-// flight.c -- a general interface to the various flight models
+// flight.cxx -- a general interface to the various flight models
//
// Written by Curtis Olson, started May 1997.
//
-// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
+// Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
-#include <stdio.h>
+#include "flight.hxx"
-#include <Debug/logstream.hxx>
-#include <FDM/External/external.hxx>
-#include <FDM/LaRCsim/ls_interface.h>
-#include <Include/fg_constants.h>
-#include <Main/options.hxx>
-#include <Math/fg_geodesy.hxx>
-#include <Time/timestamp.hxx>
+#include <simgear/constants.h>
+#include <simgear/debug/logstream.hxx>
+#include <simgear/math/SGMath.hxx>
+#include <simgear/timing/timestamp.hxx>
-#include "flight.hxx"
-#include "JSBsim.hxx"
-#include "LaRCsim.hxx"
+#include <Scenery/scenery.hxx>
+#include <Main/globals.hxx>
+#include <Main/fg_props.hxx>
+#include <FDM/groundcache.hxx>
+static inline void assign(double* ptr, const SGVec3d& vec)
+{
+ ptr[0] = vec[0];
+ ptr[1] = vec[1];
+ ptr[2] = vec[2];
+}
+
// base_fdm_state is the internal state that is updated in integer
// multiples of "dt". This leads to "jitter" with respect to the real
// world time, so we introduce cur_fdm_state which is extrapolated by
// the difference between sim time and real world time
-FGInterface * cur_fdm_state;
+FGInterface *cur_fdm_state = 0;
FGInterface base_fdm_state;
-
-int FGInterface::init( double dt ) {
- cout << "dummy init() ... SHOULDN'T BE CALLED!" << endl;
- return 0;
+// Constructor
+FGInterface::FGInterface()
+ : remainder(0)
+{
+ _setup();
}
-int FGInterface::update( int multi_loop ) {
- cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
- return 0;
+FGInterface::FGInterface( double dt )
+ : remainder(0)
+{
+ _setup();
}
+// Destructor
FGInterface::~FGInterface() {
+ // unbind(); // FIXME: should be called explicitly
}
-// Extrapolate fdm based on time_offset (in usec)
-void FGInterface::extrapolate( int time_offset ) {
- double dt = time_offset / 1000000.0;
- // -dw- metrowerks complains about ambiguous access, not critical
- // to keep this ;)
-#ifndef __MWERKS__
- cout << "extrapolating FDM by dt = " << dt << endl;
-#endif
+int
+FGInterface::_calc_multiloop (double dt)
+{
+ int hz = fgGetInt("/sim/model-hz");
+ int speedup = fgGetInt("/sim/speed-up");
+
+ dt += remainder;
+ remainder = 0;
+ double ml = dt * hz;
+ // Avoid roundoff problems by adding the roundoff itself.
+ // ... ok, two times the roundoff to have enough room.
+ int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON)));
+ remainder = (ml - multiloop) / hz;
+
+ // If we artificially inflate ml above by a tiny amount to get the
+ // closest integer, then subtract the integer from the original
+ // slightly smaller value, we can get a negative remainder.
+ // Logically this should never happen, and we definitely don't want
+ // to carry a negative remainder over to the next iteration, so
+ // never let the remainder go below zero.
+ //
+ // Note: this fixes a problem where we run 1, 3, 1, 3, 1, 3... loops
+ // of the FDM when in fact we want to run 2, 2, 2, 2, 2...
+ if ( remainder < 0 ) { remainder = 0; }
+
+ return (multiloop * speedup);
+}
- double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
- double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
- double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
- double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
+/**
+ * Set default values for the state of the FDM.
+ *
+ * This method is invoked by the constructors.
