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
+ 12/11/2002 (RD) Divided uiuc_network_routine into
+ uiuc_network_recv_routine and
+ uiuc_network_send_routine
+ 03/16/2003 (RD) Added trigger lines in recorder area
+
----------------------------------------------------------------------
AUTHOR(S): Bipin Sehgal <bsehgal@uiuc.edu>
Robert Deters <rdeters@uiuc.edu>
+ Glen Dimock <dimock@uiuc.edu>
David Megginson <david@megginson.com>
----------------------------------------------------------------------
**********************************************************************/
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
#include <simgear/compiler.h>
#include <simgear/misc/sg_path.hxx>
#include <Aircraft/aircraft.hxx>
-
-#ifndef FG_OLD_WEATHER
-#include <WeatherCM/FGLocalWeatherDatabase.h>
-#else
-#include <Weather/weather.hxx>
-#endif
+#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"
#include "uiuc_gear.h"
#include "uiuc_aerodeflections.h"
#include "uiuc_menu.h"
#include "uiuc_betaprobe.h"
#include <FDM/LaRCsim/ls_generic.h>
-// #include "Main/simple_udp.h"
+//#include "Main/simple_udp.h"
#include "uiuc_fog.h" //321654
+//#include "uiuc_network.h"
+#include "uiuc_get_flapper.h"
-#if !defined (SG_HAVE_NATIVE_SGI_COMPILERS)
SG_USING_STD(cout);
SG_USING_STD(endl);
-#endif
+extern "C" void uiuc_initial_init ();
+extern "C" void uiuc_defaults_inits ();
+extern "C" void uiuc_vel_init ();
extern "C" void uiuc_init_aeromodel ();
extern "C" void uiuc_force_moment(double dt);
extern "C" void uiuc_engine_routine();
+extern "C" void uiuc_wind_routine();
extern "C" void uiuc_gear_routine();
extern "C" void uiuc_record_routine(double dt);
-extern "C" void uiuc_vel_init ();
-extern "C" void uiuc_initial_init ();
+extern "C" void uiuc_network_recv_routine();
+extern "C" void uiuc_network_send_routine();
AIRCRAFT *aircraft_ = new AIRCRAFT;
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.
if (P_body_init_true)
P_body = P_body_init;
if (Q_body_init_true)
V_body = V_body_init;
if (W_body_init_true)
W_body = W_body_init;
+}
+
+void uiuc_defaults_inits ()
+{
+ // set defaults and initialize (called from ls_step.c at Simtime=0)
+
+ //fog inits
+ fog_field = 0;
+ fog_segments = 0;
+ fog_point_index = -1;
+ fog_time = NULL;
+ fog_value = NULL;
+ fog_next_time = 0.0;
+ fog_current_segment = 0;
+ Fog = 0;
+
+ use_V_rel_wind_2U = 0;
+ nondim_rate_V_rel_wind = 0;
+ use_abs_U_body_2U = 0;
+ use_dyn_on_speed_curve1 = 0;
+ use_Alpha_dot_on_speed = 0;
+ use_gamma_horiz_on_speed = 0;
+ b_downwashMode = 0;
+ P_body_init_true = 0;
+ Q_body_init_true = 0;
+ R_body_init_true = 0;
+ Phi_init_true = 0;
+ Theta_init_true = 0;
+ Psi_init_true = 0;
+ Alpha_init_true = 0;
+ Beta_init_true = 0;
+ U_body_init_true = 0;
+ V_body_init_true = 0;
+ W_body_init_true = 0;
+ trim_case_2 = 0;
+ use_uiuc_network = 0;
+ old_flap_routine = 0;
+ icing_demo = 0;
+ outside_control = 0;
+ set_Long_trim = 0;
+ zero_Long_trim = 0;
+ elevator_step = 0;
+ elevator_singlet = 0;
+ elevator_doublet = 0;
+ elevator_input = 0;
+ aileron_input = 0;
+ rudder_input = 0;
+ pilot_elev_no = 0;
+ pilot_elev_no_check = 0;
+ pilot_ail_no = 0;
+ pilot_ail_no_check = 0;
+ pilot_rud_no = 0;
+ pilot_rud_no_check = 0;
+ use_flaps = 0;
+ use_spoilers = 0;
+ flap_pos_input = 0;
+ use_elevator_sas_type1 = 0;
+ use_elevator_sas_max = 0;
+ use_elevator_sas_min = 0;
+ use_elevator_stick_gain = 0;
+ use_aileron_sas_type1 = 0;
+ use_aileron_sas_max = 0;
+ use_aileron_stick_gain = 0;
+ use_rudder_sas_type1 = 0;
+ use_rudder_sas_max = 0;
+ use_rudder_stick_gain = 0;
+ simpleSingleModel = 0;
+ Throttle_pct_input = 0;
+ gyroForce_Q_body = 0;
+ gyroForce_R_body = 0;
+ b_slipstreamEffects = 0;
+ Xp_input = 0;
+ Zp_input = 0;
+ Mp_input = 0;
