron = Aileron->filter(dt, globals->get_controls()->get_aileron());
- double elevator = Elevator->filter(dt, globals->get_controls()->get_elevator());
- double rudder = Rudder->filter(dt, globals->get_controls()->get_rudder());
- aileron += Aileron_Trim->filter(dt, globals->get_controls()->get_aileron_trim());
- elevator += Elevator_Trim->filter(dt, globals->get_controls()->get_elevator_trim());
- rudder += Rudder_Trim->filter(dt, globals->get_controls()->get_rudder_trim());
+ // read and lowpass-filter the state of the control surfaces
+ double aileron = Aileron->filter(ctrl->get_aileron());
+ double elevator = Elevator->filter(ctrl->get_elevator());
+ double rudder = Rudder->filter(ctrl->get_rudder());
- double velocity = throttle * Speed_Max->getDoubleValue(); // meters/sec
+ aileron += Aileron_Trim->filter(ctrl->get_aileron_trim());
+ elevator += Elevator_Trim->filter(ctrl->get_elevator_trim());
+ rudder += Rudder_Trim->filter(ctrl->get_rudder_trim());
double old_pitch = get_Theta();
double pitch_rate = SGD_PI_4; // assume I will be pitching up