-// 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.
//
// Constructor
FGInterface::FGInterface() {
- init();
+ _setup();
}
FGInterface::FGInterface( double dt ) {
-
- init();
+ _setup();
delta_t = dt;
remainder = elapsed = multi_loop = 0;
}
}
+/**
+ * Set default values for the state of the FDM.
+ *
+ * This method is invoked by the constructors.
+ */
void
-FGInterface::init ()
+FGInterface::_setup ()
{
+ inited = false;
+ bound = false;
+
init_vec( d_pilot_rp_body_v );
init_vec( d_cg_rp_body_v );
init_vec( f_body_total_v );
altitude_agl=0;
}
+
+/**
+ * Initialize the state of the FDM.
+ *
+ * Subclasses of FGInterface may do their own, additional initialization,
+ * but normally they should invoke this method explicitly first as
+ * FGInterface::init() to make sure the basic structures are set up
+ * properly.
+ */
+void
+FGInterface::init ()
+{
+ SG_LOG(SG_FLIGHT, SG_INFO, "Start initializing FGInterface");
+
+ inited = true;
+
+ stamp();
+ set_remainder(0);
+
+ // Set initial position
+ SG_LOG(SG_FLIGHT, SG_INFO, "...initializing position...");
+ set_Longitude(fgGetDouble("/position/longitude-deg") * SGD_DEGREES_TO_RADIANS);
+ set_Latitude(fgGetDouble("/position/latitude-deg") * SGD_DEGREES_TO_RADIANS);
+ double ground_elev_m = scenery.get_cur_elev() + 1;
+ double ground_elev_ft = ground_elev_m * METERS_TO_FEET;
+ if (fgGetBool("/sim/startup/onground") ||
+ fgGetDouble("/position/altitude-ft") < ground_elev_ft)
+ fgSetDouble("/position/altitude-ft", ground_elev_ft);
+ set_Altitude(fgGetDouble("/position/altitude-ft"));
+
+ // Set ground elevation
+ SG_LOG(SG_FLIGHT, SG_INFO,
+ "...initializing ground elevation to "
+ << ground_elev_ft << "ft...");
+ fgFDMSetGroundElevation("jsb", ground_elev_m);
+
+ // 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") );
+ double sea_level_radius_meters;
+ double lat_geoc;
+ sgGeodToGeoc(fgGetDouble("/position/latitude-deg") * 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 initial velocities
+ SG_LOG(SG_FLIGHT, SG_INFO, "...initializing velocities...");
+ if (!fgHasNode("/sim/startup/speed-set")) {
+ set_V_calibrated_kts(0.0);
+ } else {
+ const string speedset = fgGetString("/sim/startup/speed-set");
+ if (speedset == "knots" || speedset == "KNOTS") {
+ set_V_calibrated_kts(fgGetDouble("/velocities/airspeed-kt"));
+ } else if (speedset == "mach" || speedset == "MACH") {
+ set_Mach_number(fgGetDouble("/velocities/mach"));
+ } else if (speedset == "UVW" || speedset == "uvw") {
+ set_Velocities_Wind_Body(fgGetDouble("/velocities/uBody-fps"),
+ fgGetDouble("/velocities/vBody-fps"),
+ fgGetDouble("/velocities/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"));
+ } else {
+ SG_LOG(SG_FLIGHT, SG_ALERT,
+ "Unrecognized value for /sim/startup/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") * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/orientation/pitch-deg") * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/orientation/heading-deg") * SGD_DEGREES_TO_RADIANS);
+
+ SG_LOG(SG_FLIGHT, SG_INFO, "End initializing FGInterface");
+}
+
+
+/**
+ * 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
&FGInterface::get_multi_loop); // read-only
// Aircraft position
- fgTie("/position/latitude", this,
+ fgTie("/position/latitude-deg", this,
&FGInterface::get_Latitude_deg,
&FGInterface::set_Latitude_deg,
false);
- fgTie("/position/longitude", this,
+ fgSetArchivable("/position/latitude-deg");
+ fgTie("/position/longitude-deg", this,
&FGInterface::get_Longitude_deg,
&FGInterface::set_Longitude_deg,
false);
- fgTie("/position/altitude", this,
+ fgSetArchivable("/position/longitude-deg");
+ fgTie("/position/altitude-ft", this,
&FGInterface::get_Altitude,
&FGInterface::set_Altitude,
false);
- fgTie("/position/altitude-agl", this,
