-#include <stdio.h>
-#include <simgear/misc/sg_path.hxx>
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
+
#include <simgear/debug/logstream.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/scene/model/placement.hxx>
#include <simgear/xml/easyxml.hxx>
+
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
-#include <Scenery/scenery.hxx>
#include "FGFDM.hpp"
#include "Atmosphere.hpp"
#include "Integrator.hpp"
#include "Glue.hpp"
#include "Gear.hpp"
+#include "Hook.hpp"
+#include "Launchbar.hpp"
+#include "FGGround.hpp"
#include "PropEngine.hpp"
#include "PistonEngine.hpp"
using namespace yasim;
-static const float RAD2DEG = 180/3.14159265358979323846;
+static const float YASIM_PI = 3.14159265358979323846;
+static const float RAD2DEG = 180/YASIM_PI;
+static const float PI2 = YASIM_PI*2;
static const float RAD2RPM = 9.54929658551;
static const float M2FT = 3.2808399;
static const float FT2M = 0.3048;
static const float CM2GALS = 264.172037284; // gallons/cubic meter
static const float KG2LBS = 2.20462262185;
static const float W2HP = 1.3416e-3;
+static const float INHG2PA = 3386.389;
+static const float SLUG2KG = 14.59390;
-void YASim::printDEBUG()
-{
- static int debugCount = 0;
-
- debugCount++;
- if(debugCount >= 3) {
- debugCount = 0;
-
-// printf("N1 %5.1f N2 %5.1f FF %7.1f EPR %4.2f EGT %6.1f\n",
-// fgGetFloat("/engines/engine[0]/n1"),
-// fgGetFloat("/engines/engine[0]/n2"),
-// fgGetFloat("/engines/engine[0]/fuel-flow-gph"),
-// fgGetFloat("/engines/engine[0]/epr"),
-// fgGetFloat("/engines/engine[0]/egt"));
-
-// printf("gear: %f\n", fgGetFloat("/controls/gear-down"));
-
-// printf("alpha %5.1f beta %5.1f\n", get_Alpha()*57.3, get_Beta()*57.3);
-
-// printf("pilot: %f %f %f\n",
-// fgGetDouble("/sim/view/pilot/x-offset-m"),
-// fgGetDouble("/sim/view/pilot/y-offset-m"),
-// fgGetDouble("/sim/view/pilot/z-offset-m"));
- }
-}
-
-YASim::YASim(double dt)
+YASim::YASim(double dt) :
+ _simTime(0)
{
- set_delta_t(dt);
+// set_delta_t(dt);
_fdm = new FGFDM();
_dt = dt;
+ _fdm->getAirplane()->getModel()->setGroundCallback( new FGGround(this) );
_fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
}
+YASim::~YASim()
+{
+ delete _fdm;
+}
+
void YASim::report()
{
Airplane* a = _fdm->getAirplane();
float drag = 1000 * a->getDragCoefficient();
SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
- SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
- SG_LOG(SG_FLIGHT,SG_INFO,"Drag Coefficient: "<< drag);
- SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
- SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
- SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
+ SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
+ SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
+ SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
+ SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
+ SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
+ SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
+
float cg[3];
char buf[256];
a->getModel()->getBody()->getCG(cg);
- sprintf(buf, " CG: %.1f, %.1f, %.1f", cg[0], cg[1], cg[2]);
+ sprintf(buf, " CG: %.3f, %.3f, %.3f", cg[0], cg[1], cg[2]);
SG_LOG(SG_FLIGHT, SG_INFO, buf);
if(a->getFailureMsg()) {
char buf[256];
for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
- sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
+ sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i); fgUntie(buf);
}
-
}
void YASim::init()
m->setCrashed(false);
+ // Figure out the initial speed type
+ string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
+ if (speed_set == "NED")
+ _speed_set = NED;
+ else if (speed_set == "UVW")
+ _speed_set = UVW;
+ else if (speed_set == "knots")
+ _speed_set = KNOTS;
+ else if (speed_set == "mach")
+ _speed_set = MACH;
+ else {
+ _speed_set = UVW;
+ SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
+ }
+
// Build a filename and parse it
- SGPath f(globals->get_fg_root());
- f.append("Aircraft-yasim");
+ SGPath f(fgGetString("/sim/aircraft-dir"));
f.append(fgGetString("/sim/aero"));
f.concat(".xml");
readXML(f.str(), *_fdm);
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
float pos[3];
g->getPosition(pos);
- node->setDoubleValue("xoffset-in", pos[0]);
- node->setDoubleValue("yoffset-in", pos[1]);
- node->setDoubleValue("zoffset-in", pos[2]);
- }
- for(i=0; i<m->numThrusters(); i++) {
- // Sanify the initial input conditions
- char buf[64];
- sprintf(buf, "/controls/throttle[%d]", i); fgSetFloat(buf, 0);
- sprintf(buf, "/controls/mixture[%d]", i); fgSetFloat(buf, 1);
- sprintf(buf, "/controls/propeller-pitch[%d]", i); fgSetFloat(buf, 1);
- sprintf(buf, "/controls/afterburner[%d]", i); fgSetFloat(buf, 0);
+ node->setDoubleValue("xoffset-in", pos[0] * M2FT * 12);
+ node->setDoubleValue("yoffset-in", pos[1] * M2FT * 12);
+ node->setDoubleValue("zoffset-in", pos[2] * M2FT * 12);
}
- fgSetFloat("/controls/slats", 0);
- fgSetFloat("/controls/spoilers", 0);
-
// Are we at ground level? If so, lift the plane up so the gear
- // clear the ground
- if(get_Altitude() - get_Runway_altitude() < 50) {
+ // clear the ground.
