#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/math/SGMath.hxx>
#include <simgear/timing/timestamp.hxx>
+#include <simgear/scene/material/mat.hxx>
+#include <simgear/io/iochannel.hxx>
#include <Scenery/scenery.hxx>
#include <Main/globals.hxx>
ptr[2] = vec[2];
}
-// base_fdm_state is the internal state that is updated in integer
-// multiples of "dt". This leads to "jitter" with respect to the real
-// 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 = 0;
-FGInterface base_fdm_state;
-
// Constructor
FGInterface::FGInterface()
- : remainder(0)
{
_setup();
}
FGInterface::FGInterface( double dt )
- : remainder(0)
{
_setup();
}
// unbind(); // FIXME: should be called explicitly
}
-
int
FGInterface::_calc_multiloop (double dt)
{
+ // Since some time the simulation time increments we get here are
+ // already a multiple of the basic update frequency.
+ // So, there is no need to do our own multiloop rounding with all bad
+ // roundoff problems when we already have nearly accurate values.
+ // Only the speedup thing must be still handled here
int hz = fgGetInt("/sim/model-hz");
- int speedup = fgGetInt("/sim/speed-up");
-
- dt += remainder;
- remainder = 0;
- double ml = dt * hz;
- // Avoid roundoff problems by adding the roundoff itself.
- // ... ok, two times the roundoff to have enough room.
- int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON)));
- remainder = (ml - multiloop) / hz;
-
- // If we artificially inflate ml above by a tiny amount to get the
- // closest integer, then subtract the integer from the original
- // slightly smaller value, we can get a negative remainder.
- // Logically this should never happen, and we definitely don't want
- // to carry a negative remainder over to the next iteration, so
- // never let the remainder go below zero.
- //
- // Note: this fixes a problem where we run 1, 3, 1, 3, 1, 3... loops
- // of the FDM when in fact we want to run 2, 2, 2, 2, 2...
- if ( remainder < 0 ) { remainder = 0; }
-
- return (multiloop * speedup);
+ double speedup = fgGetDouble("/sim/speed-up");
+ double loops = dt * hz * speedup + delta_loops;
+ int iloops = SGMiscd::roundToInt(loops);
+ delta_loops = loops-iloops; // delta_loops required for speed-ups < 1 (to do one iteration every n-th step)
+ return iloops;
}
inited = false;
bound = false;
- d_cg_rp_body_v = SGVec3d::zeros();
- v_dot_local_v = SGVec3d::zeros();
- v_dot_body_v = SGVec3d::zeros();
- a_cg_body_v = SGVec3d::zeros();
- a_pilot_body_v = SGVec3d::zeros();
- n_cg_body_v = SGVec3d::zeros();
- v_local_v = SGVec3d::zeros();
- v_local_rel_ground_v = SGVec3d::zeros();
- v_local_airmass_v = SGVec3d::zeros();
- v_wind_body_v = SGVec3d::zeros();
- omega_body_v = SGVec3d::zeros();
- euler_rates_v = SGVec3d::zeros();
- geocentric_rates_v = SGVec3d::zeros();
- geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
- cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
- geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
- euler_angles_v = SGVec3d::zeros();
+ _state.d_cg_rp_body_v = SGVec3d::zeros();
+ _state.v_dot_local_v = SGVec3d::zeros();
+ _state.v_dot_body_v = SGVec3d::zeros();
+ _state.a_cg_body_v = SGVec3d::zeros();
+ _state.a_pilot_body_v = SGVec3d::zeros();