+ */
+void
+FGInterface::_setup ()
+{
+ inited = false;
+ bound = false;
+
+ d_cg_rp_body_v = SGVec3d::zeros();
+ v_dot_local_v = SGVec3d::zeros();
+ v_dot_body_v = SGVec3d::zeros();
+ a_cg_body_v = SGVec3d::zeros();
+ a_pilot_body_v = SGVec3d::zeros();
+ n_cg_body_v = SGVec3d::zeros();
+ v_local_v = SGVec3d::zeros();
+ v_local_rel_ground_v = SGVec3d::zeros();
+ v_local_airmass_v = SGVec3d::zeros();
+ v_wind_body_v = SGVec3d::zeros();
+ omega_body_v = SGVec3d::zeros();
+ euler_rates_v = SGVec3d::zeros();
+ geocentric_rates_v = SGVec3d::zeros();
+ geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
+ cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
+ geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
+ euler_angles_v = SGVec3d::zeros();
+
+ nlf=0;
+ v_rel_wind=v_true_kts=0;
+ v_ground_speed=v_equiv_kts=0;
+ v_calibrated_kts=0;
+ alpha=beta=0;
+ gamma_vert_rad=0;
+ density=mach_number=0;
+ static_pressure=total_pressure=0;
+ dynamic_pressure=0;
+ static_temperature=total_temperature=0;
+ sea_level_radius=earth_position_angle=0;
+ runway_altitude=0;
+ climb_rate=0;
+ altitude_agl=0;
+}
- double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
- double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
+void
+FGInterface::init () {}
+
+/**
+ * Initialize the state of the FDM.
+ *
+ * Subclasses of FGInterface may do their own, additional initialization,
+ * but there is some that is common to all. Normally, they should call
+ * this before they begin their own init to make sure the basic structures
+ * are set up properly.
+ */
+void
+FGInterface::common_init ()
+{
+ SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
+
+ set_inited( true );
+
+ ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
+
+// stamp();
+// set_remainder( 0 );
+
+ // Set initial position
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
+ double lon = fgGetDouble("/sim/presets/longitude-deg")
+ * SGD_DEGREES_TO_RADIANS;
+ double lat = fgGetDouble("/sim/presets/latitude-deg")
+ * SGD_DEGREES_TO_RADIANS;
+ double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
+ double alt_m = alt_ft * SG_FEET_TO_METER;
+ set_Longitude( lon );
+ set_Latitude( lat );
+ SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
+ << lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
+ << lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
+ << alt_ft << "ft");
+
+ double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
+ double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
+ _set_Runway_altitude ( ground_elev_ft );
+ if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
+ fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
+ set_Altitude( ground_elev_ft + 0.1);
+ } else {
+ set_Altitude( alt_ft );
+ }
- geodetic_position_v[0] = lat;
- geocentric_position_v[0] = lat_geoc;
+ // Set ground elevation
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "...initializing ground elevation to " << ground_elev_ft
+ << "ft..." );
+
+ // Set sea-level radius
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
+ SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
+ << fgGetDouble("/sim/presets/latitude-deg")
+ << " alt = " << get_Altitude() );
+ double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
+ _set_Sea_level_radius( slr * SG_METER_TO_FEET );
+
+ // Set initial velocities
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
+ if ( !fgHasNode("/sim/presets/speed-set") ) {
+ set_V_calibrated_kts(0.0);
+ } else {
+ const string speedset = fgGetString("/sim/presets/speed-set");
+ if ( speedset == "knots" || speedset == "KNOTS" ) {
+ set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
+ } else if ( speedset == "mach" || speedset == "MACH" ) {
+ set_Mach_number( fgGetDouble("/sim/presets/mach") );
+ } else if ( speedset == "UVW" || speedset == "uvw" ) {
+ set_Velocities_Wind_Body(
+ fgGetDouble("/sim/presets/uBody-fps"),
+ fgGetDouble("/sim/presets/vBody-fps"),
+ fgGetDouble("/sim/presets/wBody-fps") );
+ } else if ( speedset == "NED" || speedset == "ned" ) {
+ set_Velocities_Local(
+ fgGetDouble("/sim/presets/speed-north-fps"),
+ fgGetDouble("/sim/presets/speed-east-fps"),
+ fgGetDouble("/sim/presets/speed-down-fps") );
+ } else {
+ SG_LOG( SG_FLIGHT, SG_ALERT,
+ "Unrecognized value for /sim/presets/speed-set: "
+ << speedset);
+ set_V_calibrated_kts( 0.0 );
+ }
+ }
- geodetic_position_v[1] = lon;
- geocentric_position_v[1] = lon_geoc;
+ // Set initial Euler angles
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
+ set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/sim/presets/pitch-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/sim/presets/heading-deg")
+ * SGD_DEGREES_TO_RADIANS );
- geodetic_position_v[2] = alt;
- geocentric_position_v[2] = radius;
+ SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
}
-#if 0
-// Initialize the flight model parameters
-int fgFDMInit(int model, FGInterface& f, double dt) {
- double save_alt = 0.0;
+/**
+ * Bind getters and setters to properties.
+ *
+ * The bind() method will be invoked after init(). Note that unlike
+ * the usual implementations of FGSubsystem::bind(), this method does
+ * not automatically pick up existing values for the properties at
+ * bind time; instead, all values are set explicitly in the init()
+ * method.
