-// 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>
FGEngInterface::~FGEngInterface(void) {
}
+FGGearInterface::FGGearInterface(void) {
+ x=y=z=0.0;
+ brake=rolls=WoW=false;
+ position=1.0;
+}
+
+FGGearInterface::~FGGearInterface() {
+}
// Constructor
FGInterface::FGInterface() {
}
FGInterface::FGInterface( double dt ) {
-
_setup();
delta_t = dt;
remainder = elapsed = multi_loop = 0;
void
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;
}
+void
+FGInterface::init () {}
/**
* 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.
+ * 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::init ()
+FGInterface::common_init ()
{
- SG_LOG(SG_FLIGHT, SG_INFO, "Start initializing FGInterface");
-
- stamp();
- set_remainder(0);
-
- // Set initial position
- SG_LOG(SG_FLIGHT, SG_INFO, "...initializing position...");
- set_Longitude(fgGetDouble("/position/longitude") * SGD_DEGREES_TO_RADIANS);
- set_Latitude(fgGetDouble("/position/latitude") * SGD_DEGREES_TO_RADIANS);
- double ground_elev_m = scenery.cur_elev + 1;
- double ground_elev_ft = ground_elev_m * METERS_TO_FEET;
- if (fgGetBool("/sim/startup/onground") ||
- fgGetDouble("/position/altitude") < ground_elev_ft)
- fgSetDouble("/position/altitude", ground_elev_ft);
- set_Altitude(fgGetDouble("/position/altitude"));
-
- // 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...");
- double sea_level_radius_meters;
- double lat_geoc;
- sgGeodToGeoc(get_Latitude(), get_Altitude(),
- &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"));
- } 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"),
- fgGetDouble("/velocities/vBody"),
- fgGetDouble("/velocities/wBody"));
- } else if (speedset == "NED" || speedset == "ned") {
- set_Velocities_Local(fgGetDouble("/velocities/speed-north"),
- fgGetDouble("/velocities/speed-east"),
- fgGetDouble("/velocities/speed-down"));
+ 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("/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();
+ double ground_elev_ft = ground_elev_m * SG_METER_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..." );
+ 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") );
+ 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 {
- SG_LOG(SG_FLIGHT, SG_ALERT,
- "Unrecognized value for /sim/startup/speed-set: " << speedset);
- set_V_calibrated_kts(0.0);
+ 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") * SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/orientation/pitch") * SGD_DEGREES_TO_RADIANS,
- fgGetDouble("/orientation/heading") * SGD_DEGREES_TO_RADIANS);
+ // 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");
+ SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
}
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);
- fgTie("/orientation/pitch", this,
+ fgSetArchivable("/orientation/roll-deg");
+ fgTie("/orientation/pitch-deg", this,
&FGInterface::get_Theta_deg,
&FGInterface::set_Theta_deg);
- fgTie("/orientation/heading", this,
+ fgSetArchivable("/orientation/pitch-deg");
+ fgTie("/orientation/heading-deg", this,
&FGInterface::get_Psi_deg,
&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);
+ &FGInterface::set_V_calibrated_kts,
+ false);
// Local velocities
- fgTie("/velocities/speed-north", this,
- &FGInterface::get_V_north,
- &FGInterface::set_V_north);
- fgTie("/velocities/speed-east", this,
- &FGInterface::get_V_east,
- &FGInterface::set_V_east);
- fgTie("/velocities/speed-down", this,
- &FGInterface::get_V_down,
- &FGInterface::set_V_down);
+// 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);
- fgTie("/velocities/vBody", this,
+ &FGInterface::set_uBody,
+ false);
+ fgSetArchivable("/velocities/uBody-fps");
+ fgTie("/velocities/vBody-fps", this,
&FGInterface::get_vBody,
- &FGInterface::set_vBody);
- fgTie("/velocities/wBody", this,
+ &FGInterface::set_vBody,
+ false);
+ fgSetArchivable("/velocities/vBody-fps");
+ fgTie("/velocities/wBody-fps", this,
&FGInterface::get_wBody,
- &FGInterface::set_wBody);
+ &FGInterface::set_wBody,
+ 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
}
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");
}
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() * SG_METER_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" ) {
}
-// 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) {
geodetic_position_v[0] = lat;
void fgToggleFDMdataLogging(void) {
cur_fdm_state->ToggleDataLogging();
}
-
projects / flightgear.git / blobdiff