+ _state.n_cg_body_v = SGVec3d::zeros();
+ _state.v_local_v = SGVec3d::zeros();
+ _state.v_local_rel_ground_v = SGVec3d::zeros();
+ _state.v_local_airmass_v = SGVec3d::zeros();
+ _state.v_body_v = SGVec3d::zeros();
+ _state.omega_body_v = SGVec3d::zeros();
+ _state.euler_rates_v = SGVec3d::zeros();
+ _state.geocentric_rates_v = SGVec3d::zeros();
+ _state.geodetic_position_v = SGGeod::fromRadM(0, 0, 0);
+ _state.cartesian_position_v = SGVec3d::fromGeod(_state.geodetic_position_v);
+ _state.geocentric_position_v = SGGeoc::fromCart(_state.cartesian_position_v);
+ _state.euler_angles_v = SGVec3d::zeros();
- nlf=0;
- v_rel_wind=v_true_kts=0;
- v_ground_speed=v_equiv_kts=0;
- v_calibrated_kts=0;
- alpha=beta=0;
- gamma_vert_rad=0;
- density=mach_number=0;
- static_pressure=total_pressure=0;
- dynamic_pressure=0;
- static_temperature=total_temperature=0;
- sea_level_radius=earth_position_angle=0;
- runway_altitude=0;
- climb_rate=0;
- altitude_agl=0;
+ _state.nlf=0;
+ _state.v_rel_wind=_state.v_true_kts=0;
+ _state.v_ground_speed=_state.v_equiv_kts=0;
+ _state.v_calibrated_kts=0;
+ _state.alpha=_state.beta=0;
+ _state.gamma_vert_rad=0;
+ _state.density=_state.mach_number=0;
+ _state.static_pressure=_state.total_pressure=0;
+ _state.dynamic_pressure=0;
+ _state.static_temperature=_state.total_temperature=0;
+ _state.sea_level_radius=_state.earth_position_angle=0;
+ _state.runway_altitude=0;
+ _state.climb_rate=0;
+ _state.altitude_agl=0;
+ _state.track=0;
+
+ delta_loops = 0.0;
}
void
set_inited( true );
-// stamp();
-// set_remainder( 0 );
+ ground_cache.set_cache_time_offset(globals->get_sim_time_sec());
// Set initial position
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
_set_Runway_altitude ( ground_elev_ft );
+
+ // Set aircraft altitude
if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
set_Altitude( ground_elev_ft + 0.1);
SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
<< fgGetDouble("/sim/presets/latitude-deg")
<< " alt = " << get_Altitude() );
- double slr = SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v);
+ double slr = SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v);
_set_Sea_level_radius( slr * SG_METER_TO_FEET );
+ // Set initial Euler angles
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
+ set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/sim/presets/pitch-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ fgGetDouble("/sim/presets/heading-deg")
+ * SGD_DEGREES_TO_RADIANS );
+
// Set initial velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
if ( !fgHasNode("/sim/presets/speed-set") ) {
set_V_calibrated_kts(0.0);
} else {
- const string speedset = fgGetString("/sim/presets/speed-set");
+ const std::string speedset = fgGetString("/sim/presets/speed-set");
if ( speedset == "knots" || speedset == "KNOTS" ) {
set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
} else if ( speedset == "mach" || speedset == "MACH" ) {
set_Mach_number( fgGetDouble("/sim/presets/mach") );
} else if ( speedset == "UVW" || speedset == "uvw" ) {
- set_Velocities_Wind_Body(
+ set_Velocities_Body(
fgGetDouble("/sim/presets/uBody-fps"),
fgGetDouble("/sim/presets/vBody-fps"),
fgGetDouble("/sim/presets/wBody-fps") );
}
}
- // Set initial Euler angles
- SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
- set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
- * SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/sim/presets/pitch-deg")
- * SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/sim/presets/heading-deg")
- * SGD_DEGREES_TO_RADIANS );
+ if ( fgHasNode("/sim/presets/glideslope-deg") )
+ set_Gamma_vert_rad( fgGetDouble("/sim/presets/glideslope-deg")
+ * SGD_DEGREES_TO_RADIANS );
+ else if ( fgHasNode("/sim/presets/speed-set") &&
+ fgHasNode( "/sim/presets/vertical-speed-fps") )
+ {
+ set_Climb_Rate( fgGetDouble("/sim/presets/vertical-speed-fps") );
+ }
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
-
- // Aircraft position
- fgTie("/position/latitude-deg", this,
- &FGInterface::get_Latitude_deg,
- &FGInterface::set_Latitude_deg,
- false);
+ _tiedProperties.setRoot(globals->get_props());
+ // Aircraft position
+ _tiedProperties.Tie("/position/latitude-deg", this,
+ &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);
+ _tiedProperties.Tie("/position/longitude-deg", this,
+ &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);
+ _tiedProperties.Tie("/position/altitude-ft", this,
+ &FGInterface::get_Altitude,
+ &FGInterface::set_Altitude,
+ false);
fgSetArchivable("/position/altitude-ft");
- fgTie("/position/altitude-agl-ft", this,
- &FGInterface::get_Altitude_AGL); // read-only
+ _tiedProperties.Tie("/position/altitude-agl-ft", this,
+ &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL, false);
fgSetArchivable("/position/ground-elev-ft");
- fgTie("/position/ground-elev-ft", this,
- &FGInterface::get_Runway_altitude); // read-only
+ _tiedProperties.Tie("/position/ground-elev-ft", this,
+ &FGInterface::get_Runway_altitude); // read-only
fgSetArchivable("/position/ground-elev-m");
- fgTie("/position/ground-elev-m", this,
- &FGInterface::get_Runway_altitude_m); // read-only
- fgTie("/environment/ground-elevation-m", this,
- &FGInterface::get_Runway_altitude_m); // read-only
+ _tiedProperties.Tie("/position/ground-elev-m", this,
+ &FGInterface::get_Runway_altitude_m); // read-only
+ _tiedProperties.Tie("/environment/ground-elevation-m", this,
+ &FGInterface::get_Runway_altitude_m); // read-only
fgSetArchivable("/position/sea-level-radius-ft");
- fgTie("/position/sea-level-radius-ft", this,
- &FGInterface::get_Sea_level_radius); // read-only
-
- // Orientation
- fgTie("/orientation/roll-deg", this,
- &FGInterface::get_Phi_deg,
- &FGInterface::set_Phi_deg);
+ _tiedProperties.Tie("/position/sea-level-radius-ft", this,
+ &FGInterface::get_Sea_level_radius,
+ &FGInterface::_set_Sea_level_radius, false);
+
+ // Orientation
+ _tiedProperties.Tie("/orientation/roll-deg", this,
+ &FGInterface::get_Phi_deg,
+ &FGInterface::set_Phi_deg, false);
fgSetArchivable("/orientation/roll-deg");
- fgTie("/orientation/pitch-deg", this,
- &FGInterface::get_Theta_deg,
- &FGInterface::set_Theta_deg);
+ _tiedProperties.Tie("/orientation/pitch-deg", this,
+ &FGInterface::get_Theta_deg,
+ &FGInterface::set_Theta_deg, false);
fgSetArchivable("/orientation/pitch-deg");
- fgTie("/orientation/heading-deg", this,
- &FGInterface::get_Psi_deg,
- &FGInterface::set_Psi_deg);
+ _tiedProperties.Tie("/orientation/heading-deg", this,
