-#include <stdio.h>
-
#include <simgear/misc/sg_path.hxx>
#include <simgear/debug/logstream.hxx>
-#include <simgear/easyxml.hxx>
+#include <simgear/xml/easyxml.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
-#include <Scenery/scenery.hxx>
+#include <Model/acmodel.hxx>
+#include <Model/model.hxx>
+#include <Main/location.hxx>
#include "FGFDM.hpp"
#include "Atmosphere.hpp"
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()
{
if(debugCount >= 3) {
debugCount = 0;
-// printf("RPM %.1f FF %.1f\n",
-// fgGetFloat("/engines/engine[0]/rpm"),
-// fgGetFloat("/engines/engine[0]/fuel-flow-gph"));
+// 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"));
YASim::YASim(double dt)
{
- set_delta_t(dt);
+// set_delta_t(dt);
_fdm = new FGFDM();
- // Because the integration method is via fourth-order Runge-Kutta,
- // we only get an "output" state for every 4 times the internal
- // forces are calculated. So divide dt by four to account for
- // this, and only run an iteration every fourth time through
- // update.
- _dt = dt * 4;
+ _dt = dt;
+
_fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
- _updateCount = 0;
}
void YASim::report()
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()) {
}
}
+void YASim::bind()
+{
+ // Run the superclass bind to set up a bunch of property ties
+ FGInterface::bind();
+
+ // 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");
+
+ 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);
+ }
+
+}
+
void YASim::init()
{
Airplane* a = _fdm->getAirplane();
// Superclass hook
common_init();
+ m->setCrashed(false);
+
// Build a filename and parse it
SGPath f(globals->get_fg_root());
f.append("Aircraft-yasim");
- f.append(fgGetString("/sim/aircraft"));
+ f.append(fgGetString("/sim/aero"));
f.concat(".xml");
readXML(f.str(), *_fdm);
int i;
for(i=0; i<a->numGear(); i++) {
Gear* g = a->getGear(i);
- FGGearInterface fgg;
+ SGPropertyNode * node = fgGetNode("gear/gear", i, true);
float pos[3];
g->getPosition(pos);
- fgg.SetX(pos[0]); fgg.SetY(-pos[1]); fgg.SetZ(-pos[2]);
- add_gear_unit(fgg);
+ 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++) {
- FGEngInterface fge;
- add_engine(fge);
-
// Sanify the initial input conditions
char buf[64];
sprintf(buf, "/controls/throttle[%d]", i); fgSetFloat(buf, 0);
sprintf(buf, "/controls/propeller-pitch[%d]", i); fgSetFloat(buf, 1);
sprintf(buf, "/controls/afterburner[%d]", i); fgSetFloat(buf, 0);
}
-
- // Lift the plane up so the gear clear the ground
- 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];
+ 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.
+ double runway_altitude = get_Runway_altitude();
+ fgSetBool("/controls/gear-down", false);
+ if(get_Altitude() - runway_altitude < 50) {
+ 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-down", true);
}
- _set_Altitude(get_Altitude() - minGearZ*M2FT);
// 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]);
+// 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()->initEngines();
+
set_inited(true);
}
-bool 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;
+
int i;
for(i=0; i<iterations; i++) {
- // Remember, update only every 4th call
- _updateCount++;
- if(_updateCount >= 4) {
-
copyToYASim(false);
_fdm->iterate(_dt);
copyFromYASim();
printDEBUG();
-
- _updateCount = 0;
- }
}
-
- return true; // what does this mean?
}
void YASim::copyToYASim(bool copyState)
// Environment
float wind[3];
- wind[0] = get_V_north_airmass() * FT2M;
- wind[1] = get_V_east_airmass() * FT2M;
- wind[2] = get_V_down_airmass() * FT2M;
- double ground = get_Runway_altitude() * FT2M;
-
- // 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);
+ wind[0] = get_V_north_airmass() * FT2M * -1.0;
+ wind[1] = get_V_east_airmass() * FT2M * -1.0;
+ 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();
+ // 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;
// Convert and set:
Model* model = _fdm->getAirplane()->getModel();
model->setGroundPlane(gplane, rad);
// air
- model->setAir(pressure, temp);
+ model->setAir(pressure, temp, dens);
}
// All the settables:
// UNUSED
//_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
- // FIXME: there's a normal vector available too, use it.
- float groundMSL = scenery.get_cur_elev();
- _set_Runway_altitude(groundMSL*M2FT);
- _set_Altitude_AGL((alt - groundMSL)*M2FT);
+ _set_Altitude_AGL(model->getAGL() * M2FT);
// useful conversion matrix
float xyz2ned[9];
// _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, s->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...
// Fill out our engine and gear objects
int i;
- for(i=0; i<get_num_gear(); i++) {
- FGGearInterface* fgg = get_gear_unit(i);
+ for(i=0; i<airplane->numGear(); i++) {
Gear* g = airplane->getGear(i);
- if(g->getBrake() != 0)
- fgg->SetBrake(true);
- if(g->getCompressFraction() != 0)
- fgg->SetWoW(true);
- fgg->SetPosition(g->getExtension());
+ 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());
}
- for(i=0; i<get_num_engines(); i++) {
- FGEngInterface* fge = get_engine(i);
+ for(i=0; i<model->numThrusters(); i++) {
+ SGPropertyNode * node = fgGetNode("engines/engine", i, true);
Thruster* t = model->getThruster(i);
- fge->set_Running_Flag(true);
-
- // Note: assumes all tanks have the same fuel density!
- fge->set_Fuel_Flow(CM2GALS * t->getFuelFlow()
- / airplane->getFuelDensity(0));
+ node->setBoolValue("running", t->isRunning());
+ node->setBoolValue("cranking", t->isCranking());
float tmp[3];
t->getThrust(tmp);
- fge->set_prop_thrust(Math::mag3(tmp) * KG2LBS / 9.8);
+ node->setDoubleValue("prop-thrust", Math::mag3(tmp) * KG2LBS / 9.8);
PropEngine* pe = t->getPropEngine();
if(pe) {
- fge->set_RPM(pe->getOmega() * RAD2RPM);
+ node->setDoubleValue("rpm", pe->getOmega() * RAD2RPM);
pe->getTorque(tmp);
float power = Math::mag3(tmp) * pe->getOmega();
- float maxPower = pe->getPistonEngine()->getPower();
+ float maxPower = pe->getPistonEngine()->getMaxPower();
- fge->set_MaxHP(maxPower * W2HP);
- fge->set_Percentage_Power(100 * power/maxPower);
+ node->setDoubleValue("max-hp", maxPower * W2HP);
+ node->setDoubleValue("power-pct", 100 * power/maxPower);
}
}
}
projects / flightgear.git / blobdiff