-// 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.
//
#include <stdio.h>
+#include <plib/sg.h>
+
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/scene/model/placement.hxx>
#include <simgear/timing/timestamp.hxx>
#include <Scenery/scenery.hxx>
#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) {
}
-
// Constructor
-FGInterface::FGInterface() {
- init();
-}
+FGInterface::FGInterface()
+ : remainder(0)
+{
+ _setup();
+}
-FGInterface::FGInterface( double dt ) {
-
- init();
- delta_t = dt;
- remainder = elapsed = multi_loop = 0;
+FGInterface::FGInterface( double dt )
+ : remainder(0)
+{
+ _setup();
}
// Destructor
FGInterface::~FGInterface() {
-// unbind(); // FIXME: should be called explicitly
+ // unbind(); // FIXME: should be called explicitly
+}
+
+
+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.
+ *
+ * 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 );
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;
altitude_agl=0;
}
+void
+FGInterface::init () {}
+
+/**
+ * Initialize the state of the FDM.
+ *
+ * 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
+ * are set up properly.
+ */
+void
+FGInterface::common_init ()
+{
+ SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
+
+ set_inited( true );
+
+// stamp();
+// set_remainder( 0 );
+
+ // Set initial position
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
+ set_Longitude( fgGetDouble("/sim/presets/longitude-deg")
+ * SGD_DEGREES_TO_RADIANS );
+ set_Latitude( fgGetDouble("/sim/presets/latitude-deg")
+ * SGD_DEGREES_TO_RADIANS );
+ double ground_elev_m = globals->get_scenery()->get_cur_elev();
+ double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
+ fgSetDouble("/position/ground-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("/position/altitude-ft", ground_elev_ft);
+ set_Altitude( ground_elev_ft );
+ } else {
+ set_Altitude( fgGetDouble("/sim/presets/altitude-ft") );
+ }
+
+ // Set ground elevation
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "...initializing ground elevation to " << ground_elev_ft
+ << "ft..." );
+
+ // Set sea-level radius
+ SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
+ SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
+ << fgGetDouble("/sim/presets/latitude-deg")
+ << " alt = " << get_Altitude() );
+ double sea_level_radius_meters;
+ double lat_geoc;
+ sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
+ * SGD_DEGREES_TO_RADIANS,
+ get_Altitude() * 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/presets/speed-set") ) {
+ set_V_calibrated_kts(0.0);
+ } else {
+ const 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(
+ 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("/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/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("/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 );
+
+ SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
+}
+
+
+/**
+ * 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
- 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", this,
- &FGInterface::get_Latitude_deg,
- &FGInterface::set_Latitude_deg,
- false);
- fgTie("/position/longitude", this,
- &FGInterface::get_Longitude_deg,
- &FGInterface::set_Longitude_deg,
- false);
- fgTie("/position/altitude", this,
- &FGInterface::get_Altitude,
- &FGInterface::set_Altitude,
- false);
- fgTie("/position/altitude-agl", this,
- &FGInterface::get_Altitude_AGL); // read-only
+ fgTie("/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);
+ fgSetArchivable("/position/longitude-deg");
+ fgTie("/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
// 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");
+
+ // 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", this,
+ fgTie("/velocities/airspeed-kt", this,
&FGInterface::get_V_calibrated_kts,
&FGInterface::set_V_calibrated_kts,
- true);
+ false);
+
+ // Mach number
+ fgTie("/velocities/mach", this,
+ &FGInterface::get_Mach_number,
+ &FGInterface::set_Mach_number,
+ 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,
- &FGInterface::get_Climb_Rate); // read-only
- fgTie("/velocities/side-slip", this,
+ 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);
+
}
+
+/**
+ * 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 ()
{
- 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");
+ 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("/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/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");
}
+/**
+ * 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( fgGetDouble("/position/ground-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;
+
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 );
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.cur_elev*METERS_TO_FEET );
-
+ _set_Runway_altitude( fgGetDouble("/position/ground-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_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)
// -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) {
- 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 );
-
-
- // additional work needed for some flight models
- if ( model == "larcsim" ) {
- ls_ForceAltitude( base_fdm_state.get_Altitude() );
- }
-}
-
-
-// Set the local ground elevation
-void fgFDMSetGroundElevation(const string &model, double ground_meters) {
- SG_LOG( SG_FLIGHT,SG_INFO, "fgFDMSetGroundElevation: "
- << ground_meters*SG_METER_TO_FEET );
- base_fdm_state.set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
- cur_fdm_state->set_Runway_altitude( ground_meters * SG_METER_TO_FEET );
-}
-
-
// 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) {
+ cur_fdm_state->ToggleDataLogging();
+}
projects / flightgear.git / blobdiff