+ &FGInterface::get_Psi_deg,
+ &FGInterface::set_Psi_deg, false);
fgSetArchivable("/orientation/heading-deg");
+ _tiedProperties.Tie("/orientation/track-deg", this,
+ &FGInterface::get_Track); // read-only
// 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);
-
- // Ground speed knots
- fgTie("/velocities/groundspeed-kt", this,
- &FGInterface::get_V_ground_speed_kt);
-
- // 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/speed-north-fps", this,
-// &FGInterface::get_V_north,
-// &FGInterface::set_V_north);
+ _tiedProperties.Tie("/orientation/roll-rate-degps", this,
+ &FGInterface::get_Phi_dot_degps,
+ &FGInterface::set_Phi_dot_degps, false);
+ _tiedProperties.Tie("/orientation/pitch-rate-degps", this,
+ &FGInterface::get_Theta_dot_degps,
+ &FGInterface::set_Theta_dot_degps, false);
+ _tiedProperties.Tie("/orientation/yaw-rate-degps", this,
+ &FGInterface::get_Psi_dot_degps,
+ &FGInterface::set_Psi_dot_degps, false);
+
+ _tiedProperties.Tie("/orientation/p-body", this, &FGInterface::get_P_body); // read-only
+ _tiedProperties.Tie("/orientation/q-body", this, &FGInterface::get_Q_body); // read-only
+ _tiedProperties.Tie("/orientation/r-body", this, &FGInterface::get_R_body); // read-only
+
+ // Ground speed knots
+ _tiedProperties.Tie("/velocities/groundspeed-kt", this,
+ &FGInterface::get_V_ground_speed_kt,
+ &FGInterface::set_V_ground_speed_kt); // read-only
+
+ // Calibrated airspeed
+ _tiedProperties.Tie("/velocities/airspeed-kt", this,
+ &FGInterface::get_V_calibrated_kts,
+ &FGInterface::set_V_calibrated_kts,
+ false);
+
+ _tiedProperties.Tie("/velocities/equivalent-kt", this,
+ &FGInterface::get_V_equiv_kts); // read-only
+
+ // Mach number
+ _tiedProperties.Tie("/velocities/mach", this,
+ &FGInterface::get_Mach_number,
+ &FGInterface::set_Mach_number,
+ false);
+
+ // Local velocities
+// _tiedProperties.Tie("/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);
+// _tiedProperties.Tie("/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);
+// _tiedProperties.Tie("/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
- // FIXME: temporarily archivable, until
- // the NED problem is fixed.
- fgTie("/velocities/uBody-fps", this,
- &FGInterface::get_uBody,
- &FGInterface::set_uBody,
- false);
+
+ // FIXME: Temporarily read-only, until the
+ // incompatibilities between JSBSim and
+ // LaRCSim are fixed (LaRCSim adds the
+ // earth's rotation to the east velocity).
+ _tiedProperties.Tie("/velocities/speed-north-fps", this,
+ &FGInterface::get_V_north, &FGInterface::set_V_north, false);
+ _tiedProperties.Tie("/velocities/speed-east-fps", this,
+ &FGInterface::get_V_east, &FGInterface::set_V_east, false);
+ _tiedProperties.Tie("/velocities/speed-down-fps", this,
+ &FGInterface::get_V_down, &FGInterface::set_V_down, false);
+
+ _tiedProperties.Tie("/velocities/north-relground-fps", this,
+ &FGInterface::get_V_north_rel_ground); // read-only
+ _tiedProperties.Tie("/velocities/east-relground-fps", this,
+ &FGInterface::get_V_east_rel_ground); // read-only
+ _tiedProperties.Tie("/velocities/down-relground-fps", this,
+ &FGInterface::get_V_down_rel_ground); // read-only
+
+ // ECEF velocity in body axis
+ // FIXME: temporarily archivable, until the NED problem is fixed.