+ */
+void
+FGInterface::bind ()
+{
+ bound = true;
+
+ // Time management (read-only)
+// fgTie("/fdm/time/delta_t", this,
+// &FGInterface::get_delta_t); // read-only
+// fgTie("/fdm/time/elapsed", this,
+// &FGInterface::get_elapsed); // read-only
+// fgTie("/fdm/time/remainder", this,
+// &FGInterface::get_remainder); // read-only
+// fgTie("/fdm/time/multi_loop", this,
+// &FGInterface::get_multi_loop); // read-only
+
+ // Aircraft position
+ fgTie("/position/latitude-deg", this,
+ &FGInterface::get_Latitude_deg,
+ &FGInterface::set_Latitude_deg,
+ false);
+ fgSetArchivable("/position/latitude-deg");
+ fgTie("/position/longitude-deg", this,
+ &FGInterface::get_Longitude_deg,
+ &FGInterface::set_Longitude_deg,
+ false);
+ fgSetArchivable("/position/longitude-deg");
+ fgTie("/position/altitude-ft", this,
+ &FGInterface::get_Altitude,
+ &FGInterface::set_Altitude,
+ false);
+ fgSetArchivable("/position/altitude-ft");
+ fgTie("/position/altitude-agl-ft", this,
+ &FGInterface::get_Altitude_AGL); // read-only
+ fgSetArchivable("/position/ground-elev-ft");
+ fgTie("/position/ground-elev-ft", this,
+ &FGInterface::get_Runway_altitude); // read-only
+ fgSetArchivable("/position/ground-elev-m");
+ fgTie("/position/ground-elev-m", this,
+ &FGInterface::get_Runway_altitude_m); // read-only
+ fgTie("/environment/ground-elevation-m", this,
+ &FGInterface::get_Runway_altitude_m); // read-only
+ fgSetArchivable("/position/sea-level-radius-ft");
+ fgTie("/position/sea-level-radius-ft", this,
+ &FGInterface::get_Sea_level_radius); // read-only
+
+ // Orientation
+ fgTie("/orientation/roll-deg", this,
+ &FGInterface::get_Phi_deg,
+ &FGInterface::set_Phi_deg);
+ fgSetArchivable("/orientation/roll-deg");
+ fgTie("/orientation/pitch-deg", this,
+ &FGInterface::get_Theta_deg,
+ &FGInterface::set_Theta_deg);
+ fgSetArchivable("/orientation/pitch-deg");
+ fgTie("/orientation/heading-deg", this,
+ &FGInterface::get_Psi_deg,
+ &FGInterface::set_Psi_deg);
+ fgSetArchivable("/orientation/heading-deg");
+
+ // Body-axis "euler rates" (rotation speed, but in a funny
+ // representation).
+ fgTie("/orientation/roll-rate-degps", this,
+ &FGInterface::get_Phi_dot_degps);
+ fgTie("/orientation/pitch-rate-degps", this,
+ &FGInterface::get_Theta_dot_degps);
+ fgTie("/orientation/yaw-rate-degps", this,
+ &FGInterface::get_Psi_dot_degps);
+
+ // Ground speed knots
+ fgTie("/velocities/groundspeed-kt", this,
+ &FGInterface::get_V_ground_speed_kt);
+
+ // Calibrated airspeed
+ fgTie("/velocities/airspeed-kt", this,
+ &FGInterface::get_V_calibrated_kts,
+ &FGInterface::set_V_calibrated_kts,
+ false);
+
+ // Mach number
+ fgTie("/velocities/mach", this,
+ &FGInterface::get_Mach_number,
+ &FGInterface::set_Mach_number,
+ false);
+
+ // Local velocities
+// fgTie("/velocities/speed-north-fps", this,
+// &FGInterface::get_V_north,
+// &FGInterface::set_V_north);
+// fgSetArchivable("/velocities/speed-north-fps");
+// fgTie("/velocities/speed-east-fps", this,
+// &FGInterface::get_V_east,
+// &FGInterface::set_V_east);
+// fgSetArchivable("/velocities/speed-east-fps");
+// fgTie("/velocities/speed-down-fps", this,
+// &FGInterface::get_V_down,
+// &FGInterface::set_V_down);
+// fgSetArchivable("/velocities/speed-down-fps");
+ // FIXME: Temporarily read-only, until the
+ // incompatibilities between JSBSim and
+ // LaRCSim are fixed (LaRCSim adds the
+ // earth's rotation to the east velocity).
