+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
+
+#include <cstdlib>
+#include <cstdio>
+
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include "Integrator.hpp"
#include "Glue.hpp"
#include "Gear.hpp"
+#include "Hook.hpp"
+#include "Launchbar.hpp"
+#include "FGGround.hpp"
#include "PropEngine.hpp"
#include "PistonEngine.hpp"
#include "YASim.hxx"
using namespace yasim;
+using std::string;
static const float YASIM_PI = 3.14159265358979323846;
static const float RAD2DEG = 180/YASIM_PI;
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();
_dt = dt;
+ _fdm->getAirplane()->getModel()->setGroundCallback( new FGGround(this) );
_fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
}
+YASim::~YASim()
+{
+ delete _fdm;
+
+ _gearProps.clear();
+}
+
void YASim::report()
{
Airplane* a = _fdm->getAirplane();
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];
// Run the superclass bind to set up a bunch of property ties
FGInterface::bind();
+//Torsten Dreyer: we shouldn't do this anymore because we don't set these values nomore
// Now UNtie the ones that we are going to set ourselves.
- fgUntie("/consumables/fuel/tank[0]/level-gal_us");
- fgUntie("/consumables/fuel/tank[1]/level-gal_us");
+// fgUntie("/consumables/fuel/tank[0]/level-gal_us");
+// fgUntie("/consumables/fuel/tank[1]/level-gal_us");
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);
}
}
+YASim::GearProps::GearProps(SGPropertyNode_ptr gear_root) :
+ has_brake(gear_root->getNode("has-brake", true)),
+ wow(gear_root->getNode("wow", true)),
+ compression_norm(gear_root->getNode("compression-norm", true)),
+ compression_m(gear_root->getNode("compression-m", true)),
+ caster_angle_deg(gear_root->getNode("caster-angle-deg", true)),
+ rollspeed_ms(gear_root->getNode("rollspeed-ms", true)),
+ ground_is_solid(gear_root->getNode("ground-is-solid", true)),
+ ground_friction_factor(gear_root->getNode("ground-friction-factor", true))
+{
+}
+
void YASim::init()
{
- Airplane* a = _fdm->getAirplane();
- Model* m = a->getModel();
+ Airplane* airplane = _fdm->getAirplane();
+ Model* model = airplane->getModel();
+
+ _crashed = fgGetNode("/sim/crashed", true);
+ _pressure_inhg = fgGetNode("/environment/pressure-inhg", true);
+ _temp_degc = fgGetNode("/environment/temperature-degc", true);
+ _density_slugft3 = fgGetNode("/environment/density-slugft3", true);
+ _gear_agl_m = fgGetNode("/position/gear-agl-m", true);
+ _gear_agl_ft = fgGetNode("/position/gear-agl-ft", true);
+ _pilot_g = fgGetNode("/accelerations/pilot-g", true);
+ _speed_setprop = fgGetNode("/sim/presets/speed-set", true);
// Superclass hook
common_init();
- m->setCrashed(false);
+ model->setCrashed(false);
+ _crashed->setBoolValue(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")
+ string speed_set = _speed_setprop->getStringValue();
+ if ((speed_set == "") || (speed_set == "UVW"))
_speed_set = UVW;
+ else if (speed_set == "NED")
+ _speed_set = NED;
else if (speed_set == "knots")
_speed_set = KNOTS;
else if (speed_set == "mach")
SGPath f(fgGetString("/sim/aircraft-dir"));
f.append(fgGetString("/sim/aero"));
f.concat(".xml");
- readXML(f.str(), *_fdm);
+ try {
+ readXML(f.str(), *_fdm);
+ } catch (const sg_exception &e) {
+ SG_LOG(SG_FLIGHT, SG_ALERT,
+ "Error reading YASim FDM: '" << f.str() << "'" << std::endl
+ << e.getFormattedMessage());
+ throw e;
+ }
// Compile it into a real airplane, and tell the user what they got
- a->compile();
+ airplane->compile();
report();
_fdm->init();
+ if (model->getLaunchbar())
+ {
+ _catapult_launch_cmd = fgGetNode("/controls/gear/catapult-launch-cmd", true);
+ _launchbar_position_norm = fgGetNode("/gear/launchbar/position-norm", true);
+ _launchbar_holdback_pos_norm = fgGetNode("/gear/launchbar/holdback-position-norm", true);
+ _launchbar_state = fgGetNode("/gear/launchbar/state", true);
+ _launchbar_strop = fgGetNode("/gear/launchbar/strop", true);
+ }
