// 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();
// Destructor
FGInterface::~FGInterface() {
-// unbind(); // FIXME: should be called explicitly
+ // unbind(); // FIXME: should be called explicitly
}
init_vec( n_pilot_body_v );
init_vec( omega_dot_body_v );
init_vec( v_local_v );
- init_vec( v_local_rel_ground_v );
- init_vec( v_local_airmass_v );
- init_vec( v_local_rel_airmass_v );
- init_vec( v_local_gust_v );
- init_vec( v_wind_body_v );
- init_vec( omega_body_v );
- init_vec( omega_local_v );
- init_vec( omega_total_v );
+ init_vec( v_local_rel_ground_v );
+ init_vec( v_local_airmass_v );
+ init_vec( v_local_rel_airmass_v );
+ init_vec( v_local_gust_v );
+ init_vec( v_wind_body_v );
+ init_vec( omega_body_v );
+ init_vec( omega_local_v );
+ init_vec( omega_total_v );
init_vec( euler_rates_v );
- init_vec( geocentric_rates_v );
+ init_vec( geocentric_rates_v );
init_vec( geocentric_position_v );
init_vec( geodetic_position_v );
init_vec( euler_angles_v );
- init_vec( d_cg_rwy_local_v );
- init_vec( d_cg_rwy_rwy_v );
- init_vec( d_pilot_rwy_local_v );
- init_vec( d_pilot_rwy_rwy_v );
+ init_vec( d_cg_rwy_local_v );
+ init_vec( d_cg_rwy_rwy_v );
+ init_vec( d_pilot_rwy_local_v );
+ init_vec( d_pilot_rwy_rwy_v );
init_vec( t_local_to_body_m[0] );
init_vec( t_local_to_body_m[1] );
init_vec( t_local_to_body_m[2] );
-
+
mass=i_xx=i_yy=i_zz=i_xz=0;
- nlf=0;
+ nlf=0;
v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
v_ground_speed=v_equiv=v_equiv_kts=0;
v_calibrated=v_calibrated_kts=0;
- gravity=0;
- centrifugal_relief=0;
- alpha=beta=alpha_dot=beta_dot=0;
+ gravity=0;
+ centrifugal_relief=0;
+ alpha=beta=alpha_dot=beta_dot=0;
cos_alpha=sin_alpha=cos_beta=sin_beta=0;
cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
- gamma_vert_rad=gamma_horiz_rad=0;
+ gamma_vert_rad=gamma_horiz_rad=0;
sigma=density=v_sound=mach_number=0;
static_pressure=total_pressure=impact_pressure=0;
dynamic_pressure=0;
runway_altitude=runway_latitude=runway_longitude=0;
runway_heading=0;
radius_to_rwy=0;
- climb_rate=0;
+ climb_rate=0;
sin_lat_geocentric=cos_lat_geocentric=0;
sin_latitude=cos_latitude=0;
sin_longitude=cos_longitude=0;
*
* 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
+ * this before they begin their own init to make sure the basic structures
* are set up properly.
*/
void
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,
- &FGInterface::get_Latitude_deg,
- &FGInterface::set_Latitude_deg,
- false);
+ &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);
+ &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);
+ &FGInterface::get_Altitude,
+ &FGInterface::set_Altitude,
+ false);
fgSetArchivable("/position/altitude-ft");
fgTie("/position/altitude-agl-ft", this,
- &FGInterface::get_Altitude_AGL); // read-only
+ &FGInterface::get_Altitude_AGL); // read-only
// Orientation
fgTie("/orientation/roll-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);
- }
+ 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 (int dt)
{
- update(1);
+ cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
}
-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( scenery.get_cur_elev() * 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;
sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
sl_radius2 * SG_METER_TO_FEET + alt );
_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( scenery.get_cur_elev() * 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_geod );
-
+
/* 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[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] );
+ 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)
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) {
+void FGInterface::set_Latitude(double lat) {
geodetic_position_v[0] = lat;
-}
+}
void FGInterface::set_Longitude(double lon) {
geodetic_position_v[1] = lon;
-}
+}
void FGInterface::set_Altitude(double alt) {
geodetic_position_v[2] = alt;
-}
+}
void FGInterface::set_AltitudeAGL(double altagl) {
altitude_agl=altagl;
-}
+}
// Velocities
void FGInterface::set_V_calibrated_kts(double vc) {
v_calibrated_kts = vc;
-}
+}
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;
-}
+ v_local_v[2] = down;
+}
void FGInterface::set_Velocities_Wind_Body( double u,
double v,
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,
// Flight Path
void FGInterface::set_Climb_Rate( double roc) {
climb_rate = roc;
-}
+}
void FGInterface::set_Gamma_vert_rad( double gamma) {
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; }
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_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]);
-
+
SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]);
SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]);
SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]);
SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
-}
+}
void fgToggleFDMdataLogging(void) {
projects / flightgear.git / blobdiff