Fix for bug 1304 - crash loading XML route

[flightgear.git] / src / FDM / UIUCModel / uiuc_wrapper.cpp

diff --git a/src/FDM/UIUCModel/uiuc_wrapper.cpp b/src/FDM/UIUCModel/uiuc_wrapper.cpp
index a91c62904b8f445096d1cc93e8ec9a73af1f1c06..47897560e644e1d9e919b437116e4b4c866dc62b 100644 (file)
--- a/src/FDM/UIUCModel/uiuc_wrapper.cpp
+++ b/src/FDM/UIUCModel/uiuc_wrapper.cpp
@@ -71,25 +71,25 @@
  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.
- 
+ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+
 **********************************************************************/
 
 #ifdef HAVE_CONFIG_H
 #  include <config.h>
 #endif
 
+#include <iostream>
+#include <cstring>
+
 #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_getwind.h"
 #include "uiuc_engine.h"
@@ -104,9 +104,6 @@
 //#include "uiuc_network.h"
 #include "uiuc_get_flapper.h"
 
-SG_USING_STD(cout);
-SG_USING_STD(endl);
-
 extern "C" void uiuc_initial_init ();
 extern "C" void uiuc_defaults_inits ();
 extern "C" void uiuc_vel_init ();
@@ -119,8 +116,7 @@ extern "C" void uiuc_record_routine(double dt);
 extern "C" void uiuc_network_recv_routine();
 extern "C" void uiuc_network_send_routine();
 
-AIRCRAFT *aircraft_ = new AIRCRAFT;
-AIRCRAFTDIR *aircraftdir_ = new AIRCRAFTDIR;
+AIRCRAFT *aircraft_ = 0;
 
 // SendArray testarray(4950);
 
@@ -134,9 +130,11 @@ AIRCRAFTDIR *aircraftdir_ = new AIRCRAFTDIR;
 
 void uiuc_initial_init ()
 {
-  // This function called from both ls_step and ls_model(uiuc model side).
-  // Apply brute force initializations, which override ls_step and ls_aux values
-  // for the first time step.
+  // This function is called from uiuc_init_2_wrapper (uiuc_aero.c in LaRCsim)
+  // which is called from ls_step and ls_model.
+  // Apply brute force initializations, which override unwanted changes
+  // performed by LaRCsim.
+  // Used during initialization (while Simtime=0).
   if (P_body_init_true)
     P_body = P_body_init;
   if (Q_body_init_true)
@@ -161,7 +159,10 @@ void uiuc_initial_init ()
 
 void uiuc_defaults_inits ()
 {
-  // set defaults and initialize (called from ls_step.c at Simtime=0)
+  if (aircraft_ == 0)
+    aircraft_ = new AIRCRAFT;
+
+  // set defaults and initialize (called once from uiuc_init_2_wrapper)
 
   //fog inits 
   fog_field = 0;
@@ -193,7 +194,6 @@ void uiuc_defaults_inits ()
   W_body_init_true = false;
   trim_case_2 = false;
   use_uiuc_network = false;
-  old_flap_routine = false;
   icing_demo = false;
   outside_control = false;
   set_Long_trim = false;
@@ -268,7 +268,9 @@ void uiuc_defaults_inits ()
   demo_eps_pitch_input = false;
   tactilefadef = false;
   demo_ap_pah_on = false;
-  demo_ap_Theta_ref_deg = false;
+  demo_ap_alh_on = false;
+  demo_ap_Theta_ref = false;
+  demo_ap_alt_ref = false;
   demo_tactile = false;
   demo_ice_tail = false;
   demo_ice_left = false;
@@ -276,11 +278,20 @@ void uiuc_defaults_inits ()
   flapper_model = false;
   ignore_unknown_keywords = false;
   pilot_throttle_no = false;
+  Dx_cg = 0.0;
+  Dy_cg = 0.0;
+  Dz_cg = 0.0;
+  ap_pah_on = 0;
+  ap_alh_on = 0;
 
 }
 
 void uiuc_vel_init ()
 {
+  // Calculates the local velocity (V_north, V_east, V_down) from the body
+  // velocities.
+  // Called from uiuc_local_vel_init which is called from ls_step.
+  // Used during initialization (while Simtime=0)
   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;
@@ -306,10 +317,12 @@ void uiuc_vel_init ()
 
 void uiuc_init_aeromodel ()
 {
+  // Initializes the UIUC aircraft model.
+  // Called once from uiuc_init_2_wrapper
   SGPath path(globals->get_fg_root());
-  path.append(aircraft_dir);
+  path.append(fgGetString("/sim/aircraft-dir"));
   path.append("aircraft.dat");
-  cout << "We are using "<< path.str() << endl;
+  std::cout << "We are using "<< path.str() << std::endl;
   uiuc_initializemaps(); // Initialize the <string,int> maps
   uiuc_menu(path.str());   // Read the specified aircraft file 
 }
@@ -367,6 +380,10 @@ void uiuc_force_moment(double dt)
   if (I_zz_appMass_ratio)
     M_n_aero += -(I_zz_appMass_ratio * I_zz) * R_dot_body;
 
+  // adding in apparent mass in body axis X direction
+  // F_X_aero += -(0.05 * Mass) * U_dot_body;
+
+
   if (Mass_appMass)
     F_Z_aero += -Mass_appMass * W_dot_body;
   if (I_xx_appMass)
@@ -467,12 +484,12 @@ void uiuc_record_routine(double dt)
 void uiuc_network_recv_routine()
 {
   //if (use_uiuc_network)
-    //uiuc_network(1);
+  //  uiuc_network(1);
 }
 
 void uiuc_network_send_routine()
 {
   //if (use_uiuc_network)
-    //uiuc_network(2);
+  //  uiuc_network(2);
 }
 //end uiuc_wrapper.cpp