latest updates from JSBSim

[flightgear.git] / src / FDM / YASim / YASim.cxx

diff --git a/src/FDM/YASim/YASim.cxx b/src/FDM/YASim/YASim.cxx
index cd5e0dd6b464b56fa36aee572399726623bcffb9..70c7459d2fabba8d304638c191ac435c5ee3fa81 100644 (file)
--- a/src/FDM/YASim/YASim.cxx
+++ b/src/FDM/YASim/YASim.cxx
@@ -1,4 +1,8 @@
 
+#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>
@@ -24,8 +28,6 @@
 
 #include "YASim.hxx"
 
-#include <fenv.h> // SIGFPE DEBUG
-
 using namespace yasim;
 
 static const float YASIM_PI = 3.14159265358979323846;
@@ -41,7 +43,8 @@ static const float W2HP = 1.3416e-3;
 static const float INHG2PA = 3386.389;
 static const float SLUG2KG = 14.59390;
 
-YASim::YASim(double dt)
+YASim::YASim(double dt) :
+    _simTime(0)
 {
 //     set_delta_t(dt);
     _fdm = new FGFDM();
@@ -52,6 +55,11 @@ YASim::YASim(double dt)
     _fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
 }
 
+YASim::~YASim()
+{
+    delete _fdm;
+}
+
 void YASim::report()
 {
     Airplane* a = _fdm->getAirplane();
@@ -93,10 +101,11 @@ void YASim::bind()
 
     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);
     }
 }
 
@@ -144,9 +153,9 @@ void YASim::init()
        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]);
+       node->setDoubleValue("xoffset-in", pos[0] * M2FT * 12);
+       node->setDoubleValue("yoffset-in", pos[1] * M2FT * 12);
+       node->setDoubleValue("zoffset-in", pos[2] * M2FT * 12);
     }
 
     // Are we at ground level?  If so, lift the plane up so the gear
@@ -194,14 +203,14 @@ void YASim::update(double dt)
     // 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()*FT2M, get_vBody()*FT2M, get_wBody()*FT2M };
+    float v[3] = { get_uBody(), get_vBody(), get_wBody() };
     float lat = get_Latitude(); float lon = get_Longitude();
-    double xyz[3];
-    sgGeodToCart(lat, lon, 0.0, xyz);
+    float alt = get_Altitude() * FT2M; double xyz[3];
+    sgGeodToCart(lat, lon, alt, xyz);
     // build the environment cache.
     float vr = _fdm->getVehicleRadius();
-    vr += 2.0*dt*Math::mag3(v);
-    prepare_ground_cache_m( 0.0, xyz, vr );
+    vr += 2.0*FT2M*dt*Math::mag3(v);
+    prepare_ground_cache_m( _simTime, _simTime + dt, xyz, vr );
 
     // Track time increments.
     FGGround* gr
@@ -209,21 +218,22 @@ void YASim::update(double dt)
 
     int i;
     for(i=0; i<iterations; i++) {
-        gr->setTimeOffset(iterations*_dt);
+        gr->setTimeOffset(_simTime + i*_dt);
         copyToYASim(false);
         _fdm->iterate(_dt);
         copyFromYASim();
     }
 
-    // Reset the time increment.
-    gr->setTimeOffset(0.0);
+    // 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();
@@ -368,12 +378,17 @@ void YASim::copyFromYASim()
     double 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);
@@ -403,7 +418,7 @@ void YASim::copyFromYASim()
     _set_V_rel_wind(Math::mag3(v)*M2FT); // units?
 
     float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
-    float T = fgGetDouble("/environment/temperature-degC") + 273.15;
+    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);
@@ -433,7 +448,7 @@ void YASim::copyFromYASim()
 
     // orientation
     float alpha, beta;
-    Glue::calcAlphaBeta(s, &alpha, &beta);
+    Glue::calcAlphaBeta(s, wind, &alpha, &beta);
     _set_Alpha(alpha);
     _set_Beta(beta);
 
@@ -461,8 +476,11 @@ void YASim::copyFromYASim()
        node->setBoolValue("has-brake", g->getBrake() != 0);
        node->setBoolValue("wow", g->getCompressFraction() != 0);
        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());
     }
 
     Hook* h = airplane->getHook();
@@ -475,5 +493,9 @@ void YASim::copyFromYASim()
     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());
     }
+
 }