/**********************************************************************
- *
- * FILENAME: uiuc_wrapper.cpp
- *
- * ----------------------------------------------------------------------
- *
- * DESCRIPTION: A wrapper(interface) between the UIUC Aeromodel (C++ files)
- * and the LaRCsim FDM (C files)
- *
- * ----------------------------------------------------------------------
- *
- * STATUS: alpha version
- *
- * ----------------------------------------------------------------------
- *
- * REFERENCES:
- *
- * ----------------------------------------------------------------------
- *
- * HISTORY: 01/26/2000 initial release
- *
- * ----------------------------------------------------------------------
- *
- * AUTHOR(S): Bipin Sehgal <bsehgal@uiuc.edu>
- *
- * ----------------------------------------------------------------------
- *
- * VARIABLES:
- *
- * ----------------------------------------------------------------------
- *
- * INPUTS: *
- *
- * ----------------------------------------------------------------------
- *
- * OUTPUTS: *
- *
- * ----------------------------------------------------------------------
- *
- * CALLED BY: *
- *
- * ----------------------------------------------------------------------
- *
- * CALLS TO: *
- *
- * ----------------------------------------------------------------------
- *
- * COPYRIGHT: (C) 2000 by Michael Selig
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
- * USA or view http://www.gnu.org/copyleft/gpl.html.
- *
- ***********************************************************************/
+
+ FILENAME: uiuc_wrapper.cpp
+----------------------------------------------------------------------
+
+ DESCRIPTION: A wrapper(interface) between the UIUC Aeromodel (C++ files)
+ and the LaRCsim FDM (C files)
+
+----------------------------------------------------------------------
+
+ STATUS: alpha version
+
+----------------------------------------------------------------------
+
+ REFERENCES:
+
+----------------------------------------------------------------------
+
+ HISTORY: 01/26/2000 initial release
+ 03/09/2001 (DPM) added support for gear
+ 06/18/2001 (RD) Made uiuc_recorder its own routine.
+ 07/19/2001 (RD) Added uiuc_vel_init() to initialize
+ the velocities.
+ 08/27/2001 (RD) Added uiuc_initial_init() to help
+ in starting an A/C at an initial condition
+ 02/24/2002 (GD) Added uiuc_network_routine()
+ 03/27/2002 (RD) Changed how forces are calculated when
+ body-axis is used
+
+----------------------------------------------------------------------
+
+ AUTHOR(S): Bipin Sehgal <bsehgal@uiuc.edu>
+ Robert Deters <rdeters@uiuc.edu>
+ Glen Dimock <dimock@uiuc.edu>
+ David Megginson <david@megginson.com>
+
+----------------------------------------------------------------------
+
+ VARIABLES:
+
+----------------------------------------------------------------------
+
+ INPUTS: *
+
+----------------------------------------------------------------------
+
+ OUTPUTS: *
+
+----------------------------------------------------------------------
+
+ CALLED BY: *
+
+----------------------------------------------------------------------
+
+ CALLS TO: *
+
+----------------------------------------------------------------------
+
+ COPYRIGHT: (C) 2000 by Michael Selig
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ as published by the Free Software Foundation.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
+ USA or view http://www.gnu.org/copyleft/gpl.html.
+
+**********************************************************************/
+
+#include <simgear/compiler.h>
