#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
-#include "External.hxx"
#include "flight.hxx"
-#include "JSBSim.hxx"
-#include "LaRCsim.hxx"
-#include "Balloon.h"
// base_fdm_state is the internal state that is updated in integer
// 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;
inline void init_vec(FG_VECTOR_3 vec) {
vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
}
-FGEngInterface::FGEngInterface() {
-
- // inputs
- Throttle=0;
- Mixture=0;
- Prop_Advance=0;
-
- // outputs
- RPM=0;
- Manifold_Pressure=0;
- MaxHP=0;
- Percentage_Power=0;
- EGT=0;
- prop_thrust=0;
-}
-
-FGEngInterface::~FGEngInterface(void) {
-}
-
-FGGearInterface::FGGearInterface(void) {
- x=y=z=0.0;
- brake=rolls=WoW=false;
- position=1.0;
-}
-
-FGGearInterface::~FGGearInterface() {
-}
-
// Constructor
FGInterface::FGInterface() {
_setup();
FGInterface::FGInterface( double dt ) {
_setup();
- delta_t = dt;
- remainder = elapsed = multi_loop = 0;
+// delta_t = dt;
+// remainder = elapsed = multi_loop = 0;
+ remainder = 0;
}
// Destructor
}
+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;
+ int multiloop = int(floor(ml));
+ remainder = (ml - multiloop) / hz;
+ return (multiloop * speedup);
+}
+
+
/**
* Set default values for the state of the FDM.
*
sin_latitude=cos_latitude=0;
sin_longitude=cos_longitude=0;
altitude_agl=0;
+ _acmodel = 0;
}
void
set_inited( true );
- stamp();
- set_remainder( 0 );
+// 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..." );
* SGD_DEGREES_TO_RADIANS );
set_Latitude( fgGetDouble("/position/latitude-deg")
* SGD_DEGREES_TO_RADIANS );
- double ground_elev_m = scenery.get_cur_elev();
+ double ground_elev_m = globals->get_scenery()->get_cur_elev();
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
+ _acmodel->get3DModel()->getFGLocation()->set_cur_elev_m( ground_elev_m );
+ _set_Runway_altitude ( ground_elev_ft );
if ( fgGetBool("/sim/startup/onground")
|| fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
fgSetDouble("/position/altitude-ft", ground_elev_ft);
SG_LOG( SG_FLIGHT, SG_INFO,
"...initializing ground elevation to " << ground_elev_ft
<< "ft..." );
- SG_LOG( SG_FLIGHT, SG_INFO, "common_init(): set ground elevation "
- << ground_elev_ft );
- base_fdm_state.set_Runway_altitude( ground_elev_ft );
- set_Runway_altitude( ground_elev_ft );
// Set sea-level radius
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/position/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_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
// Set initial velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
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
+// 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,
// Climb and slip (read-only)
fgTie("/velocities/vertical-speed-fps", this,
- &FGInterface::get_Climb_Rate); // read-only
+ &FGInterface::get_Climb_Rate,
+ &FGInterface::set_Climb_Rate );
+ fgTie("/velocities/glideslope", this,
+ &FGInterface::get_Gamma_vert_rad,
+ &FGInterface::set_Gamma_vert_rad );
fgTie("/velocities/side-slip-rad", this,
&FGInterface::get_Beta); // read-only
-
- // Powerplant
- for (int i = 0; i < get_num_engines(); i++) {
- char buf[64];
-
- sprintf(buf, "/engines/engine[%d]/rpm", i);
- fgTie(buf, get_engine(i), &FGEngInterface::get_RPM);
-
- sprintf(buf, "/engines/engine[%d]/egt-degf", i);
- fgTie(buf, get_engine(i), &FGEngInterface::get_EGT);
-
- sprintf(buf, "/engines/engine[%d]/cht-degf", i);
- fgTie(buf, get_engine(i), &FGEngInterface::get_CHT);
-
- sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i);
- fgTie(buf, get_engine(i), &FGEngInterface::get_Oil_Temp);
-
- sprintf(buf, "/engines/engine[%d]/mp-osi", i);
- fgTie(buf, get_engine(i), &FGEngInterface::get_Manifold_Pressure);
-
- sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i);
- fgTie(buf, get_engine(i), &FGEngInterface::get_Fuel_Flow);
-
- sprintf(buf, "/engines/engine[%d]/running", i);
- fgTie(buf, get_engine(i), &FGEngInterface::get_Running_Flag);
-
- sprintf(buf, "/engines/engine[%d]/cranking", i);
- fgTie(buf, get_engine(i), &FGEngInterface::get_Cranking_Flag);
-
- }
+ fgTie("/velocities/side-slip-deg", this,
+ &FGInterface::get_Beta_deg); // read-only
+ fgTie("/velocities/alpha-deg", this,
+ &FGInterface::get_Alpha_deg); // read-only
+ fgTie("/accelerations/nlf", this,
+ &FGInterface::get_Nlf); // read-only
}
fgUntie("/velocities/vBody-fps");
fgUntie("/velocities/wBody-fps");
fgUntie("/velocities/vertical-speed-fps");
+ fgUntie("/velocities/glideslope");
fgUntie("/velocities/side-slip-rad");
- for (int i = 0; i < get_num_engines(); i++) {
- char buf[64];
- sprintf(buf, "/engines/engine[%d]/rpm", i);
- fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/egt-degf", i);
- fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/cht-degf", i);
- fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i);
- fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/mp-osi", i);
- fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i);
- fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/running", i);
- fgUntie(buf);
- sprintf(buf, "/engines/engine[%d]/cranking", i);
- fgUntie(buf);
- }
-}
-
-void
-FGInterface::free_engines ()
-{
- int i;
- for ( i = 0; i < get_num_engines(); ++i ) {
- delete get_engine(i);
- }
- engines.clear();
-}
-
-void
-FGInterface::free_gear_units ()
-{
- int i;
- for ( i = 0; i < get_num_gear(); ++i ) {
- delete [] get_gear_unit(i);
- }
- gear.clear();
+ fgUntie("/velocities/side-slip-deg");
+ fgUntie("/velocities/alpha-deg");
+ fgUntie("/accelerations/nlf");
+
}
/**
* Update the state of the FDM (i.e. run the equations of motion).
