#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/model/location.hxx>
+#include <simgear/scene/model/placement.hxx>
#include <simgear/timing/timestamp.hxx>
#include <Scenery/scenery.hxx>
#include <FDM/LaRCsim/ls_interface.h>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
+#include <Model/acmodel.hxx>
#include "flight.hxx"
}
// Constructor
-FGInterface::FGInterface() {
+FGInterface::FGInterface()
+ : remainder(0)
+{
_setup();
}
-FGInterface::FGInterface( double dt ) {
+FGInterface::FGInterface( double dt )
+ : remainder(0)
+{
_setup();
-// delta_t = dt;
-// remainder = elapsed = multi_loop = 0;
- remainder = 0;
}
// Destructor
sin_latitude=cos_latitude=0;
sin_longitude=cos_longitude=0;
altitude_agl=0;
+ _acmodel = 0;
}
void
// stamp();
// set_remainder( 0 );
+ // linking in FGAircraft instance...
+ // FIXME: when using multiple instances, then there will be more than
+ // one model so get_aircraft_model will have to be indexed to the correct
+ // model.
+ _acmodel = globals->get_aircraft_model();
+
// Set initial position
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
- set_Longitude( fgGetDouble("/position/longitude-deg")
+ set_Longitude( fgGetDouble("/sim/presets/longitude-deg")
* SGD_DEGREES_TO_RADIANS );
- set_Latitude( fgGetDouble("/position/latitude-deg")
+ set_Latitude( fgGetDouble("/sim/presets/latitude-deg")
* SGD_DEGREES_TO_RADIANS );
double ground_elev_m = globals->get_scenery()->get_cur_elev();
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
- if ( fgGetBool("/sim/startup/onground")
- || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
+ _acmodel->get3DModel()->getSGLocation()->set_cur_elev_m( ground_elev_m );
+ _set_Runway_altitude ( ground_elev_ft );
+ if ( fgGetBool("/sim/presets/onground")
+ || fgGetDouble("/sim/presets/altitude-ft") < ground_elev_ft ) {
+ fgSetDouble("/sim/presets/altitude-ft", ground_elev_ft);
fgSetDouble("/position/altitude-ft", ground_elev_ft);
}
- set_Altitude( fgGetDouble("/position/altitude-ft") );
+ set_Altitude( fgGetDouble("/sim/presets/altitude-ft") );
// Set ground elevation
SG_LOG( SG_FLIGHT, SG_INFO,
// Set sea-level radius
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
- << fgGetDouble("/position/latitude-deg")
- << " alt = " << fgGetDouble("/position/altitude-ft") );
+ << fgGetDouble("/sim/presets/latitude-deg")
+ << " alt = " << fgGetDouble("/sim/presets/altitude-ft") );
double sea_level_radius_meters;
double lat_geoc;
- sgGeodToGeoc( fgGetDouble("/position/latitude-deg")
+ sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
* SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER,
+ fgGetDouble("/sim/presets/altitude-ft") * SG_FEET_TO_METER,
&sea_level_radius_meters, &lat_geoc );
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
// Set initial velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
- if ( !fgHasNode("/sim/startup/speed-set") ) {
+ if ( !fgHasNode("/sim/presets/speed-set") ) {
set_V_calibrated_kts(0.0);
} else {
- const string speedset = fgGetString("/sim/startup/speed-set");
+ const string speedset = fgGetString("/sim/presets/speed-set");
if ( speedset == "knots" || speedset == "KNOTS" ) {
- set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") );
+ set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
} else if ( speedset == "mach" || speedset == "MACH" ) {
- set_Mach_number( fgGetDouble("/velocities/mach") );
+ set_Mach_number( fgGetDouble("/sim/presets/mach") );
} else if ( speedset == "UVW" || speedset == "uvw" ) {
set_Velocities_Wind_Body(
- fgGetDouble("/velocities/uBody-fps"),
- fgGetDouble("/velocities/vBody-fps"),
- fgGetDouble("/velocities/wBody-fps") );
+ 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("/velocities/speed-north-fps"),
- fgGetDouble("/velocities/speed-east-fps"),
- fgGetDouble("/velocities/speed-down-fps") );
+ 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/startup/speed-set: "
+ "Unrecognized value for /sim/presets/speed-set: "
<< speedset);
set_V_calibrated_kts( 0.0 );
}
// Set initial Euler angles
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
- set_Euler_Angles( fgGetDouble("/orientation/roll-deg")
+ set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
* SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/orientation/pitch-deg")
+ fgGetDouble("/sim/presets/pitch-deg")
* SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/orientation/heading-deg")
+ fgGetDouble("/sim/presets/heading-deg")
* SGD_DEGREES_TO_RADIANS );
SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
&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);
+
// 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/glideslope", this,
&FGInterface::get_Gamma_vert_rad,
&FGInterface::set_Gamma_vert_rad );
- fgTie("/velocities/side-slip-rad", this,
+ fgTie("/orientation/side-slip-rad", this,
&FGInterface::get_Beta); // read-only
- fgTie("/velocities/side-slip-deg", this,
+ fgTie("/orientation/side-slip-deg", this,
&FGInterface::get_Beta_deg); // read-only
- fgTie("/velocities/alpha-deg", this,
+ 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);
+
}
{
bound = false;
- fgUntie("/fdm/time/delta_t");
- fgUntie("/fdm/time/elapsed");
- fgUntie("/fdm/time/remainder");
- fgUntie("/fdm/time/multi_loop");
+ // 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("/orientation/heading-deg");
- fgUntie("/orientation/pitch-deg");
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/mach");
fgUntie("/velocities/speed-north-fps");
fgUntie("/velocities/speed-east-fps");
fgUntie("/velocities/speed-down-fps");
fgUntie("/velocities/wBody-fps");
fgUntie("/velocities/vertical-speed-fps");
fgUntie("/velocities/glideslope");
- fgUntie("/velocities/side-slip-rad");
- fgUntie("/velocities/side-slip-deg");
- fgUntie("/velocities/alpha-deg");
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_Geodetic_Position( lat, lon, alt );
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
- _set_Runway_altitude( globals->get_scenery()->get_cur_elev()
- * SG_METER_TO_FEET );
+ if ( getACModel() != NULL ) {
+ _set_Runway_altitude( getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
+ }
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
_set_Geodetic_Position( lat_geod, lon, alt );
_set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
- _set_Runway_altitude( globals->get_scenery()->get_cur_elev()
- * SG_METER_TO_FEET );
+ _set_Runway_altitude( getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
projects / flightgear.git / blobdiff