+#include <simgear/misc/sg_path.hxx>
+#include <Aircraft/aircraft.hxx>
+#include <Main/fg_props.hxx>
#include "uiuc_aircraft.h"
#include "uiuc_aircraftdir.h"
#include "uiuc_coefficients.h"
#include "uiuc_engine.h"
+#include "uiuc_gear.h"
#include "uiuc_aerodeflections.h"
#include "uiuc_recorder.h"
#include "uiuc_menu.h"
-#include "../LaRCsim/ls_generic.h"
+#include "uiuc_betaprobe.h"
+#include <FDM/LaRCsim/ls_generic.h>
+//#include "Main/simple_udp.h"
+#include "uiuc_fog.h" //321654
+//#include "uiuc_network.h"
+#if !defined (SG_HAVE_NATIVE_SGI_COMPILERS)
+SG_USING_STD(cout);
+SG_USING_STD(endl);
+#endif
extern "C" void uiuc_init_aeromodel ();
extern "C" void uiuc_force_moment(double dt);
extern "C" void uiuc_engine_routine();
+extern "C" void uiuc_gear_routine();
+extern "C" void uiuc_record_routine(double dt);
+//extern "C" void uiuc_network_routine();
+extern "C" void uiuc_vel_init ();
+extern "C" void uiuc_initial_init ();
AIRCRAFT *aircraft_ = new AIRCRAFT;
AIRCRAFTDIR *aircraftdir_ = new AIRCRAFTDIR;
-void uiuc_init_aeromodel ()
+// SendArray testarray(4950);
+
+/* Convert float to string */
+//string ftoa(double in)
+//{
+// static char temp[20];
+// sprintf(temp,"%g",in);
+// return (string)temp;
+//}
+
+void uiuc_initial_init ()
+{
+ if (P_body_init_true)
+ P_body = P_body_init;
+ if (Q_body_init_true)
+ Q_body = Q_body_init;
+ if (R_body_init_true)
+ R_body = R_body_init;
+
+ if (Phi_init_true)
+ Phi = Phi_init;
+ if (Theta_init_true)
+ Theta = Theta_init;
+ if (Psi_init_true)
+ Psi = Psi_init;
+
+ if (U_body_init_true)
+ U_body = U_body_init;
+ if (V_body_init_true)
+ V_body = V_body_init;
+ if (W_body_init_true)
+ W_body = W_body_init;
+
+}
+
+void uiuc_vel_init ()
{
- string aircraft;
+ if (U_body_init_true && V_body_init_true && W_body_init_true)
+ {
+ double det_T_l_to_b, cof11, cof12, cof13, cof21, cof22, cof23, cof31, cof32, cof33;
+
+ det_T_l_to_b = T_local_to_body_11*(T_local_to_body_22*T_local_to_body_33-T_local_to_body_23*T_local_to_body_32) - T_local_to_body_12*(T_local_to_body_21*T_local_to_body_33-T_local_to_body_23*T_local_to_body_31) + T_local_to_body_13*(T_local_to_body_21*T_local_to_body_32-T_local_to_body_22*T_local_to_body_31);
+ cof11 = T_local_to_body_22 * T_local_to_body_33 - T_local_to_body_23 * T_local_to_body_32;
+ cof12 = T_local_to_body_23 * T_local_to_body_31 - T_local_to_body_21 * T_local_to_body_33;
+ cof13 = T_local_to_body_21 * T_local_to_body_32 - T_local_to_body_22 * T_local_to_body_31;
+ cof21 = T_local_to_body_13 * T_local_to_body_32 - T_local_to_body_12 * T_local_to_body_33;
+ cof22 = T_local_to_body_11 * T_local_to_body_33 - T_local_to_body_13 * T_local_to_body_31;
+ cof23 = T_local_to_body_12 * T_local_to_body_31 - T_local_to_body_11 * T_local_to_body_32;
+ cof31 = T_local_to_body_12 * T_local_to_body_23 - T_local_to_body_13 * T_local_to_body_22;
+ cof32 = T_local_to_body_13 * T_local_to_body_21 - T_local_to_body_11 * T_local_to_body_23;
+ cof33 = T_local_to_body_11 * T_local_to_body_22 - T_local_to_body_12 * T_local_to_body_21;
- if (aircraft_dir != "")
- aircraft = aircraft_dir + "/";
+ V_north = (cof11*U_body+cof21*V_body+cof31*W_body)/det_T_l_to_b;
+ V_east_rel_ground = (cof12*U_body+cof22*V_body+cof32*W_body)/det_T_l_to_b;
+ V_down = (cof13*U_body+cof23*V_body+cof33*W_body)/det_T_l_to_b;
- aircraft += "aircraft.dat";
- cout << "We are using "<< aircraft << endl;
+ V_east = V_east_rel_ground + OMEGA_EARTH*Sea_level_radius*cos(Lat_geocentric);
+ }
+}
+
+void uiuc_init_aeromodel ()
+{
+ SGPath path(globals->get_fg_root());
+ path.append(aircraft_dir);
+ path.append("aircraft.dat");