+ _tiedProperties.Tie("/velocities/uBody-fps", this,
+ &FGInterface::get_uBody,
+ &FGInterface::set_uBody,
+ false);
fgSetArchivable("/velocities/uBody-fps");
- fgTie("/velocities/vBody-fps", this,
- &FGInterface::get_vBody,
- &FGInterface::set_vBody,
- false);
+ _tiedProperties.Tie("/velocities/vBody-fps", this,
+ &FGInterface::get_vBody,
+ &FGInterface::set_vBody,
+ false);
fgSetArchivable("/velocities/vBody-fps");
- fgTie("/velocities/wBody-fps", this,
- &FGInterface::get_wBody,
- &FGInterface::set_wBody,
- false);
+ _tiedProperties.Tie("/velocities/wBody-fps", this,
+ &FGInterface::get_wBody,
+ &FGInterface::set_wBody,
+ false);
fgSetArchivable("/velocities/wBody-fps");
- // Climb and slip (read-only)
- fgTie("/velocities/vertical-speed-fps", 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);
-
+ // Climb and slip (read-only)
+ _tiedProperties.Tie("/velocities/vertical-speed-fps", this,
+ &FGInterface::get_Climb_Rate,
+ &FGInterface::set_Climb_Rate, false );
+ _tiedProperties.Tie("/velocities/glideslope", this,
+ &FGInterface::get_Gamma_vert_rad,
+ &FGInterface::set_Gamma_vert_rad, false );
+ _tiedProperties.Tie("/orientation/side-slip-rad", this,
+ &FGInterface::get_Beta, &FGInterface::_set_Beta, false);
+ _tiedProperties.Tie("/orientation/side-slip-deg", this,
+ &FGInterface::get_Beta_deg); // read-only
+ _tiedProperties.Tie("/orientation/alpha-deg", this,
+ &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg, false);
+ _tiedProperties.Tie("/accelerations/nlf", this,
+ &FGInterface::get_Nlf); // read-only
+
+ // NED accelerations
+ _tiedProperties.Tie("/accelerations/ned/north-accel-fps_sec",
+ this, &FGInterface::get_V_dot_north); // read-only
+ _tiedProperties.Tie("/accelerations/ned/east-accel-fps_sec",
+ this, &FGInterface::get_V_dot_east); // read-only
+ _tiedProperties.Tie("/accelerations/ned/down-accel-fps_sec",
+ this, &FGInterface::get_V_dot_down); // read-only
+
+ // Pilot accelerations
+ _tiedProperties.Tie("/accelerations/pilot/x-accel-fps_sec",
+ this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot, false);
+ _tiedProperties.Tie("/accelerations/pilot/y-accel-fps_sec",
+ this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot, false);
+ _tiedProperties.Tie("/accelerations/pilot/z-accel-fps_sec",
+ this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot, false);
+
+ _tiedProperties.Tie("/accelerations/n-z-cg-fps_sec",
+ this, &FGInterface::get_N_Z_cg); // read-only
}
void
FGInterface::unbind ()
{
+ _tiedProperties.Untie();
bound = false;
-
- // 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("/position/ground-elev-ft");
- fgUntie("/position/ground-elev-m");
- fgUntie("/environment/ground-elevation-m");
- fgUntie("/position/sea-level-radius-ft");
- 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/groundspeed-kt");
- fgUntie("/velocities/mach");
- 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/glideslope");
- 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");
}
/**
SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
}
+bool FGInterface::readState(SGIOChannel* io)
+{
+ FlightState buf;
+ int length = sizeof(FlightState);
+
+ if ( io->get_type() == sgFileType ) {
+ if ( io->read( (char *)(& buf), length ) == length ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
+ } else {
+ return false;
+ }
+ } else {
+ while ( io->read( (char *)(& buf), length ) == length ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
+ }
+ }
+
+ _state = buf; // copy the read state over
+ return true;
+}
+
+bool FGInterface::writeState(SGIOChannel* io)
+{
+ if (!bound || !inited) {
+ return false;
+ }
+
+ int length = sizeof(FlightState);
+ if ( ! io->write( (char *)(& _state), length ) ) {
+ SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
+ return false;
+ }
+
+ return true;
+}
void FGInterface::_updatePositionM(const SGVec3d& cartPos)
{
- cartesian_position_v = cartPos;
- geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
- geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
- _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
+ TrackComputer tracker( _state.track, _state.geodetic_position_v );
+ _state.cartesian_position_v = cartPos;
+ _state.geodetic_position_v = SGGeod::fromCart(_state.cartesian_position_v);
+ _state.geocentric_position_v = SGGeoc::fromCart(_state.cartesian_position_v);
+ _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v)*SG_METER_TO_FEET );
_update_ground_elev_at_pos();
}
void FGInterface::_updatePosition(const SGGeod& geod)
{
- geodetic_position_v = geod;
- cartesian_position_v = SGVec3d::fromGeod(geodetic_position_v);
- geocentric_position_v = SGGeoc::fromCart(cartesian_position_v);
+ TrackComputer tracker( _state.track, _state.geodetic_position_v );
+ _state.geodetic_position_v = geod;
+ _state.cartesian_position_v = SGVec3d::fromGeod(_state.geodetic_position_v);
+ _state.geocentric_position_v = SGGeoc::fromCart(_state.cartesian_position_v);
- _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
+ _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v)*SG_METER_TO_FEET );