*/
void
-FGInterface::update ()
+FGInterface::update (double dt)
{
- update(1);
+ SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
}
-bool FGInterface::update( int multi_loop ) {
- cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
- return false;
+void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
+{
+ double lat_geoc, sl_radius;
+
+ // cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
+
+ sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
+
+ SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
+ << " lat_geod = " << lat
+ << " lat_geoc = " << lat_geoc
+ << " alt = " << alt
+ << " sl_radius = " << sl_radius * SG_METER_TO_FEET
+ << " Equator = " << SG_EQUATORIAL_RADIUS_FT );
+
+ _set_Geocentric_Position( lat_geoc, lon,
+ sl_radius * SG_METER_TO_FEET + alt );
+
+ _set_Geodetic_Position( lat, lon, alt );
+
+ _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
+ _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
+
+ _set_sin_lat_geocentric( lat_geoc );
+ _set_cos_lat_geocentric( lat_geoc );
+
+ _set_sin_cos_longitude( lon );
+
+ _set_sin_cos_latitude( lat );
+
+ /* Norman's code for slope of the terrain */
+ /* needs to be tested -- get it on the HUD and taxi around */
+ /* double *tnorm = scenery.cur_normal;
+
+ double sy = sin ( -get_Psi() ) ;
+ double cy = cos ( -get_Psi() ) ;
+
+ double phitb, thetatb, psitb;
+ if ( tnorm[1] != 0.0 ) {
+ psitb = -atan2 ( tnorm[0], tnorm[1] );
+ }
+ if ( tnorm[2] != 0.0 ) {
+ thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] );
+ phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] );
+ }
+
+ _set_terrain_slope(phitb, thetatb, psitb)
+ */
}
-void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) {
+void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
+ double alt )
+{
double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
// cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
_set_Geodetic_Position( lat_geod, lon, alt );
_set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
- _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ _set_Runway_altitude( getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET );
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
// -dw- metrowerks complains about ambiguous access, not critical
// to keep this ;)
#ifndef __MWERKS__
- cout << "extrapolating FDM by dt = " << dt << endl;
+ SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
#endif
double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
geocentric_position_v[2] = radius;
}
-
-// Set the altitude (force)
-void fgFDMForceAltitude(const string &model, double alt_meters) {
- SG_LOG(SG_FLIGHT,SG_INFO, "fgFDMForceAltitude: " << alt_meters );
-
- double sea_level_radius_meters;
- double lat_geoc;
-
- // Set the FG variables first
- sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters,
- &sea_level_radius_meters, &lat_geoc);
-
- base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET );
- base_fdm_state.set_Sea_level_radius( sea_level_radius_meters *
- SG_METER_TO_FEET );
-
- cur_fdm_state->set_Altitude( alt_meters * SG_METER_TO_FEET );
- cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
- SG_METER_TO_FEET );
-
- // additional work needed for some flight models
- if ( model == "larcsim" ) {
- ls_ForceAltitude( base_fdm_state.get_Altitude() );
- }
-}
-
-
// Positions
void FGInterface::set_Latitude(double lat) {
geodetic_position_v[0] = lat;
gamma_vert_rad = gamma;
}
-// Earth
-void FGInterface::set_Sea_level_radius(double slr) {
- sea_level_radius = slr;
-}
-
-void FGInterface::set_Runway_altitude(double ralt) {
- runway_altitude = ralt;
-}
-
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; }
projects / flightgear.git / blobdiff