#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"
-const double throttle_damp = 0.2;
-const double aileron_damp = 0.05;
-const double elevator_damp = 0.05;
-const double elevator_trim_damp = 0.05;
-const double rudder_damp = 0.4;
-
-FGUFO::FGUFO( double dt )
- : Throttle(0.0),
- Aileron(0.0),
- Elevator(0.0),
- Elevator_Trim(0.0),
- Rudder(0.0)
+double FGUFO::lowpass::_dt;
+
+
+FGUFO::FGUFO( double dt ) :
+ 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))),
+ Aileron_Trim(new lowpass(fgGetDouble("/controls/damping/aileron-trim", 0.65))),
+ Elevator_Trim(new lowpass(fgGetDouble("/controls/damping/elevator-trim", 0.65))),
+ Rudder_Trim(new lowpass(fgGetDouble("/controls/damping/rudder-trim", 0.05))),
+ Speed_Max(fgGetNode("/engines/engine/speed-max-mps", true))
{
-// set_delta_t( dt );
}
FGUFO::~FGUFO() {
+ delete Throttle;
+ delete Aileron;
+ delete Elevator;
+ delete Rudder;
+ delete Aileron_Trim;
+ delete Elevator_Trim;
+ delete Rudder_Trim;
}
// for each subsequent iteration through the EOM
void FGUFO::init() {
common_init();
+ if (Speed_Max->getDoubleValue() < 0.01)
+ Speed_Max->setDoubleValue(2000.0);
}
// Run an iteration of the EOM (equations of motion)
void FGUFO::update( double dt ) {
- // cout << "FGLaRCsim::update()" << endl;
if (is_suspended())
- return;
+ return;
+ lowpass::set_delta(dt);
double time_step = dt;
+ FGControls *ctrl = globals->get_controls();
// read the throttle
- 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
- Aileron = globals->get_controls()->get_aileron() * aileron_damp
- + Aileron * (1 - aileron_damp);
- Elevator = globals->get_controls()->get_elevator() * elevator_damp
- + Elevator * (1 - elevator_damp);
- Elevator_Trim = globals->get_controls()->get_elevator_trim()
- * elevator_trim_damp
- + Elevator_Trim * (1 - elevator_trim_damp);
- Rudder = globals->get_controls()->get_rudder() * rudder_damp
- + Rudder * (1 - rudder_damp);
-
- // the velocity of the aircraft
- double velocity = Throttle * 2000; // meters/sec
+ 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;
+
+ double velocity = Throttle->filter(throttle) * Speed_Max->getDoubleValue(); // meters/sec
+
+
+ // 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());
+
+ 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
- double target_pitch = (-Elevator - Elevator_Trim) * SGD_PI_2;
+ double pitch_rate = SGD_PI_4; // assume I will be pitching up
+ double target_pitch = -elevator * SGD_PI_2;
- // if I am pitching down
- if (old_pitch > target_pitch)
- // set the pitch rate to negative (down)
+ if (old_pitch > target_pitch) // pitching down
pitch_rate *= -1;
double pitch = old_pitch + (pitch_rate * time_step);
- // if I am pitching up
- if (pitch_rate > 0.0)
- {
- // clip the pitch at the limit
- if ( pitch > target_pitch)
- {
+ if (pitch_rate > 0.0) { // pitching up
+ if (pitch > target_pitch)
pitch = target_pitch;
- }
- }
- // if I am pitching down
- else if (pitch_rate < 0.0)
- {
- // clip the pitch at the limit
- if ( pitch < target_pitch)
- {
+
+ } else if (pitch_rate < 0.0) { // pitching down
+ if (pitch < target_pitch)
pitch = target_pitch;
- }
}
- double old_roll = get_Phi();
- double roll_rate = SGD_PI_4;
- double target_roll = Aileron * SGD_PI_2;
+ double old_roll = get_Phi();
+ double roll_rate = SGD_PI_4;
+ double target_roll = aileron * SGD_PI_2;
if (old_roll > target_roll)
roll_rate *= -1;
-
+
double roll = old_roll + (roll_rate * time_step);
- // if I am rolling CW
- if (roll_rate > 0.0)
- {
- // clip the roll at the limit
- if ( roll > target_roll)
- {
+ if (roll_rate > 0.0) { // rolling CW
+ if (roll > target_roll)
roll = target_roll;
- }
- }
- // if I am rolling CCW
- else if (roll_rate < 0.0)
- {
- // clip the roll at the limit
- if ( roll < target_roll)
- {
+
+ } else if (roll_rate < 0.0) { // rolling CCW
+ if (roll < target_roll)
roll = target_roll;
- }
}
// the vertical speed of the aircraft
double real_climb_rate = sin (pitch) * SG_METER_TO_FEET * velocity; // feet/sec
- _set_Climb_Rate( -Elevator * 10.0 );
+ _set_Climb_Rate( -elevator * 10.0 );
double climb = real_climb_rate * time_step;
// the lateral speed of the aircraft
// 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,
- get_Longitude() * SGD_RADIANS_TO_DEGREES,
- get_Psi() * SGD_RADIANS_TO_DEGREES,
- dist, &lat2, &lon2, &az2 );
-
- _set_Longitude( lon2 * SGD_DEGREES_TO_RADIANS );
- _set_Latitude( lat2 * SGD_DEGREES_TO_RADIANS );
+ geo_direct_wgs_84 ( get_Altitude(),
+ get_Latitude() * SGD_RADIANS_TO_DEGREES,
+ get_Longitude() * SGD_RADIANS_TO_DEGREES,
+ get_Psi() * SGD_RADIANS_TO_DEGREES,
+ dist, &lat2, &lon2, &az2 );
+
+ _set_Geodetic_Position( lat2 * SGD_DEGREES_TO_RADIANS, lon2 * SGD_DEGREES_TO_RADIANS );
}
// cout << "lon error = " << fabs(end.x()*SGD_RADIANS_TO_DEGREES - lon2)
sgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc );
// update euler angles
- _set_Euler_Angles( roll, pitch,
- fmod(get_Psi() + turn + yaw, SGD_2PI) );
+ double heading = fmod(get_Psi() + turn + yaw, SGD_2PI);
+ _set_Euler_Angles(roll, pitch, heading);
_set_Euler_Rates(0,0,0);
- _set_Geocentric_Position( lat_geoc, get_Longitude(),
- sl_radius + get_Altitude() + climb );
+ _set_Geocentric_Position( lat_geoc, get_Longitude(),
+ sl_radius + get_Altitude() + climb );
// cout << "sea level radius (ft) = " << sl_radius << endl;
// cout << "(setto) sea level radius (ft) = " << get_Sea_level_radius() << endl;
_update_ground_elev_at_pos();
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET);
_set_Altitude( get_Altitude() + climb );
+ _set_Altitude_AGL( get_Altitude() - get_Runway_altitude() );
+
+ set_V_north(cos(heading) * velocity * SG_METER_TO_FEET);
+ set_V_east(sin(heading) * velocity * SG_METER_TO_FEET);
+ set_V_down(-real_climb_rate);
}
+
+
projects / flightgear.git / blobdiff