_update_ground_elev_at_pos();
}
void FGInterface::_updatePosition(const SGGeoc& geoc)
{
- geocentric_position_v = geoc;
- cartesian_position_v = SGVec3d::fromGeoc(geocentric_position_v);
- geodetic_position_v = SGGeod::fromCart(cartesian_position_v);
+ TrackComputer tracker( _state.track, _state.geodetic_position_v );
+ _state.geocentric_position_v = geoc;
+ _state.cartesian_position_v = SGVec3d::fromGeoc(_state.geocentric_position_v);
+ _state.geodetic_position_v = SGGeod::fromCart(_state.cartesian_position_v);
- _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(geodetic_position_v)*SG_METER_TO_FEET );
+ _set_Sea_level_radius( SGGeodesy::SGGeodToSeaLevelRadius(_state.geodetic_position_v)*SG_METER_TO_FEET );
_update_ground_elev_at_pos();
}
void FGInterface::_updateGeocentricPosition( double lat, double lon,
- double alt )
+ double alt )
{
_updatePosition(SGGeoc::fromRadFt(lon, lat, get_Sea_level_radius() + alt));
}
void FGInterface::_update_ground_elev_at_pos( void ) {
- double groundlevel_m = get_groundlevel_m(geodetic_position_v);
+ double groundlevel_m = get_groundlevel_m(_state.geodetic_position_v);
_set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
}
// Positions
void FGInterface::set_Latitude(double lat) {
- geodetic_position_v.setLatitudeRad(lat);
+ _state.geodetic_position_v.setLatitudeRad(lat);
}
void FGInterface::set_Longitude(double lon) {
- geodetic_position_v.setLongitudeRad(lon);
+ _state.geodetic_position_v.setLongitudeRad(lon);
}
void FGInterface::set_Altitude(double alt) {
- geodetic_position_v.setElevationFt(alt);
+ _state.geodetic_position_v.setElevationFt(alt);
}
void FGInterface::set_AltitudeAGL(double altagl) {
- altitude_agl=altagl;
+ _state.altitude_agl=altagl;
}
// Velocities
void FGInterface::set_V_calibrated_kts(double vc) {
- v_calibrated_kts = vc;
+ _state.v_calibrated_kts = vc;
}
void FGInterface::set_Mach_number(double mach) {
- mach_number = mach;
+ _state.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;
+ double east,
+ double down ){
+ _state.v_local_v[0] = north;
+ _state.v_local_v[1] = east;
+ _state.v_local_v[2] = down;
}
-void FGInterface::set_Velocities_Wind_Body( double u,
- double v,
- double w){
- v_wind_body_v[0] = u;
- v_wind_body_v[1] = v;
- v_wind_body_v[2] = w;
+void FGInterface::set_Velocities_Body( double u,
+ double v,
+ double w){
+ _state.v_body_v[0] = u;
+ _state.v_body_v[1] = v;
+ _state.v_body_v[2] = w;
}
// Euler angles
void FGInterface::set_Euler_Angles( double phi,
- double theta,
- double psi ) {
- euler_angles_v[0] = phi;
- euler_angles_v[1] = theta;
- euler_angles_v[2] = psi;
+ double theta,
+ double psi ) {
+ _state.euler_angles_v[0] = phi;
+ _state.euler_angles_v[1] = theta;
+ _state.euler_angles_v[2] = psi;
}
// Flight Path
void FGInterface::set_Climb_Rate( double roc) {
- climb_rate = roc;
+ _state.climb_rate = roc;
}
void FGInterface::set_Gamma_vert_rad( double gamma) {
- gamma_vert_rad = gamma;
+ _state.gamma_vert_rad = gamma;
}
-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; }
+void FGInterface::set_Static_pressure(double p) { _state.static_pressure = p; }
+void FGInterface::set_Static_temperature(double T) { _state.static_temperature = T; }
+void FGInterface::set_Density(double rho) { _state.density = rho; }
void FGInterface::set_Velocities_Local_Airmass (double wnorth,
- double weast,
- double wdown ) {
- 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_rp_body_v: " << d_cg_rp_body_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << v_dot_local_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << v_dot_body_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << a_cg_body_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << a_pilot_body_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << n_cg_body_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << v_local_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << v_local_rel_ground_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << v_local_airmass_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v: " << v_wind_body_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << omega_body_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << euler_rates_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << geocentric_rates_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << geocentric_position_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << geodetic_position_v);
- SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << euler_angles_v);
-
- SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
- SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
- SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
- SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
- SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
- SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
- SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
- SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
- SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
- SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
- SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
- SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
- SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
- SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
- SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
- SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
- SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
+ double weast,
+ double wdown ) {
+ _state.v_local_airmass_v[0] = wnorth;
+ _state.v_local_airmass_v[1] = weast;
+ _state.v_local_airmass_v[2] = wdown;
+}
+
+
+void FGInterface::_busdump(void)
+{
+ SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v: " << _state.d_cg_rp_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v: " << _state.v_dot_local_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v: " << _state.v_dot_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v: " << _state.a_cg_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v: " << _state.a_pilot_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v: " << _state.n_cg_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v: " << _state.v_local_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v: " << _state.v_local_rel_ground_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v: " << _state.v_local_airmass_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_body_v: " << _state.v_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v: " << _state.omega_body_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v: " << _state.euler_rates_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v: " << _state.geocentric_rates_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v: " << _state.geocentric_position_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v: " << _state.geodetic_position_v);
+ SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v: " << _state.euler_angles_v);
+
+ SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << _state.nlf );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << _state.v_rel_wind );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << _state.v_true_kts );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << _state.v_ground_speed );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << _state.v_equiv_kts );
+ SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << _state.v_calibrated_kts );
+ SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << _state.alpha );
+ SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << _state.beta );
+ SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << _state.gamma_vert_rad );
+ SG_LOG(SG_FLIGHT,SG_INFO,"density: " << _state.density );
+ SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << _state.mach_number );
+ SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << _state.static_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << _state.total_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << _state.dynamic_pressure );
+ SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << _state.static_temperature );
+ SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << _state.total_temperature );
+ SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << _state.sea_level_radius );
+ SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << _state.earth_position_angle );
+ SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << _state.runway_altitude );
+ SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << _state.climb_rate );
+ SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << _state.altitude_agl );
}
bool
-FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
- double rad)
+FGInterface::prepare_ground_cache_m(double startSimTime, double endSimTime,
+ const double pt[3], double rad)
{
- return ground_cache.prepare_ground_cache(ref_time, SGVec3d(pt), rad);
+ return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
+ SGVec3d(pt), rad);
}
-bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
- double rad)
+bool
+FGInterface::prepare_ground_cache_ft(double startSimTime, double endSimTime,
+ const double pt[3], double rad)
{
// Convert units and do the real work.
SGVec3d pt_ft = SG_FEET_TO_METER*SGVec3d(pt);
- return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER);
+ return ground_cache.prepare_ground_cache(startSimTime, endSimTime,
+ pt_ft, rad*SG_FEET_TO_METER);
}
bool
FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
double contact[3], double normal[3],
double linearVel[3], double angularVel[3],
- SGMaterial const*& material, simgear::BVHNode::Id& id)
+ simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id)
{
SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
SGVec3d _contact, _normal, _linearVel, _angularVel;
FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
double contact[3], double normal[3],
double linearVel[3], double angularVel[3],
- SGMaterial const*& material, simgear::BVHNode::Id& id)
+ simgear::BVHMaterial const*& material, simgear::BVHNode::Id& id)
{
// Convert units and do the real work.
