Mathias Fröhlich:

[flightgear.git] / src / FDM / UFO.cxx

diff --git a/src/FDM/UFO.cxx b/src/FDM/UFO.cxx
index 782f699f07a4326ee60d9ec0bb0f8757f32fc634..e8df63e42bf4b6a3d77eeb5802a344123f0e5eed 100644 (file)
--- a/src/FDM/UFO.cxx
+++ b/src/FDM/UFO.cxx
@@ -3,7 +3,7 @@
 // Written by Curtis Olson, started October 1999.
 // Slightly modified from MagicCarpet.cxx by Jonathan Polley, April 2002
 //
-// Copyright (C) 1999-2002  Curtis L. Olson  - curt@flightgear.org
+// Copyright (C) 1999-2002  Curtis L. Olson  - http://www.flightgear.org/~curt
 //
 // This program is free software; you can redistribute it and/or
 // modify it under the terms of the GNU General Public License as
@@ -31,9 +31,18 @@
 
 #include "UFO.hxx"
 
-
-FGUFO::FGUFO( double dt ) {
-    set_delta_t( dt );
+const double throttle_damp = 0.2;
+const double aileron_damp = 0.05;
+const double elevator_damp = 0.05;
+const double rudder_damp = 0.4;
+
+FGUFO::FGUFO( double dt )
+  : Throttle(0.0),
+    Aileron(0.0),
+    Elevator(0.0),
+    Rudder(0.0)
+{
+//     set_delta_t( dt );
 }
 
 
@@ -49,17 +58,30 @@ void FGUFO::init() {
 
 
 // Run an iteration of the EOM (equations of motion)
-void FGUFO::update( int multiloop ) {
+void FGUFO::update( double dt ) {
     // cout << "FGLaRCsim::update()" << endl;
 
-    double time_step = get_delta_t() * multiloop;
+    if (is_suspended())
+      return;
+
+    double time_step = dt;
 
     // read the throttle
-    double Throttle = globals->get_controls()->get_throttle( 0 );
+    double th = globals->get_controls()->get_throttle( 0 );
+    if ( globals->get_controls()->get_brake_left() > 0.0 
+         || globals->get_controls()->get_brake_right() > 0.0 )
+    {
+        th = -th;
+    }
+    Throttle = th * throttle_damp + Throttle * (1 - throttle_damp);
 
     // read the state of the control surfaces
-    double Aileron  = globals->get_controls()->get_aileron();
-    double Elevator = globals->get_controls()->get_elevator();
+    Aileron  = globals->get_controls()->get_aileron() * aileron_damp
+               + Aileron * (1 - aileron_damp);
+    Elevator = globals->get_controls()->get_elevator() * elevator_damp
+               + Elevator * (1 - elevator_damp);
+    Rudder = globals->get_controls()->get_rudder() * rudder_damp
+               + Rudder * (1 - rudder_damp);
 
     // the velocity of the aircraft
     double velocity = Throttle * 2000; // meters/sec
@@ -138,10 +160,11 @@ void FGUFO::update( int multiloop ) {
     // angle of turn
     double turn_rate = sin(roll) * SGD_PI_4; // radians/sec
     double turn = turn_rate * time_step;
+    double yaw = fabs(Rudder) < .2 ? 0.0 : Rudder / (25 + fabs(speed) * .1);
 
     // update (lon/lat) position
     double lat2, lon2, az2;
-    if ( speed > SG_EPSILON ) {
+    if ( fabs(speed) > SG_EPSILON ) {
        geo_direct_wgs_84 ( get_Altitude(),
                            get_Latitude() * SGD_RADIANS_TO_DEGREES,
                            get_Longitude() * SGD_RADIANS_TO_DEGREES,
@@ -161,7 +184,7 @@ void FGUFO::update( int multiloop ) {
 
     // update euler angles
     _set_Euler_Angles( roll, pitch,
-                       fmod(get_Psi() + turn, SGD_2PI) );
+                       fmod(get_Psi() + turn + yaw, SGD_2PI) );
     _set_Euler_Rates(0,0,0);
 
     _set_Geocentric_Position( lat_geoc, get_Longitude(),