#include <vector>
#include <string>
-#include <simgear/timing/timestamp.hxx>
+#include <simgear/constants.h>
+// #include <simgear/timing/timestamp.hxx>
-FG_USING_STD(list);
-FG_USING_STD(vector);
-FG_USING_STD(string);
+#include <Main/fgfs.hxx>
+#include <Model/acmodel.hxx>
+#include <Model/model.hxx>
+#include <Main/location.hxx>
+SG_USING_STD(list);
+SG_USING_STD(vector);
+SG_USING_STD(string);
-typedef double FG_VECTOR_3[3];
-
-
-class FGEngInterface {
-
-private:
-
- // inputs
- double Throttle;
- double Mixture;
- double Prop_Advance;
-
- // outputs
- double RPM;
- double Manifold_Pressure;
- double MaxHP;
- double Percentage_Power;
- double EGT;
- double CHT;
- double prop_thrust;
-
- /* others...
- double PercentN1,N1; //GE,CFM
- double PercentN2,N2;
- double EPR; //P&W, RR?
- double FuelFlow;
- bool AfterBurner;
- double InletAngles[3];
- double InletPosition[3];
- double ThrustVector[3];
- */
-
-public:
- FGEngInterface(void);
- ~FGEngInterface(void);
-
- inline double get_Throttle() const { return Throttle; }
- inline double get_Mixture() const { return Mixture; }
- inline double get_Prop_Advance() const { return Prop_Advance; }
- inline double get_RPM() const { return RPM; }
- inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
- inline double get_MaxHP() const { return MaxHP; }
- inline double get_Percentage_Power() const { return Percentage_Power; }
- inline double get_EGT() const { return EGT; }
- inline double get_CHT() const { return CHT; }
- inline double get_prop_thrust() const { return prop_thrust; }
-
- inline void set_Throttle( double t ) { Throttle = t; }
- inline void set_Mixture( double m ) { Mixture = m; }
- inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
- inline void set_RPM( double r ) { RPM = r; }
- inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
- inline void set_MaxHP( double hp ) { MaxHP = hp; }
- inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
- inline void set_EGT( double e ) { EGT = e; }
- inline void set_CHT( double c ) { CHT = c; }
- inline void set_prop_thrust( double t ) { prop_thrust = t; }
-
-};
-
-typedef vector < FGEngInterface > engine_list;
+typedef double FG_VECTOR_3[3];
// This is based heavily on LaRCsim/ls_generic.h
-class FGInterface {
+class FGInterface : public FGSubsystem {
private:
+ // Has the init() method been called. This is used to delay
+ // initialization until scenery can be loaded and we know the true
+ // ground elevation.
+ bool inited;
+
+ // Have we bound to the property system
+ bool bound;
+
+ // periodic update management variable. This is a scheme to run
+ // the fdm with a fixed delta-t. We control how many iteration of
+ // the fdm to run with the fixed dt based on the elapsed time from
+ // the last update. This allows us to maintain sync with the real
+ // time clock, even though each frame could take a random amount
+ // of time. Since "dt" is unlikely to divide evenly into the
+ // elapse time, we keep track of the remainder and add it into the
+ // next elapsed time. This yields a small amount of temporal
+ // jitter ( < dt ) but in practice seems to work well.
+
+// double delta_t; // delta "t"
+// SGTimeStamp time_stamp; // time stamp of last run
+// long elapsed; // time elapsed since last run
+ double remainder; // remainder time from last run
+// int multi_loop; // number of iterations of "delta_t" to run
+
// Pilot location rel to ref pt
FG_VECTOR_3 d_pilot_rp_body_v;
double sin_longitude, cos_longitude;
double sin_latitude, cos_latitude;
double altitude_agl;
-
- // Engine list
- engine_list engines;
- SGTimeStamp valid_stamp; // time this record is valid
- SGTimeStamp next_stamp; // time this record is valid
+ double daux[16]; // auxilliary doubles
+ float faux[16]; // auxilliary floats
+ int iaux[16]; // auxilliary ints
+
+ // SGTimeStamp valid_stamp; // time this record is valid
+ // SGTimeStamp next_stamp; // time this record is valid
+
+ // Model tied to FDM
+ FGAircraftModel * _acmodel;
protected:
+
+ int _calc_multiloop (double dt);
+
+public:
+
+ // deliberately not virtual so that
+ // FGInterface constructor will call
+ // the right version
+ void _setup();
+
void _busdump(void);
- void _updatePosition( double lat_geoc, double lon, double alt );
+ void _updateGeodeticPosition( double lat, double lon, double alt );
+ void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
void _updateWeather( void );
inline void _set_Inertias( double m, double xx, double yy,
cos_latitude = cos(parm);
}
+ inline void _set_daux( int n, double value ) { daux[n] = value; }
+ inline void _set_faux( int n, float value ) { faux[n] = value; }
+ inline void _set_iaux( int n, int value ) { iaux[n] = value; }
+
public:
- FGInterface(void);
+ FGInterface();
+ FGInterface( double dt );
virtual ~FGInterface();
- virtual bool init( double dt );
- virtual bool update( int multi_loop );