SGVec3d pt_m = SGVec3d(pt) - max_altoff*ground_cache.get_down();
FGInterface::get_nearest_m(double t, const double pt[3], double maxDist,
double contact[3], double normal[3],
double linearVel[3], double angularVel[3],
- SGMaterial const*& material,
+ simgear::BVHMaterial const*& material,
simgear::BVHNode::Id& id)
{
SGVec3d _contact, _linearVel, _angularVel;
+ material = 0;
if (!ground_cache.get_nearest(t, SGVec3d(pt), maxDist, _contact, _linearVel,
_angularVel, id, material))
return false;
FGInterface::get_nearest_ft(double t, const double pt[3], double maxDist,
double contact[3], double normal[3],
double linearVel[3], double angularVel[3],
- SGMaterial const*& material,
+ simgear::BVHMaterial const*& material,
simgear::BVHNode::Id& id)
{
SGVec3d _contact, _linearVel, _angularVel;
+ material = 0;
if (!ground_cache.get_nearest(t, SG_FEET_TO_METER*SGVec3d(pt),
SG_FEET_TO_METER*maxDist, _contact, _linearVel,
_angularVel, id, material))
// FIXME: how to handle t - ref_time differences ???
SGVec3d cpos;
- double ref_time, radius;
+ double ref_time = 0, radius;
// Prepare the ground cache for that position.
if (!is_valid_m(&ref_time, cpos.data(), &radius)) {
- bool ok = prepare_ground_cache_m(ref_time, pos.data(), 10);
+ double startTime = ref_time;
+ double endTime = startTime + 1;
+ bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), 10);
/// This is most likely the case when the given altitude is
/// too low, try with a new altitude of 10000m, that should be
/// sufficient to find a ground level below everywhere on our planet
if (!ok) {
- pos = SGVec3d::fromGeod(SGGeod::fromRadM(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000));
+ pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
/// If there is still no ground, return sea level radius
- if (!prepare_ground_cache_m(ref_time, pos.data(), 10))
+ if (!prepare_ground_cache_m(startTime, endTime, pos.data(), 10))
return 0;
}
} else if (radius*radius <= distSqr(pos, cpos)) {
+ double startTime = ref_time;
+ double endTime = startTime + 1;
+
/// We reuse the old radius value, but only if it is at least 10 Meters ..
if (!(10 < radius)) // Well this strange compare is nan safe
radius = 10;
- bool ok = prepare_ground_cache_m(ref_time, pos.data(), radius);
+ bool ok = prepare_ground_cache_m(startTime, endTime, pos.data(), radius);
/// This is most likely the case when the given altitude is
/// too low, try with a new altitude of 10000m, that should be
/// sufficient to find a ground level below everywhere on our planet
if (!ok) {
- pos = SGVec3d::fromGeod(SGGeod::fromRadM(geod.getLongitudeRad(), geod.getLatitudeRad(), 10000));
+ pos = SGVec3d::fromGeod(SGGeod::fromGeodM(geod, 10000));
/// If there is still no ground, return sea level radius
- if (!prepare_ground_cache_m(ref_time, pos.data(), radius))
+ if (!prepare_ground_cache_m(startTime, endTime, pos.data(), radius))
return 0;
}
}
double contact[3], normal[3], vel[3], angvel[3];
- const SGMaterial* material;
+ const simgear::BVHMaterial* material;
simgear::BVHNode::Id id;
// Ignore the return value here, since it just tells us if
// the returns stem from the groundcache or from the coarse
ground_cache.release_wire();
}
-void fgToggleFDMdataLogging(void) {
- cur_fdm_state->ToggleDataLogging();
-}
projects / flightgear.git / blobdiff