+ fgTie("/velocities/speed-north-fps", this,
+ &FGInterface::get_V_north);
+ fgTie("/velocities/speed-east-fps", this,
+ &FGInterface::get_V_east);
+ fgTie("/velocities/speed-down-fps", this,
+ &FGInterface::get_V_down);
+
+ // Relative wind
+ // FIXME: temporarily archivable, until
+ // the NED problem is fixed.
+ fgTie("/velocities/uBody-fps", this,
+ &FGInterface::get_uBody,
+ &FGInterface::set_uBody,
+ false);
+ fgSetArchivable("/velocities/uBody-fps");
+ fgTie("/velocities/vBody-fps", this,
+ &FGInterface::get_vBody,
+ &FGInterface::set_vBody,
+ false);
+ fgSetArchivable("/velocities/vBody-fps");
+ fgTie("/velocities/wBody-fps", this,
+ &FGInterface::get_wBody,
+ &FGInterface::set_wBody,
+ false);
+ fgSetArchivable("/velocities/wBody-fps");
+
+ // Climb and slip (read-only)
+ fgTie("/velocities/vertical-speed-fps", this,
+ &FGInterface::get_Climb_Rate,
+ &FGInterface::set_Climb_Rate );
+ fgTie("/velocities/glideslope", this,
+ &FGInterface::get_Gamma_vert_rad,
+ &FGInterface::set_Gamma_vert_rad );
+ fgTie("/orientation/side-slip-rad", this,
+ &FGInterface::get_Beta); // read-only
+ fgTie("/orientation/side-slip-deg", this,
+ &FGInterface::get_Beta_deg); // read-only
+ fgTie("/orientation/alpha-deg", this,
+ &FGInterface::get_Alpha_deg); // read-only
+ fgTie("/accelerations/nlf", this,
+ &FGInterface::get_Nlf); // read-only
+
+ // NED accelerations
+ fgTie("/accelerations/ned/north-accel-fps_sec",
+ this, &FGInterface::get_V_dot_north);
+ fgTie("/accelerations/ned/east-accel-fps_sec",
+ this, &FGInterface::get_V_dot_east);
+ fgTie("/accelerations/ned/down-accel-fps_sec",
+ this, &FGInterface::get_V_dot_down);
+
+ // Pilot accelerations
+ fgTie("/accelerations/pilot/x-accel-fps_sec",
+ this, &FGInterface::get_A_X_pilot);
+ fgTie("/accelerations/pilot/y-accel-fps_sec",
+ this, &FGInterface::get_A_Y_pilot);
+ fgTie("/accelerations/pilot/z-accel-fps_sec",
+ this, &FGInterface::get_A_Z_pilot);
- FG_LOG( FG_FLIGHT ,FG_INFO, "Initializing flight model" );
+}
- base_fdm_state = f;
- if ( model == FGInterface::FG_SLEW ) {
- // fgSlewInit(dt);
-#ifndef __MWERKS__ // -dw- 04/22/99 JSB sim not ported yet
- } else if ( model == FGInterface::FG_JSBSIM ) {
- fgJSBsimInit(dt, f);
- fgJSBsim_2_FGInterface(base_fdm_state);
-#endif
- } else if ( model == FGInterface::FG_LARCSIM ) {
- // lets try to avoid really screwing up the LaRCsim model
- if ( base_fdm_state.get_Altitude() < -9000.0 ) {
- save_alt = base_fdm_state.get_Altitude();
- base_fdm_state.set_Altitude( 0.0 );
- }
-
- // translate FG to LaRCsim structure
- FGInterface_2_LaRCsim(base_fdm_state);
-
- // initialize LaRCsim
- fgLaRCsimInit(dt);
-
- FG_LOG( FG_FLIGHT, FG_INFO, "FG pos = " <<
- base_fdm_state.get_Latitude() );
-
- // translate LaRCsim back to FG structure
- fgLaRCsim_2_FGInterface(base_fdm_state);
-
- // but lets restore our original bogus altitude when we are done
- if ( save_alt < -9000.0 ) {
- base_fdm_state.set_Altitude( save_alt );
- }
- } else if ( model == FGInterface::FG_EXTERNAL ) {
- fgExternalInit(base_fdm_state);
- } else {
- FG_LOG( FG_FLIGHT, FG_WARN,
- "Unimplemented flight model == " << model );
- }
+/**
+ * Unbind any properties bound to this FDM.