+ double runway_altitude = get_Runway_altitude();
+ if(get_Altitude() - runway_altitude < 50) {
+ fgSetBool("/controls/gear/gear-down", false);
float minGearZ = 1e18;
for(i=0; i<a->numGear(); i++) {
Gear* g = a->getGear(i);
if(pos[2] < minGearZ)
minGearZ = pos[2];
}
- _set_Altitude(get_Runway_altitude() - minGearZ*M2FT);
+ _set_Altitude(runway_altitude - minGearZ*M2FT);
+ fgSetBool("/controls/gear/gear-down", true);
}
- // The pilot's eyepoint
- float pilot[3];
- a->getPilotPos(pilot);
- fgSetFloat("/sim/view/pilot/x-offset-m", -pilot[0]);
- fgSetFloat("/sim/view/pilot/y-offset-m", -pilot[1]);
- fgSetFloat("/sim/view/pilot/z-offset-m", pilot[2]);
-
// Blank the state, and copy in ours
State s;
m->setState(&s);
copyToYASim(true);
_fdm->getExternalInput();
- _fdm->getAirplane()->stabilizeThrust();
+ _fdm->getAirplane()->initEngines();
set_inited(true);
}
-void YASim::update(int iterations)
+void YASim::update(double dt)
{
+ if (is_suspended())
+ return;
+
+ int iterations = _calc_multiloop(dt);
+
// If we're crashed, then we don't care
- if(_fdm->getAirplane()->getModel()->isCrashed())
- return;
+ if(_fdm->getAirplane()->getModel()->isCrashed()) {
+ if(!fgGetBool("/sim/crashed"))
+ fgSetBool("/sim/crashed", true);
+ return;
+ }
+
+ // ground. Calculate a cartesian coordinate for the ground under
+ // us, find the (geodetic) up vector normal to the ground, then
+ // use that to find the final (radius) term of the plane equation.
+ float v[3] = { get_uBody(), get_vBody(), get_wBody() };
+ float lat = get_Latitude(); float lon = get_Longitude();
+ float alt = get_Altitude() * FT2M; double xyz[3];
+ sgGeodToCart(lat, lon, alt, xyz);
+ // build the environment cache.
+ float vr = _fdm->getVehicleRadius();
+ vr += 2.0*FT2M*dt*Math::mag3(v);
+ prepare_ground_cache_m( _simTime, _simTime + dt, xyz, vr );
+
+ // Track time increments.
+ FGGround* gr
+ = (FGGround*)_fdm->getAirplane()->getModel()->getGroundCallback();
int i;
for(i=0; i<iterations; i++) {
- copyToYASim(false);
- _fdm->iterate(_dt);
- copyFromYASim();
-
- printDEBUG();
+ gr->setTimeOffset(_simTime + i*_dt);
+ copyToYASim(false);
+ _fdm->iterate(_dt);
+ copyFromYASim();
}
+
+ // Increment the local sim time
+ _simTime += dt;
+ gr->setTimeOffset(_simTime);
}
void YASim::copyToYASim(bool copyState)
{
// Physical state
- float lat = get_Latitude();
- float lon = get_Longitude();
+ double lat = get_Latitude();
+ double lon = get_Longitude();
float alt = get_Altitude() * FT2M;
float roll = get_Phi();
float pitch = get_Theta();
wind[1] = get_V_east_airmass() * FT2M * -1.0;
wind[2] = get_V_down_airmass() * FT2M * -1.0;
- // The ground elevation doesn't come from FGInterface; query it
- // from the scenery and set it for others to find.
- double ground = scenery.get_cur_elev();
- _set_Runway_altitude(ground * FT2M);
- // cout << "YASIM: ground = " << ground << endl;
-
- // You'd this this would work, but it doesn't. These values are
- // always zero. Use a "standard" pressure intstead.