+ if (airplane->getHook())
+ {
+ _tailhook_position_norm = fgGetNode("/gear/tailhook/position-norm", 0, true);
+ }
+
// Create some FG{Eng|Gear}Interface objects
- int i;
- for(i=0; i<a->numGear(); i++) {
- Gear* g = a->getGear(i);
- SGPropertyNode * node = fgGetNode("gear/gear", i, true);
+ for(int i=0; i<airplane->numGear(); i++) {
+ Gear* g = airplane->getGear(i);
+ 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);
+
+ _gearProps.push_back(GearProps(node));
}
// Are we at ground level? If so, lift the plane up so the gear
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);
- float pos[3];
- g->getPosition(pos);
- if(pos[2] < minGearZ)
- minGearZ = pos[2];
- }
- _set_Altitude(runway_altitude - minGearZ*M2FT);
- fgSetBool("/controls/gear/gear-down", true);
+ float minGearZ = 1e18;
+ for(int i=0; i<airplane->numGear(); i++) {
+ Gear* g = airplane->getGear(i);
+ float pos[3];
+ g->getPosition(pos);
+ if(pos[2] < minGearZ)
+ minGearZ = pos[2];
+ }
+ _set_Altitude(runway_altitude - minGearZ*M2FT);
+ // ground start-up: gear down
+ fgSetBool("/controls/gear/gear-down", true);
+ }
+ else
+ {
+ // airborne start-up: gear up
+ fgSetBool("/controls/gear/gear-down", false);
}
// Blank the state, and copy in ours
State s;
- m->setState(&s);
+ model->setState(&s);
copyToYASim(true);
_fdm->getExternalInput();
int iterations = _calc_multiloop(dt);
// If we're crashed, then we don't care
- if(_fdm->getAirplane()->getModel()->isCrashed()) {
- if(!fgGetBool("/sim/crashed"))
- fgSetBool("/sim/crashed", true);
+ if(_crashed->getBoolValue() || _fdm->getAirplane()->getModel()->isCrashed()) {
+ if(!_crashed->getBoolValue())
+ _crashed->setBoolValue(true);
+ _fdm->getAirplane()->getModel()->setCrashed(false);
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] = {
+ static_cast<float>(get_uBody()),
+ static_cast<float>(get_vBody()),
+ static_cast<float>(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++) {
+ 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;
- // Get ground elevation
- double ground = fgGetDouble("/position/ground-elev-m");
- // cout << "YASIM: ground = " << ground << endl;
-
- 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;
+ float pressure = _pressure_inhg->getFloatValue() * INHG2PA;
+ float temp = _temp_degc->getFloatValue() + 273.15;
+ float dens = _density_slugft3->getFloatValue() *
+ SLUG2KG * M2FT*M2FT*M2FT;
// Convert and set:
Model* model = _fdm->getAirplane()->getModel();
// position
sgGeodToCart(lat, lon, alt, s.pos);
+ {
+ // allow setting of /position/[lat|long|alti]tude
+ double * dp = &model->getState()->pos[0];
+ dp[0] = s.pos[0]; dp[1] = s.pos[1]; dp[2] = s.pos[2];
+ }
// orientation
Glue::euler2orient(roll, pitch, hdg, s.orient);
Math::mmul33(s.orient, xyz2ned, s.orient);
// Velocity
- string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
float v[3];
bool needCopy = false;
switch (_speed_set) {
Math::set3(v, s.v);
if(copyState || needCopy)
- model->setState(&s);
+ 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];
- 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];
- model->setGroundPlane(gplane, rad);
-
// air
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 < _catapult_launch_cmd->getFloatValue());
}
// All the settables:
// _set_Accels_CG_Body_N
// _set_Velocities_Local
// _set_Velocities_Ground
-// _set_Velocities_Wind_Body
+// _set_Velocities_Body
// _set_Omega_Body
// _set_Euler_Rates
// _set_Euler_Angles
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
+ _gear_agl_m->setFloatValue(model->getAGL());
+ _gear_agl_ft->setFloatValue(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);
Math::vmul33(xyz2ned, s->v, v);
_set_Velocities_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
_set_V_ground_speed(Math::sqrt(M2FT*v[0]*M2FT*v[0] +
- M2FT*v[1]*M2FT*v[1]));
+ M2FT*v[1]*M2FT*v[1]));
_set_Climb_Rate(-M2FT*v[2]);
// The HUD uses this, but inverts down (?!)