+ *
+ * This method allows the FDM to release properties so that a new
+ * FDM can bind them instead.
+ */
+void
+FGInterface::unbind ()
+{
+ bound = false;
+
+ // fgUntie("/fdm/time/delta_t");
+ // fgUntie("/fdm/time/elapsed");
+ // fgUntie("/fdm/time/remainder");
+ // fgUntie("/fdm/time/multi_loop");
+ fgUntie("/position/latitude-deg");
+ fgUntie("/position/longitude-deg");
+ fgUntie("/position/altitude-ft");
+ fgUntie("/position/altitude-agl-ft");
+ fgUntie("/position/ground-elev-ft");
+ fgUntie("/position/ground-elev-m");
+ fgUntie("/environment/ground-elevation-m");
+ fgUntie("/position/sea-level-radius-ft");
+ fgUntie("/orientation/roll-deg");
+ fgUntie("/orientation/pitch-deg");
+ fgUntie("/orientation/heading-deg");
+ fgUntie("/orientation/roll-rate-degps");
+ fgUntie("/orientation/pitch-rate-degps");
+ fgUntie("/orientation/yaw-rate-degps");
+ fgUntie("/orientation/side-slip-rad");
+ fgUntie("/orientation/side-slip-deg");
+ fgUntie("/orientation/alpha-deg");
+ fgUntie("/velocities/airspeed-kt");
+ fgUntie("/velocities/groundspeed-kt");
+ fgUntie("/velocities/mach");
+ fgUntie("/velocities/speed-north-fps");
+ fgUntie("/velocities/speed-east-fps");
+ fgUntie("/velocities/speed-down-fps");
+ fgUntie("/velocities/uBody-fps");
+ fgUntie("/velocities/vBody-fps");
+ fgUntie("/velocities/wBody-fps");
+ fgUntie("/velocities/vertical-speed-fps");
+ fgUntie("/velocities/glideslope");
+ fgUntie("/accelerations/nlf");
+ fgUntie("/accelerations/pilot/x-accel-fps_sec");
+ fgUntie("/accelerations/pilot/y-accel-fps_sec");
+ fgUntie("/accelerations/pilot/z-accel-fps_sec");
+ fgUntie("/accelerations/ned/north-accel-fps_sec");
+ fgUntie("/accelerations/ned/east-accel-fps_sec");
+ fgUntie("/accelerations/ned/down-accel-fps_sec");
+}
- // set valid time for this record
- base_fdm_state.stamp_time();
-
- f = base_fdm_state;
+/**
+ * Update the state of the FDM (i.e. run the equations of motion).
+ */
+void
+FGInterface::update (double dt)
+{
+ SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
+}
- return 1;
+
+void FGInterface::_updatePositionM(const SGVec3d& cartPos)
+{
+ cartesian_position_v = cartPos;
+ geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
+ geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
+ _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
+ _update_ground_elev_at_pos();
}
-#endif
-#if 0
-// Run multiloop iterations of the flight model
-int fgFDMUpdate(int model, FGInterface& f, int multiloop, int time_offset) {
- double time_step, start_elev, end_elev;
+void FGInterface::_updatePosition(const SGGeod& geod)
+{
+ geodetic_position_v = geod;
+ cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
+ geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
- // printf("Altitude = %.2f\n", FG_Altitude * 0.3048);
+ _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
+ _update_ground_elev_at_pos();
+}
- // set valid time for this record
- base_fdm_state.stamp_time();
- time_step = (1.0 / current_options.get_model_hz()) * multiloop;
- start_elev = base_fdm_state.get_Altitude();
+void FGInterface::_updatePosition(const SGGeoc& geoc)
+{
+ geocentric_position_v = geoc;
+ cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
+ geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
- if ( model == FGInterface::FG_SLEW ) {
- // fgSlewUpdate(f, multiloop);
-#ifndef __MWERKS__ // -dw- 04/22/99 JSB sim not ported yet
- } else if ( model == FGInterface::FG_JSBSIM ) {
- fgJSBsimUpdate(base_fdm_state, multiloop);
- f = base_fdm_state;
-#endif
- } else if ( model == FGInterface::FG_LARCSIM ) {
- fgLaRCsimUpdate(base_fdm_state, multiloop);
- // extrapolate position based on actual time
- // f = extrapolate_fdm( base_fdm_state, time_offset );
- f = base_fdm_state;
- } else if ( model == FGInterface::FG_EXTERNAL ) {
- // fgExternalUpdate(f, multiloop);
- FGTimeStamp current;
- current.stamp();
- f = base_fdm_state;
- f.extrapolate( current - base_fdm_state.get_time_stamp() );
- } else {
- FG_LOG( FG_FLIGHT, FG_WARN,
- "Unimplemented flight model == " << model );
- }
+ _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
+ _update_ground_elev_at_pos();
+}
- end_elev = base_fdm_state.get_Altitude();
- if ( time_step > 0.0 ) {
- // feet per second
- base_fdm_state.set_Climb_Rate( (end_elev - start_elev) / time_step );
- }
+void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
+{
+ _updatePosition(SGGeod::fromRadFt(lon, lat, alt));