- //
- // float pressure = get_Static_pressure();
- // float temp = get_Static_temperature();
- float pressure = Atmosphere::getStdPressure(alt);
- float temp = Atmosphere::getStdTemperature(alt);
+ float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
+ float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
+ float dens = fgGetFloat("/environment/density-slugft3")
+ * SLUG2KG * M2FT*M2FT*M2FT;
// Convert and set:
Model* model = _fdm->getAirplane()->getModel();
Glue::xyz2nedMat(lat, lon, xyz2ned);
// position
- Glue::geod2xyz(lat, lon, alt, s.pos);
+ sgGeodToCart(lat, lon, alt, s.pos);
// orientation
Glue::euler2orient(roll, pitch, hdg, s.orient);
Math::mmul33(s.orient, xyz2ned, s.orient);
- // Copy in the existing velocity for now...
- Math::set3(model->getState()->v, s.v);
+ // Velocity
+ string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
+ float v[3];
+ bool needCopy = false;
+ switch (_speed_set) {
+ case NED:
+ v[0] = get_V_north() * FT2M * -1.0;
+ v[1] = get_V_east() * FT2M * -1.0;
+ v[2] = get_V_down() * FT2M * -1.0;
+ break;
+ case UVW:
+ v[0] = get_uBody() * FT2M;
+ v[1] = get_vBody() * FT2M;
+ v[2] = get_wBody() * FT2M;
+ Math::tmul33(s.orient, v, v);
+ break;
+ case KNOTS:
+ v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
+ pressure, temp);
+ v[1] = 0;
+ v[2] = 0;
+ Math::tmul33(s.orient, v, v);
+ needCopy = true;
+ break;
+ case MACH:
+ v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
+ v[1] = 0;
+ v[2] = 0;
+ Math::tmul33(s.orient, v, v);
+ needCopy = true;
+ break;
+ default:
+ v[0] = 0;
+ v[1] = 0;
+ v[2] = 0;
+ break;
+ }
+ if (!copyState)
+ _speed_set = UVW; // change to this after initial setting
+ Math::set3(v, s.v);
- if(copyState)
+ if(copyState || needCopy)
model->setState(&s);
// wind
Math::tmul33(xyz2ned, wind, wind);
model->setWind(wind);
- // ground. Calculate a cartesian coordinate for the ground under
- // us, find the (geodetic) up vector normal to the ground, then
- // use that to find the final (radius) term of the plane equation.
- double xyz[3], gplane[3]; float up[3];
- Glue::geod2xyz(lat, lon, ground, xyz);
- Glue::geodUp(xyz, up); // FIXME, needless reverse computation...
- int i;
- for(i=0; i<3; i++) gplane[i] = up[i];
- double rad = gplane[0]*xyz[0] + gplane[1]*xyz[1] + gplane[2]*xyz[2];
- model->setGroundPlane(gplane, rad);
-
// air
- model->setAir(pressure, temp);
+ model->setAir(pressure, temp, dens);
+
+ // Query a ground plane for each gear/hook/launchbar and
+ // write that value into the corresponding class.
+ _fdm->getAirplane()->getModel()->updateGround(&s);
+
+ Launchbar* l = model->getLaunchbar();
+ if (l)
+ l->setLaunchCmd(0.0<fgGetFloat("/controls/gear/catapult-launch-cmd"));
}
// All the settables:
// position
double lat, lon, alt;
- Glue::xyz2geod(s->pos, &lat, &lon, &alt);
+ sgCartToGeod(s->pos, &lat, &lon, &alt);
_set_Geodetic_Position(lat, lon, alt*M2FT);
+ double groundlevel_m = get_groundlevel_m(lat, lon, alt);
+ _set_Runway_altitude(groundlevel_m*SG_METER_TO_FEET);
+ _set_Altitude_AGL((alt-groundlevel_m)*SG_METER_TO_FEET);
+
+ // the smallest agl of all gears
+ fgSetFloat("/position/gear-agl-m", model->getAGL());
+ fgSetFloat("/position/gear-agl-ft", model->getAGL()*M2FT);
// UNUSED
//_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
- _set_Altitude_AGL(model->getAGL() * M2FT);
-
// useful conversion matrix
float xyz2ned[9];
Glue::xyz2nedMat(lat, lon, xyz2ned);
// _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
- Math::vmul33(s->orient, s->v, v);
+ // Airflow velocity.
