#include <FDM/LaRCsim/ls_interface.h>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
+#include <Main/location.hxx>
+#include <Model/model.hxx>
+#include <Model/acmodel.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
}
// 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;
}
// 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..." );
- 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 = 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;
- if ( fgGetBool("/sim/startup/onground")
- || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) {
+ _acmodel->get3DModel()->getFGLocation()->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,
"...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..." );
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_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" );
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,
&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,
// Climb and slip (read-only)
fgTie("/velocities/vertical-speed-fps", this,
- &FGInterface::get_Climb_Rate); // read-only
- fgTie("/velocities/side-slip-rad", 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);
+
}
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("/velocities/airspeed-kt");
fgUntie("/velocities/speed-north-fps");
fgUntie("/velocities/speed-east-fps");
fgUntie("/velocities/vBody-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");
}
/**
* Update the state of the FDM (i.e. run the equations of motion).
*/
void
-FGInterface::update (int dt)
+FGInterface::update (double dt)
{
- cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
+ SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
}
_set_Geodetic_Position( lat, lon, alt );
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
- _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET );
+ if ( getACModel() != NULL ) {
+ _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_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