+ fgSetArchivable("/position/altitude-ft");
+ fgTie("/position/altitude-agl-ft", this,
&FGInterface::get_Altitude_AGL); // read-only
// Orientation
- fgTie("/orientation/roll", this,
+ fgTie("/orientation/roll-deg", this,
&FGInterface::get_Phi_deg,
- &FGInterface::set_Phi_deg,
- true);
- fgTie("/orientation/pitch", this,
+ &FGInterface::set_Phi_deg);
+ fgSetArchivable("/orientation/roll-deg");
+ fgTie("/orientation/pitch-deg", this,
&FGInterface::get_Theta_deg,
- &FGInterface::set_Theta_deg,
- true);
- fgTie("/orientation/heading", this,
+ &FGInterface::set_Theta_deg);
+ fgSetArchivable("/orientation/pitch-deg");
+ fgTie("/orientation/heading-deg", this,
&FGInterface::get_Psi_deg,
- &FGInterface::set_Psi_deg,
- true);
+ &FGInterface::set_Psi_deg);
+ fgSetArchivable("/orientation/heading-deg");
// Calibrated airspeed
- fgTie("/velocities/airspeed", this,
+ fgTie("/velocities/airspeed-kt", this,
&FGInterface::get_V_calibrated_kts,
&FGInterface::set_V_calibrated_kts,
- true);
+ false);
// Local velocities
- fgTie("/velocities/speed-north", this,
- &FGInterface::get_V_north); // read-only
- fgTie("/velocities/speed-east", this,
- &FGInterface::get_V_east,
- &FGInterface::set_V_east,
- true);
- fgTie("/velocities/speed-down", this,
- &FGInterface::get_V_down,
- &FGInterface::set_V_down,
- true);
+// 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
- fgTie("/velocities/uBody", this,
+ // FIXME: temporarily archivable, until
+ // the NED problem is fixed.
+ fgTie("/velocities/uBody-fps", this,
&FGInterface::get_uBody,
&FGInterface::set_uBody,
- true);
- fgTie("/velocities/vBody", this,
+ false);
+ fgSetArchivable("/velocities/uBody-fps");
+ fgTie("/velocities/vBody-fps", this,
&FGInterface::get_vBody,
&FGInterface::set_vBody,
- true);
- fgTie("/velocities/wBody", this,
+ false);
+ fgSetArchivable("/velocities/vBody-fps");
+ fgTie("/velocities/wBody-fps", this,
&FGInterface::get_wBody,
&FGInterface::set_wBody,
- true);
+ false);
+ fgSetArchivable("/velocities/wBody-fps");
// Climb and slip (read-only)
- fgTie("/velocities/vertical-speed", this,
+ fgTie("/velocities/vertical-speed-fps", this,
&FGInterface::get_Climb_Rate); // read-only
- fgTie("/velocities/side-slip", this,
+ fgTie("/velocities/side-slip-rad", this,
&FGInterface::get_Beta); // read-only
}
+
+/**
+ * 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");
- fgUntie("/position/longitude");
- fgUntie("/position/altitude");
- fgUntie("/position/heading");
- fgUntie("/position/pitch");
- fgUntie("/position/roll");
- fgUntie("/velocities/airspeed");
- fgUntie("/velocities/speed-north");
- fgUntie("/velocities/speed-east");
- fgUntie("/velocities/speed-down");
- fgUntie("/velocities/uBody");
- fgUntie("/velocities/vBody");
- fgUntie("/velocities/wBody");
- fgUntie("/velocities/vertical-speed");
- fgUntie("/velocities/side-slip");
+ 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("/velocities/airspeed-kt");
+ 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/side-slip-rad");
}
+
+/**
+ * Update the state of the FDM (i.e. run the equations of motion).
+ */
void
FGInterface::update ()
{
void FGInterface::_updatePosition( 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;
+
sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
&lat_geod, &tmp_alt, &sl_radius1 );
sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
_set_Geodetic_Position( lat_geod, lon, alt );
_set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
- _set_Runway_altitude( scenery.cur_elev*METERS_TO_FEET );
+ _set_Runway_altitude( scenery.get_cur_elev()*METERS_TO_FEET );
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
// 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;
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" ) {
projects / flightgear.git / blobdiff