+ cout << "We are using "<< path.str() << endl;
uiuc_initializemaps(); // Initialize the <string,int> maps
- uiuc_menu(aircraft); // Read the specified aircraft file
+ uiuc_menu(path.str()); // Read the specified aircraft file
}
void uiuc_force_moment(double dt)
double qScbar = qS * cbar;
double qSb = qS * bw;
- uiuc_aerodeflections();
+ uiuc_aerodeflections(dt);
uiuc_coefficients();
+
+ /* Calculate the forces */
+ if (CX && CZ)
+ {
+ F_X_aero = CX * qS;
+ F_Y_aero = CY * qS;
+ F_Z_aero = CZ * qS;
+ }
+ else
+ {
+ F_X_wind = -CD * qS * Cos_beta * Cos_beta;
+ F_Y_wind = CY * qS * Cos_beta * Cos_beta;
+ F_Z_wind = -CL * qS * Cos_beta * Cos_beta;
+
+ /* wind-axis to body-axis transformation */
+ F_X_aero = F_X_wind * Cos_alpha * Cos_beta - F_Y_wind * Cos_alpha * Sin_beta - F_Z_wind * Sin_alpha;
+ F_Y_aero = F_X_wind * Sin_beta + F_Y_wind * Cos_beta;
+ F_Z_aero = F_X_wind * Sin_alpha * Cos_beta - F_Y_wind * Sin_alpha * Sin_beta + F_Z_wind * Cos_alpha;
+ }
+ /* Moment calculations */
+ M_l_aero = Cl * qSb * Cos_beta * Cos_beta;
+ M_m_aero = Cm * qScbar * Cos_beta * Cos_beta;
+ M_n_aero = Cn * qSb * Cos_beta * Cos_beta;
+
+ /* Adding in apparent mass effects */
+
+ if (Mass_appMass_ratio)
+ F_Z_aero += -(Mass_appMass_ratio * Mass) * W_dot_body;
+ if (I_xx_appMass_ratio)
+ M_l_aero += -(I_xx_appMass_ratio * I_xx) * P_dot_body;
+ if (I_yy_appMass_ratio)
+ M_m_aero += -(I_yy_appMass_ratio * I_yy) * Q_dot_body;
+ if (I_zz_appMass_ratio)
+ M_m_aero += -(I_zz_appMass_ratio * I_yy) * R_dot_body;
+
+ if (Mass_appMass)
+ F_Z_aero += -Mass_appMass * W_dot_body;
+ if (I_xx_appMass)
+ M_l_aero += -I_xx_appMass * P_dot_body;
+ if (I_yy_appMass)
+ M_m_aero += -I_yy_appMass * Q_dot_body;
+ if (I_zz_appMass)
+ M_m_aero += -I_zz_appMass * R_dot_body;
+
+ // fog field update
+ Fog = 0;
+ if (fog_field)
+ uiuc_fog();
+
+ double vis;
+ if (Fog != 0)
+ {
+ vis = fgGetDouble("/environment/visibility-m");
+ if (Fog > 0)
+ vis /= 1.01;
+ else
+ vis *= 1.01;
+ fgSetDouble("/environment/visibility-m", vis);
+ }
+
+
+ /* Send data on the network to the Glass Cockpit */
+
+ // string input="";
+
+ // input += " stick_right " + ftoa(Lat_control);
+ // input += " rudder_left " + ftoa(-Rudder_pedal);
+ // input += " stick_forward " + ftoa(Long_control);
+ // input += " stick_trim_forward " + ftoa(Long_trim);
+ // input += " vehicle_pitch " + ftoa(Theta * 180.0 / 3.14);
+ // input += " vehicle_roll " + ftoa(Phi * 180.0 / 3.14);
+ // input += " vehicle_speed " + ftoa(V_rel_wind);
+ // input += " throttle_forward " + ftoa(Throttle_pct);
+ // input += " altitude " + ftoa(Altitude);
+ // input += " climb_rate " + ftoa(-1.0*V_down_rel_ground);
+
+ // testarray.getHello();
+ // testarray.sendData(input);
- /* Calculate the wind axis forces */
- F_X_wind = -1 * CD * qS;
- F_Y_wind = CY * qS;
- F_Z_wind = -1 * CL * qS;
-
- /* wind-axis to body-axis transformation */
- F_X_aero = F_X_wind * Cos_alpha * Cos_beta - F_Y_wind * Cos_alpha * Sin_beta - F_Z_wind * Sin_alpha;
- F_Y_aero = F_X_wind * Sin_beta + F_Y_wind * Cos_beta;
- F_Z_aero = F_X_wind * Sin_alpha * Cos_beta - F_Y_wind * Sin_alpha * Sin_beta + F_Z_wind * Cos_alpha;
-
- /* Moment calculations */
- M_l_aero = Cl * qSb;
- M_m_aero = Cm * qScbar;
- M_n_aero = Cn * qSb;
+ /* End of Networking */
- uiuc_recorder(dt);
}
void uiuc_engine_routine()
uiuc_engine();
}
+void uiuc_gear_routine ()
+{
+ uiuc_gear();
+}
+
+void uiuc_record_routine(double dt)
+{
+ if (Simtime >= recordStartTime)
+ uiuc_recorder(dt);
+}
+
+//void uiuc_network_routine ()
+//{
+// uiuc_network();
+//}
//end uiuc_wrapper.cpp
projects / flightgear.git / blobdiff