+}
+
- return 1;
+void FGInterface::_updateGeocentricPosition( double lat, double lon,
+ double alt )
+{
+ _updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
+}
+
+void FGInterface::_update_ground_elev_at_pos( void ) {
+ double groundlevel_m = get_groundlevel_m(geodetic_position_v);
+ _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
+}
+
+// Positions
+void FGInterface::set_Latitude(double lat) {
+ geodetic_position_v.setLatitudeRad(lat);
+}
+
+void FGInterface::set_Longitude(double lon) {
+ geodetic_position_v.setLongitudeRad(lon);
+}
+
+void FGInterface::set_Altitude(double alt) {
+ geodetic_position_v.setElevationFt(alt);
+}
+
+void FGInterface::set_AltitudeAGL(double altagl) {
+ altitude_agl=altagl;
+}
+
+// Velocities
+void FGInterface::set_V_calibrated_kts(double vc) {
+ v_calibrated_kts = vc;
}
-#endif
+void FGInterface::set_Mach_number(double mach) {
+ mach_number = mach;
+}
+
+void FGInterface::set_Velocities_Local( double north,
+ double east,
+ double down ){
+ v_local_v[0] = north;
+ v_local_v[1] = east;
+ v_local_v[2] = down;
+}
+
+void FGInterface::set_Velocities_Wind_Body( double u,
+ double v,
+ double w){
+ v_wind_body_v[0] = u;
+ v_wind_body_v[1] = v;
+ v_wind_body_v[2] = w;
+}
+
+// Euler angles
+void FGInterface::set_Euler_Angles( double phi,
+ double theta,
+ double psi ) {
+ euler_angles_v[0] = phi;
+ euler_angles_v[1] = theta;
+ euler_angles_v[2] = psi;
+}
+
+// Flight Path
+void FGInterface::set_Climb_Rate( double roc) {
+ climb_rate = roc;
+}
+
+void FGInterface::set_Gamma_vert_rad( double gamma) {
+ gamma_vert_rad = gamma;
+}
+
+void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
+void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
+void FGInterface::set_Density(double rho) { density = rho; }
+
+void FGInterface::set_Velocities_Local_Airmass (double wnorth,
+ double weast,
+ double wdown ) {
+ v_local_airmass_v[0] = wnorth;
+ v_local_airmass_v[1] = weast;
+ v_local_airmass_v[2] = wdown;
+}
+
+
+void FGInterface::_busdump(void) {
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << d_cg_rp_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
+ SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
+ SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
+ SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
+ SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
+ SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
+ SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
+ SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
+ SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
+ SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
+ SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
+ SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
+}
+
+bool
+FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
+ const double pt[3], double rad)
+{
+ return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
+ SGVec3d(pt), rad);
+}
+
+bool
+FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
+ const double pt[3], double rad)
+{
+ // Convert units and do the real work.
+ SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
+ return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
+ pt_ft, rad*SG_FEET_TO_METER);
+}
+
+bool
+FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
+{
+ SGVec3d _pt;
+ bool valid = ground_cache.is_valid(*ref_time, _pt, *rad);
+ assign(pt, _pt);
+ return valid;
+}
-// Set the altitude (force)
-void fgFDMForceAltitude(int model, double alt_meters) {
- double sea_level_radius_meters;
- double lat_geoc;
+bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
+{
+ // Convert units and do the real work.
+ SGVec3d _pt;
+ bool found_ground = ground_cache.is_valid(*ref_time, _pt, *rad);
+ assign(pt, SG_METER_TO_FEET*_pt);
+ *rad *= SG_METER_TO_FEET;
+ return found_ground;
+}
+
+double
+FGInterface::get_cat_m(double t, const double pt[3],
+ double end[2][3], double vel[2][3])
+{
+ SGVec3d _end[2], _vel[2];
+ double dist = ground_cache.get_cat(t, SGVec3d(pt), _end, _vel);
+ for (int k=0; k<2; ++k) {
+ assign( end[k], _end[k] );
+ assign( vel[k], _vel[k] );
+ }
+ return dist;
+}
- // Set the FG variables first
- fgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
- &sea_level_radius_meters, &lat_geoc);
+double
+FGInterface::get_cat_ft(double t, const double pt[3],
+ double end[2][3], double vel[2][3])
+{
+ // Convert units and do the real work.