+ virtual void init ();
+ virtual void bind ();
+ virtual void unbind ();
+ virtual void update(double dt);
+ virtual bool ToggleDataLogging(bool state) { return false; }
+ virtual bool ToggleDataLogging(void) { return false; }
// Define the various supported flight models (many not yet implemented)
enum {
FG_EXTERNAL = 10
};
+ // initialization
+ inline bool get_inited() const { return inited; }
+ inline void set_inited( bool value ) { inited = value; }
+
+ inline bool get_bound() const { return bound; }
+
+ //perform initializion that is common to all FDM's
+ void common_init();
+
+ // time and update management values
+// inline double get_delta_t() const { return delta_t; }
+// inline void set_delta_t( double dt ) { delta_t = dt; }
+// inline SGTimeStamp get_time_stamp() const { return time_stamp; }
+// inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
+// inline void stamp() { time_stamp.stamp(); }
+// inline long get_elapsed() const { return elapsed; }
+// inline void set_elapsed( long e ) { elapsed = e; }
+// inline long get_remainder() const { return remainder; }
+// inline void set_remainder( long r ) { remainder = r; }
+// inline int get_multi_loop() const { return multi_loop; }
+// inline void set_multi_loop( int ml ) { multi_loop = ml; }
+
// Positions
virtual void set_Latitude(double lat); // geocentric
virtual void set_Longitude(double lon);
virtual void set_Altitude(double alt); // triggers re-calc of AGL altitude
virtual void set_AltitudeAGL(double altagl); // and vice-versa
+ virtual void set_Latitude_deg (double lat) {
+ set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
+ }
+ virtual void set_Longitude_deg (double lon) {
+ set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
+ }
// Speeds -- setting any of these will trigger a re-calc of the rest
virtual void set_V_calibrated_kts(double vc);
virtual void set_Mach_number(double mach);
virtual void set_Velocities_Local( double north, double east, double down );
+ inline void set_V_north (double north) {
+ set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
+ }
+ inline void set_V_east (double east) {
+ set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
+ }
+ inline void set_V_down (double down) {
+ set_Velocities_Local(v_local_v[0], v_local_v[1], down);
+ }
virtual void set_Velocities_Wind_Body( double u, double v, double w);
+ virtual void set_uBody (double uBody) {
+ set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
+ }
+ virtual void set_vBody (double vBody) {
+ set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
+ }
+ virtual void set_wBody (double wBody) {
+ set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
+ }
// Euler angles
virtual void set_Euler_Angles( double phi, double theta, double psi );
+ virtual void set_Phi (double phi) {
+ set_Euler_Angles(phi, get_Theta(), get_Psi());
+ }
+ virtual void set_Theta (double theta) {
+ set_Euler_Angles(get_Phi(), theta, get_Psi());
+ }
+ virtual void set_Psi (double psi) {
+ set_Euler_Angles(get_Phi(), get_Theta(), psi);
+ }
+ virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); }
+ virtual void set_Theta_deg (double theta) {
+ set_Theta(theta * SGD_DEGREES_TO_RADIANS);
+ }
+ virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); }
// Flight Path
virtual void set_Climb_Rate( double roc);
virtual void set_Gamma_vert_rad( double gamma);
// Earth
- virtual void set_Sea_level_radius(double slr);
- virtual void set_Runway_altitude(double ralt);
virtual void set_Static_pressure(double p);
virtual void set_Static_temperature(double T);
virtual void set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown );
-
-
+
// ========== Mass properties and geometry values ==========
// Inertias
// n_pilot_body_v[2] = z;
// }
- inline double get_Nlf(void) { return nlf; }
+ inline double get_Nlf(void) const { return nlf; }
// inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
// inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
inline double get_V_north() const { return v_local_v[0]; }
inline double get_V_east() const { return v_local_v[1]; }
inline double get_V_down() const { return v_local_v[2]; }
-
- // inline double * get_V_local_rel_ground_v() {
- // return v_local_rel_ground_v;
- // }
- // inline double get_V_north_rel_ground() const {
- // return v_local_rel_ground_v[0];
- // }
- // inline double get_V_east_rel_ground() const {
- // return v_local_rel_ground_v[1];
- // }
- // inline double get_V_down_rel_ground() const {
- // return v_local_rel_ground_v[2];
- // }
+ inline double get_uBody () const { return v_wind_body_v[0]; }
+ inline double get_vBody () const { return v_wind_body_v[1]; }
+ inline double get_wBody () const { return v_wind_body_v[2]; }
+
+ // Please dont comment these out. fdm=ada uses these (see
+ // cockpit.cxx) --->
+ inline double * get_V_local_rel_ground_v() {