// _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
+ // ecef speed in body axis
+ Math::vmul33(s->orient, s->v, v);
+ _set_Velocities_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
+
// Airflow velocity.
float wind[3];
wind[0] = get_V_north_airmass() * FT2M * -1.0; // Wind in NED
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?
- float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
- float T = fgGetDouble("/environment/temperature-degC") + 273.15;
- float D = fgGetFloat("/environment/density-slugft3")
+ float P = _pressure_inhg->getFloatValue() * INHG2PA;
+ float T = _temp_degc->getFloatValue() + 273.15;
+ float D = _density_slugft3->getFloatValue()
*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_Mach_number(Atmosphere::calcMach(Math::mag3(v), T));
// acceleration
Math::vmul33(xyz2ned, s->acc, v);
_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);
+ _pilot_g->setFloatValue(-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);
+ _set_Beta(-beta);
float tmp[9];
Math::trans33(xyz2ned, tmp);
_set_Euler_Rates(roll, pitch, hdg);
// Fill out our engine and gear objects
- int i;
- for(i=0; i<airplane->numGear(); i++) {
+ for(int i=0; i<airplane->numGear(); i++) {
Gear* g = airplane->getGear(i);
- SGPropertyNode * node = fgGetNode("gear/gear", i, true);
- node->setBoolValue("has-brake", g->getBrake() != 0);
- node->setBoolValue("wow", g->getCompressFraction() != 0);
- node->setFloatValue("compression-norm", g->getCompressFraction());
+ GearProps& gearProps = _gearProps[i];
+ gearProps.has_brake->setBoolValue(
+ g->getBrake() != 0);
+ gearProps.wow->setBoolValue(
+ g->getCompressFraction() != 0);
+ gearProps.compression_norm->setFloatValue(
+ g->getCompressFraction());
+ gearProps.compression_m->setFloatValue(
+ g->getCompressDist());
+ gearProps.caster_angle_deg->setFloatValue(
+ g->getCasterAngle() * RAD2DEG);
+ gearProps.rollspeed_ms->setFloatValue(
+ g->getRollSpeed());
+ gearProps.ground_is_solid->setBoolValue(
+ g->getGroundIsSolid()!=0);
+ gearProps.ground_friction_factor->setFloatValue(
+ g->getGroundFrictionFactor());
+ }
+
+ Hook* h = airplane->getHook();
+ if(h) {
+ _tailhook_position_norm->setFloatValue(h->getCompressFraction());
+ }
+
+ Launchbar* l = airplane->getLaunchbar();
+ if(l) {
+ _launchbar_position_norm->setFloatValue(l->getCompressFraction());
+ _launchbar_holdback_pos_norm->setFloatValue(l->getHoldbackCompressFraction());
+ _launchbar_state->setStringValue(l->getState());
+ _launchbar_strop->setBoolValue(l->getStrop());
}
}
+
+/** Reinit the FDM.
+ * This is only used after a replay session and when the user requested to resume at
+ * a past point of time. In this case the FDM must reload all values from the property
+ * tree (as given by the replay system). */
+void YASim::reinit()
+{
+ // Process inputs. Use excessive value for dt to make sure all transition effects
+ // have reached their final state (i.e. gear is extended/retracted) - which is vital
+ // for many properties to be complete before the first FDM run (otherwise the gear may
+ // still be up, thrust-reversers/speed-brakes/... may still be partially deployed...).
+ _fdm->getExternalInput(1000);
+
+ // get current FDM values from the property tree
+ copyToYASim(true);
+}
projects / flightgear.git / blobdiff