+ SGVec3d pt_m = SG_FEET_TO_METER*SGVec3d(pt);
+ SGVec3d _end[2], _vel[2];
+ double dist = ground_cache.get_cat(t, pt_m, _end, _vel);
+ for (int k=0; k<2; ++k) {
+ assign( end[k], SG_METER_TO_FEET*_end[k] );
+ assign( vel[k], SG_METER_TO_FEET*_vel[k] );
+ }
+ return dist*SG_METER_TO_FEET;
+}
+
+bool
+FGInterface::get_body_m(double t, simgear::BVHNode::Id id,
+ double bodyToWorld[16], double linearVel[3],
+ double angularVel[3])
+{
+ SGMatrixd _bodyToWorld;
+ SGVec3d _linearVel, _angularVel;
+ if (!ground_cache.get_body(t, _bodyToWorld, _linearVel, _angularVel, id))
+ return false;
+
+ assign(linearVel, _linearVel);
+ assign(angularVel, _angularVel);
+ for (unsigned i = 0; i < 16; ++i)
+ bodyToWorld[i] = _bodyToWorld.data()[i];
+
+ return true;
+}
- base_fdm_state.set_Altitude( alt_meters * METER_TO_FEET );
- base_fdm_state.set_Radius_to_vehicle( base_fdm_state.get_Altitude() +
- (sea_level_radius_meters *
- METER_TO_FEET) );
+bool
+FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
+ double contact[3], double normal[3],
+ double linearVel[3], double angularVel[3],
+ SGMaterial const*& material, simgear::BVHNode::Id& id)
+{
+ SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
+ SGVec3d _contact, _normal, _linearVel, _angularVel;
+ material = 0;
+ bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
+ _angularVel, id, material);
+ // correct the linear velocity, since the line intersector delivers
+ // values for the start point and the get_agl function should
+ // traditionally deliver for the contact point
+ _linearVel += cross(_angularVel, _contact - pt_m);
+
+ assign(contact, _contact);
+ assign(normal, _normal);
+ assign(linearVel, _linearVel);
+ assign(angularVel, _angularVel);
+ return ret;
+}
+
+bool
+FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
+ double contact[3], double normal[3],
+ double linearVel[3], double angularVel[3],
+ SGMaterial const*& material, simgear::BVHNode::Id& id)
+{
+ // Convert units and do the real work.
+ SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
+ pt_m *= SG_FEET_TO_METER;
+ SGVec3d _contact, _normal, _linearVel, _angularVel;
+ material = 0;
+ bool ret = ground_cache.get_agl(t, pt_m, _contact, _normal, _linearVel,
+ _angularVel, id, material);
+ // correct the linear velocity, since the line intersector delivers
+ // values for the start point and the get_agl function should
+ // traditionally deliver for the contact point
+ _linearVel += cross(_angularVel, _contact - pt_m);
+
+ // Convert units back ...
+ assign( contact, SG_METER_TO_FEET*_contact );
+ assign( normal, _normal );
+ assign( linearVel, SG_METER_TO_FEET*_linearVel );
+ assign( angularVel, _angularVel );
+ return ret;
+}
+
+bool
+FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
+ double contact[3], double normal[3],
+ double linearVel[3], double angularVel[3],
+ SGMaterial const*& material,
+ simgear::BVHNode::Id& id)
+{
+ SGVec3d _contact, _linearVel, _angularVel;
+ if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
+ _angularVel, id, material))
+ return false;
+
+ assign(contact, _contact);
+ assign(linearVel, _linearVel);
+ assign(angularVel, _angularVel);
+ return true;
+}
- // additional work needed for some flight models
- if ( model == FGInterface::FG_LARCSIM ) {
- ls_ForceAltitude( base_fdm_state.get_Altitude() );
+bool
+FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
+ double contact[3], double normal[3],
+ double linearVel[3], double angularVel[3],
+ SGMaterial const*& material,
+ simgear::BVHNode::Id& id)
+{
+ SGVec3d _contact, _linearVel, _angularVel;
+ if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
+ SG_FEET_TO_METER*maxDist, _contact, _linearVel,
+ _angularVel, id, material))
+ return false;
+
+ assign(contact, SG_METER_TO_FEET*_contact);
+ assign(linearVel, SG_METER_TO_FEET*_linearVel);
+ assign(angularVel, _angularVel);
+ return true;
+}
+
+double
+FGInterface::get_groundlevel_m(double lat, double lon, double alt)
+{
+ return get_groundlevel_m(SGGeod::fromRadM(lon, lat, alt));
+}
+
+double
+FGInterface::get_groundlevel_m(const SGGeod& geod)
+{
+ // Compute the cartesian position of the given lat/lon/alt.