+ return v_local_rel_ground_v;
+ }
+ inline double get_V_north_rel_ground() const {
+ return v_local_rel_ground_v[0];
+ }
+ inline double get_V_east_rel_ground() const {
+ return v_local_rel_ground_v[1];
+ }
+ inline double get_V_down_rel_ground() const {
+ return v_local_rel_ground_v[2];
+ }
+ // <--- fdm=ada uses these (see cockpit.cxx)
// inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
inline double get_V_rel_wind() const { return v_rel_wind; }
// inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
- // inline double get_V_true_kts() const { return v_true_kts; }
+ inline double get_V_true_kts() const { return v_true_kts; }
// inline void set_V_true_kts(double kts) { v_true_kts = kts; }
// inline double get_V_rel_ground() const { return v_rel_ground; }
inline double get_Latitude() const { return geodetic_position_v[0]; }
inline double get_Longitude() const { return geodetic_position_v[1]; }
inline double get_Altitude() const { return geodetic_position_v[2]; }
- inline double get_Altitude_AGL(void) { return altitude_agl; }
+ inline double get_Altitude_AGL(void) const { return altitude_agl; }
+
+ inline double get_Latitude_deg () const {
+ return get_Latitude() * SGD_RADIANS_TO_DEGREES;
+ }
+ inline double get_Longitude_deg () const {
+ return get_Longitude() * SGD_RADIANS_TO_DEGREES;
+ }
// inline double * get_Euler_angles_v() { return euler_angles_v; }
inline double get_Phi() const { return euler_angles_v[0]; }
inline double get_Theta() const { return euler_angles_v[1]; }
inline double get_Psi() const { return euler_angles_v[2]; }
+ inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
// ========== Miscellaneous quantities ==========
// }
inline double get_Alpha() const { return alpha; }
+ inline double get_Alpha_deg() const { return alpha * SGD_RADIANS_TO_DEGREES; }
inline double get_Beta() const { return beta; }
- // inline double get_Alpha_dot() const { return alpha_dot; }
+ inline double get_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; }
+ inline double get_Alpha_dot() const { return alpha_dot; }
// inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
- // inline double get_Beta_dot() const { return beta_dot; }
+ inline double get_Beta_dot() const { return beta_dot; }
// inline void set_Beta_dot( double bd ) { beta_dot = bd; }
// inline double get_Cos_alpha() const { return cos_alpha; }
inline double get_Mach_number() const { return mach_number; }
inline double get_Static_pressure() const { return static_pressure; }
- // inline double get_Total_pressure() const { return total_pressure; }
+ inline double get_Total_pressure() const { return total_pressure; }
// inline void set_Total_pressure( double tp ) { total_pressure = tp; }
// inline double get_Impact_pressure() const { return impact_pressure; }
// inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
- // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
+ inline double get_Dynamic_pressure() const { return dynamic_pressure; }
// inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
inline double get_Static_temperature() const { return static_temperature; }
- // inline double get_Total_temperature() const { return total_temperature; }
+ inline double get_Total_temperature() const { return total_temperature; }
// inline void set_Total_temperature( double t ) { total_temperature = t; }
inline double get_Sea_level_radius() const { return sea_level_radius; }
inline double get_Climb_Rate() const { return climb_rate; }
- inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
- inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
+ // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
+ // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
// Extrapolate FDM based on time_offset (in usec)
void extrapolate( int time_offset );
return cos_latitude;
}
- // engines
- inline double get_num_engines() const {
- return engines.size();
- }
+ // Auxilliary variables
+ inline double get_daux( int n ) const { return daux[n]; }
+ inline float get_faux( int n ) const { return faux[n]; }
+ inline int get_iaux( int n ) const { return iaux[n]; }
- inline FGEngInterface* get_engine( int i ) {
- return &engines[i];
- }
+ // Model tied to FDM
+ FGAircraftModel * getACModel() const { return _acmodel; }
+
+ // Note that currently this is the "same" value runway altitude...
+ inline double get_ground_elev_ft() const { return runway_altitude; }
- inline void add_engine( FGEngInterface e ) {
- engines.push_back( e );
- }
};
// General interface to the flight model routines
-// Set the altitude (force)
-void fgFDMForceAltitude(const string &model, double alt_meters);
-// Set the local ground elevation
-void fgFDMSetGroundElevation(const string &model, double alt_meters);
+// Toggle data logging on/off
+void fgToggleFDMdataLogging(void);
#endif // _FLIGHT_HXX
projects / flightgear.git / blobdiff