-#include <simgear/misc/sg_path.hxx>
#include <simgear/debug/logstream.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/scene/model/location.hxx>
+#include <simgear/scene/model/placement.hxx>
#include <simgear/xml/easyxml.hxx>
+
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include <Model/acmodel.hxx>
-#include <Model/model.hxx>
-#include <Main/location.hxx>
#include "FGFDM.hpp"
#include "Atmosphere.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 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)
{
// set_delta_t(dt);
sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
}
-
}
void YASim::init()
}
// 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);
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);
- }
-
- fgSetFloat("/controls/slats", 0);
- fgSetFloat("/controls/spoilers", 0);
+// for(i=0; i<m->numThrusters(); i++) {
+// // Sanify the initial input conditions
+// char buf[64];
+// sprintf(buf, "/controls/engines/engine[%d]/throttle", i); fgSetFloat(buf, 0);
+// sprintf(buf, "/controls/engines/engine[%d]/mixture", i); fgSetFloat(buf, 1);
+// sprintf(buf, "/controls/engines/engine[%d]/propeller-pitch", i); fgSetFloat(buf, 1);
+// sprintf(buf, "/controls/engines/engine[%d]/augmentation", i); fgSetFloat(buf, 0);
+// }
+
+// fgSetFloat("/controls/flight/slats", 0);
+// fgSetFloat("/controls/flight/spoilers", 0);
// Are we at ground level? If so, lift the plane up so the gear
// clear the ground.
double runway_altitude = get_Runway_altitude();
- fgSetBool("/controls/gear-down", false);
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);
minGearZ = pos[2];
}
_set_Altitude(runway_altitude - minGearZ*M2FT);
- fgSetBool("/controls/gear-down", true);
+ fgSetBool("/controls/gear/gear-down", true);
}
// The pilot's eyepoint
void YASim::update(double dt)
{
if (is_suspended())
- return;
+ 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;
+ }
int i;
for(i=0; i<iterations; i++) {
- copyToYASim(false);
- _fdm->iterate(_dt);
- copyFromYASim();
-
- printDEBUG();
+ copyToYASim(false);
+ _fdm->iterate(_dt);
+ copyFromYASim();
}
}
wind[2] = get_V_down_airmass() * FT2M * -1.0;
// Get ground elevation from the FGinterface's FGlocation data
- double ground = getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m();
+ double ground = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m();
// cout << "YASIM: ground = " << ground << endl;
float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
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);
// 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;
Math::tmul33(s.orient, v, v);
break;
case KNOTS:
- // FIXME: right now this does true instead of calibrated airspeed
- v[0] = get_V_calibrated_kts()/MPS2KTS;
+ 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:
- // FIXME: not even trying to implement this yet
- v[0] = 0;
+ 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[2] = 0;
break;
}
- _speed_set = UVW; // change to this after initial setting
+ 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
// 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...
+ sgGeodToCart(lat, lon, ground, xyz);
+ Glue::geodUp(lat, lon, 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];
// 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);
// UNUSED
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
projects / flightgear.git / blobdiff