+ SGVec3d pos = SGVec3d::fromGeod(geod);
+
+ // FIXME: how to handle t - ref_time differences ???
+ SGVec3d cpos;
+ double ref_time = 0, radius;
+ // Prepare the ground cache for that position.
+ if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
+ double startTime = ref_time;
+ double endTime = startTime + 1;
+ bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10);
+ /// This is most likely the case when the given altitude is
+ /// too low, try with a new altitude of 10000m, that should be
+ /// sufficient to find a ground level below everywhere on our planet
+ if (!ok) {
+ pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
+ /// If there is still no ground, return sea level radius
+ if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
+ return 0;
+ }
+ } else if (radius*radius <= distSqr(pos, cpos)) {
+ double startTime = ref_time;
+ double endTime = startTime + 1;
+
+ /// We reuse the old radius value, but only if it is at least 10 Meters ..
+ if (!(10 < radius)) // Well this strange compare is nan safe
+ radius = 10;
+
+ bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius);
+ /// This is most likely the case when the given altitude is
+ /// too low, try with a new altitude of 10000m, that should be
+ /// sufficient to find a ground level below everywhere on our planet
+ if (!ok) {
+ pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
+ /// If there is still no ground, return sea level radius
+ if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
+ return 0;
}
+ }
+
+ double contact[3], normal[3], vel[3], angvel[3];
+ const SGMaterial* material;
+ simgear::BVHNode::Id id;
+ // Ignore the return value here, since it just tells us if
+ // the returns stem from the groundcache or from the coarse
+ // computations below the groundcache. The contact point is still something
+ // valid, the normals and the other returns just contain some defaults.
+ get_agl_m(ref_time, pos.data(), 2.0, contact, normal, vel, angvel,
+ material, id);
+ return SGGeod::fromCart(SGVec3d(contact)).getElevationM();
+}
+
+bool
+FGInterface::caught_wire_m(double t, const double pt[4][3])
+{
+ SGVec3d pt_m[4];
+ for (int i=0; i<4; ++i)
+ pt_m[i] = SGVec3d(pt[i]);
+
+ return ground_cache.caught_wire(t, pt_m);
}
+bool
+FGInterface::caught_wire_ft(double t, const double pt[4][3])
+{
+ // Convert units and do the real work.
+ SGVec3d pt_m[4];
+ for (int i=0; i<4; ++i)
+ pt_m[i] = SG_FEET_TO_METER*SGVec3d(pt[i]);
+
+ return ground_cache.caught_wire(t, pt_m);
+}
+
+bool
+FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
+{
+ SGVec3d _end[2], _vel[2];
+ bool ret = ground_cache.get_wire_ends(t, _end, _vel);
+ for (int k=0; k<2; ++k) {
+ assign( end[k], _end[k] );
+ assign( vel[k], _vel[k] );
+ }
+ return ret;
+}
-// Set the local ground elevation
-void fgFDMSetGroundElevation(int model, double ground_meters) {
- base_fdm_state.set_Runway_altitude( ground_meters * METER_TO_FEET );
- cur_fdm_state->set_Runway_altitude( ground_meters * METER_TO_FEET );
+bool
+FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
+{
+ // Convert units and do the real work.
+ SGVec3d _end[2], _vel[2];
+ bool ret = ground_cache.get_wire_ends(t, _end, _vel);
+ for (int k=0; k<2; ++k) {
+ assign( end[k], SG_METER_TO_FEET*_end[k] );
+ assign( vel[k], SG_METER_TO_FEET*_vel[k] );
+ }
+ return ret;
}
+void
+FGInterface::release_wire(void)
+{
+ ground_cache.release_wire();
+}
+void fgToggleFDMdataLogging(void) {
+ cur_fdm_state->ToggleDataLogging();
+}
projects / flightgear.git / blobdiff