+ float wind[3];
+ wind[0] = get_V_north_airmass() * FT2M * -1.0; // Wind in NED
+ wind[1] = get_V_east_airmass() * FT2M * -1.0;
+ wind[2] = get_V_down_airmass() * FT2M * -1.0;
+ Math::tmul33(xyz2ned, wind, wind); // Wind in global
+ Math::sub3(s->v, wind, v); // V - wind in global
+ Math::vmul33(s->orient, v, v); // to body coordinates
_set_Velocities_Wind_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
_set_V_rel_wind(Math::mag3(v)*M2FT); // units?
- // These don't work, use a dummy based on altitude
- // float P = get_Static_pressure();
- // float T = get_Static_temperature();
- float P = Atmosphere::getStdPressure(alt);
- float T = Atmosphere::getStdTemperature(alt);
- _set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T)*MPS2KTS);
+ float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
+ float T = fgGetDouble("/environment/temperature-degc") + 273.15;
+ float D = fgGetFloat("/environment/density-slugft3")
+ *SLUG2KG * M2FT*M2FT*M2FT;
+ _set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T, D)*MPS2KTS);
_set_V_calibrated_kts(Atmosphere::calcVCAS(v[0], P, T)*MPS2KTS);
_set_Mach_number(Atmosphere::calcMach(v[0], T));
_set_Accels_CG_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
_fdm->getAirplane()->getPilotAccel(v);
- _set_Accels_Pilot_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
+ _set_Accels_Pilot_Body(-M2FT*v[0], M2FT*v[1], M2FT*v[2]);
+
+ // There is no property for pilot G's, but I need it for a panel
+ // instrument. Hack this in here, and REMOVE IT WHEN IT FINDS A
+ // REAL HOME!
+ fgSetFloat("/accelerations/pilot-g", -v[2]/9.8);
// The one appears (!) to want inverted pilot acceleration
// numbers, in G's...
// orientation
float alpha, beta;
- Glue::calcAlphaBeta(s, &alpha, &beta);
+ Glue::calcAlphaBeta(s, wind, &alpha, &beta);
_set_Alpha(alpha);
_set_Beta(beta);
Math::mmul33(s->orient, tmp, tmp);
float roll, pitch, hdg;
Glue::orient2euler(tmp, &roll, &pitch, &hdg);
+ // make heading positive value
+ if(hdg < 0.0) hdg += PI2;
_set_Euler_Angles(roll, pitch, hdg);
// rotation
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
node->setBoolValue("has-brake", g->getBrake() != 0);
node->setBoolValue("wow", g->getCompressFraction() != 0);
- node->setBoolValue("position", g->getExtension());
+ node->setFloatValue("compression-norm", g->getCompressFraction());
+ node->setFloatValue("compression-m", g->getCompressDist());
+ node->setFloatValue("caster-angle-deg", g->getCasterAngle() * RAD2DEG);
+ node->setFloatValue("rollspeed-ms", g->getRollSpeed());
+ node->setBoolValue("ground-is-solid", g->getGroundIsSolid()!=0);
+ node->setFloatValue("ground-friction-factor", g->getGroundFrictionFactor());
}
- for(i=0; i<model->numThrusters(); i++) {
- SGPropertyNode * node = fgGetNode("engines/engine", i, true);
- Thruster* t = model->getThruster(i);
-
- node->setBoolValue("running", true);
- node->setBoolValue("cranking", false);
-
- // Note: assumes all tanks have the same fuel density!
- node->setDoubleValue("fuel-flow-gph", CM2GALS * t->getFuelFlow()
- / airplane->getFuelDensity(0));
-
- float tmp[3];
- t->getThrust(tmp);
- node->setDoubleValue("prop-thrust", Math::mag3(tmp) * KG2LBS / 9.8);
-
- PropEngine* pe = t->getPropEngine();
- if(pe) {
- node->setDoubleValue("rpm", pe->getOmega() * RAD2RPM);
-
- pe->getTorque(tmp);
- float power = Math::mag3(tmp) * pe->getOmega();
- float maxPower = pe->getPistonEngine()->getMaxPower();
+ Hook* h = airplane->getHook();
+ if(h) {
+ SGPropertyNode * node = fgGetNode("gear/tailhook", 0, true);
+ node->setFloatValue("position-norm", h->getCompressFraction());
+ }
- node->setDoubleValue("max-hp", maxPower * W2HP);
- node->setDoubleValue("power-pct", 100 * power/maxPower);
- }
+ Launchbar* l = airplane->getLaunchbar();
+ if(l) {
+ SGPropertyNode * node = fgGetNode("gear/launchbar", 0, true);
+ node->setFloatValue("position-norm", l->getCompressFraction());
+ node->setFloatValue("holdback-position-norm", l->getHoldbackCompressFraction());
+ node->setStringValue("state", l->getState());
+ node->setBoolValue("strop", l->getStrop());
}
+
}
projects / flightgear.git / blobdiff