+ b_CLK = 0;
+ // gear_model[MAX_GEAR]
+ memset(gear_model,0,MAX_GEAR*sizeof(gear_model[0]));
+ use_gear = 0;
+ // start with gear down if it is ultimately used
+ gear_pos_norm = 1;
+ ice_model = 0;
+ ice_on = 0;
+ beta_model = 0;
+ // bootTrue[20] = 0;
+ eta_from_file = 0;
+ eta_wing_left_input = 0;
+ eta_wing_right_input = 0;
+ eta_tail_input = 0;
+ demo_eps_alpha_max = 0;
+ demo_eps_pitch_max = 0;
+ demo_eps_pitch_min = 0;
+ demo_eps_roll_max = 0;
+ demo_eps_thrust_min = 0;
+ demo_eps_airspeed_max = 0;
+ demo_eps_airspeed_min = 0;
+ demo_eps_flap_max = 0;
+ demo_boot_cycle_tail = 0;
+ demo_boot_cycle_wing_left = 0;
+ demo_boot_cycle_wing_right = 0;
+ demo_eps_pitch_input = 0;
+ tactilefadef = 0;
+ demo_ap_pah_on = 0;
+ demo_ap_Theta_ref_deg = 0;
+ demo_tactile = 0;
+ demo_ice_tail = 0;
+ demo_ice_left = 0;
+ demo_ice_right = 0;
+ flapper_model = 0;
+ ignore_unknown_keywords = 0;
+ pilot_throttle_no = 0;
}
double qSb = qS * bw;
uiuc_aerodeflections(dt);
- uiuc_coefficients();
+ uiuc_coefficients(dt);
- /* Calculate the wind axis forces */
+ /* Calculate the forces */
if (CX && CZ)
{
- CD = -CX * cos(Alpha) - CZ * sin(Alpha);
- CL = CX * sin(Alpha) - CZ * cos(Alpha);
+ F_X_aero = CX * qS;
+ F_Y_aero = CY * qS;
+ F_Z_aero = CZ * qS;
+ }
+ else
+ {
+ // Cos_beta * Cos_beta corrects V_rel_wind to get normal q onto wing,
+ // hence Cos_beta * Cos_beta term included.
+ // Same thing is done w/ moments below.
+ // Without this "die-off" function, lift would be produced in a 90 deg sideslip, when
+ // that should not be the case. See FGFS notes 021105
+ F_X_wind = -CD * qS * Cos_beta * Cos_beta;
+ F_Y_wind = CY * qS;
+ F_Z_wind = -CL * qS * Cos_beta * Cos_beta;
+ // 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 ;
+ M_m_aero = Cm * qScbar * Cos_beta * Cos_beta;
+ M_n_aero = Cn * qSb ;
+ // 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_n_aero += -(I_zz_appMass_ratio * I_zz) * 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_n_aero += -I_zz_appMass * R_dot_body;
+
+ // gyroscopic moments
+ // engineOmega is positive when rotation is ccw when viewed from the front
+ if (gyroForce_Q_body)
+ M_n_aero += polarInertia * engineOmega * Q_body;
+ if (gyroForce_R_body)
+ M_m_aero += -polarInertia * engineOmega * R_body;
+
+ // ornithopter support
+ if (flapper_model)
+ {
+ uiuc_get_flapper(dt);
+ F_X_aero += F_X_aero_flapper;
+ F_Z_aero += F_Z_aero_flapper;
+ M_m_aero += flapper_Moment;
}
- 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;
-
- /* Call flight data recorder */
- // if (Simtime >= recordStartTime)
- // uiuc_recorder(dt);
-
// fog field update
Fog = 0;
double vis;
if (Fog != 0)
{
- #ifndef FG_OLD_WEATHER
- vis = WeatherDatabase->getWeatherVisibility();
+ vis = fgGetDouble("/environment/visibility-m");
if (Fog > 0)
vis /= 1.01;
else
vis *= 1.01;
- WeatherDatabase->setWeatherVisibility( vis );
- #else
- vis = current_weather.get_visibility_m();
- if (Fog > 0)
- vis /= 1.01;
- else
- vis *= 1.01;
- current_weather.set_visibility_m( vis );
- #endif
+ fgSetDouble("/environment/visibility-m", vis);
}
}
+void uiuc_wind_routine()
+{
+ uiuc_getwind();
+}
+
void uiuc_engine_routine()
{
uiuc_engine();
void uiuc_record_routine(double dt)
{
+ if (trigger_last_time_step == 0 && trigger_on == 1) {
+ if (trigger_toggle == 0)
+ trigger_toggle = 1;
+ else
+ trigger_toggle = 0;
+ trigger_num++;
+ if (trigger_num % 2 != 0)
+ trigger_counter++;
+ }
+
if (Simtime >= recordStartTime)
uiuc_recorder(dt);
+
+ trigger_last_time_step = trigger_on;
+}
+
+void uiuc_network_recv_routine()
+{
+ //if (use_uiuc_network)
+ //uiuc_network(1);
+}
+
+void uiuc_network_send_routine()
+{
+ //if (use_uiuc_network)
+ //uiuc_network(2);
}
//end uiuc_wrapper.cpp
projects / flightgear.git / blobdiff