Remove confusing reference to SDL/GLUT

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

diff --git a/src/FDM/UFO.cxx b/src/FDM/UFO.cxx
index ab4652b0920459558c6432945df79731d2dc204d..edb56c0bbac1d5b96606c53815bb4a33e902fc6e 100644 (file)
--- a/src/FDM/UFO.cxx
+++ b/src/FDM/UFO.cxx
@@ -26,8 +26,6 @@
 #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>
@@ -35,9 +33,11 @@
 
 #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))),
@@ -71,33 +71,33 @@ void FGUFO::init() {
 
 // 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
@@ -151,10 +151,10 @@ void FGUFO::update( double dt ) {
     // 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);
+    double yaw = fabs(rudder) < .05 ? 0.0 : (rudder * (fabs(rudder) - 0.05) / 10);
 
     // update (lon/lat) position
-    double lat2, lon2, az2;
+    double lat2 = 0.0, lon2 = 0.0, az2 = 0.0;
     if ( fabs(speed) > SG_EPSILON ) {
         geo_direct_wgs_84 ( get_Altitude(),
                             get_Latitude() * SGD_RADIANS_TO_DEGREES,
@@ -162,8 +162,7 @@ void FGUFO::update( double dt ) {
                             get_Psi() * SGD_RADIANS_TO_DEGREES,
                             dist, &lat2, &lon2, &az2 );
 
-        _set_Longitude( lon2 * SGD_DEGREES_TO_RADIANS );
-        _set_Latitude( lat2 * SGD_DEGREES_TO_RADIANS );
+        _set_Geodetic_Position( lat2 * SGD_DEGREES_TO_RADIANS,  lon2 * SGD_DEGREES_TO_RADIANS );
     }
 
     // cout << "lon error = " << fabs(end.x()*SGD_RADIANS_TO_DEGREES - lon2)