#include <list>
#include <vector>
+#include <string>
-#include <Time/timestamp.hxx>
+#include <simgear/constants.h>
+#include <simgear/timing/timestamp.hxx>
-FG_USING_STD(list);
-FG_USING_STD(vector);
+#include <Main/fgfs.hxx>
+
+SG_USING_STD(list);
+SG_USING_STD(vector);
+SG_USING_STD(string);
typedef double FG_VECTOR_3[3];
double Throttle;
double Mixture;
double Prop_Advance;
+// int Magnetos; // 0=off, 1=left, 2=right, 3=both
+// bool Starter; // flag to indicate the starter switch is on
// outputs
double RPM;
- double Manifold_Pressure;
+ double Manifold_Pressure; //inches
double MaxHP;
- double Percentage_Power;
- double EGT;
- double prop_thrust;
+ double Percentage_Power; //HP
+ double EGT; //deg F
+ double CHT; //deg F
+ double prop_thrust; //lbs
+ double Fuel_Flow; //Gals/hr
+ double Oil_Temp; //deg F
+ double Oil_Pressure; //PSI
+ bool running; //flag to indicate the engine is running self-sustained
+ bool cranking; //flag to indicate the engine is being turned by the starter
/* others...
double PercentN1,N1; //GE,CFM
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 double get_Fuel_Flow() const { return Fuel_Flow; }
+ inline double get_Oil_Temp() const { return Oil_Temp; }
+ inline double get_Oil_Pressure() const { return Oil_Pressure; }
+ inline bool get_Running_Flag() const { return running; }
+ inline bool get_Cranking_Flag() const { return cranking; }
inline void set_Throttle( double t ) { Throttle = t; }
inline void set_Mixture( double m ) { Mixture = m; }
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; }
+ inline void set_Fuel_Flow( double f ) { Fuel_Flow = f; }
+ inline void set_Oil_Temp (double o) { Oil_Temp = o; }
+ inline void set_Running_Flag (bool r) { running = r; }
+ inline void set_Cranking_Flag (bool c) { cranking = c; }
};
typedef vector < FGEngInterface > engine_list;
+class FGGearInterface {
+ private:
+
+ string name;
+ float x,y,z; // >0 forward of cg, >0 right, >0 down
+ bool brake; // true if this gear unit has a brake mechanism
+ bool rolls; // true if this gear unit has a wheel
+ bool WoW; // true if this gear unit is touching the ground
+ float position; // 0 if retracted, 1 if extended
+
+ public:
+ FGGearInterface(void);
+ ~FGGearInterface(void);
+ inline string GetName(void) { return name; }
+ inline void SetName(string nm) { name=nm; }
+ inline float GetX(void) { return x; }
+ inline void SetX(float xloc) { x=xloc; }
+ inline float GetY(void) { return y; }
+ inline void SetY(float yloc) { y=yloc; }
+ inline float GetZ(void) { return z; }
+ inline void SetZ(float zloc) { z=zloc; }
+ inline bool GetBrake(void) { return brake; }
+ inline void SetBrake(bool brk) { brake=brk; }
+
+ // no good way to implement these right now
+ //inline bool GetRolls(void) { return rolls; }
+ //inline SetRolls(bool rl) { rolls=rl; }
+
+ inline bool GetWoW(void) { return WoW; }
+ inline void SetWoW(bool wow) { WoW=wow; }
+ inline float GetPosition(void) { return position; }
+ inline void SetPosition(float pos) { position=pos; }
+};
-// This is based heavily on LaRCsim/ls_generic.h
-class FGInterface {
+typedef vector < FGGearInterface > gear_list;
+
-protected:
- void busdump(void);
+// This is based heavily on LaRCsim/ls_generic.h
+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
+ long 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;
-
- //change flag
- bool resetNeeded;
+ double Tank1Fuel; // Gals
+ double Tank2Fuel; // Gals
+
+ double daux[16]; // auxilliary doubles
+ float faux[16]; // auxilliary floats
+ int iaux[16]; // auxilliary ints
// Engine list
engine_list engines;
+
+ //gear list
+ gear_list gear;
- FGTimeStamp valid_stamp; // time this record is valid
- FGTimeStamp next_stamp; // time this record is valid
+ // SGTimeStamp valid_stamp; // time this record is valid
+ // SGTimeStamp next_stamp; // time this record is valid
-protected:
+// protected:
+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 _updateWeather( void );
inline void _set_Inertias( double m, double xx, double yy,
double zz, double xz)
v_wind_body_v[1] = v;
v_wind_body_v[2] = w;
}
+ inline void _set_V_rel_wind(double vt) { v_rel_wind = vt; }
inline void _set_V_ground_speed( double v) { v_ground_speed = v; }
inline void _set_V_equiv_kts( double kts ) { v_equiv_kts = kts; }
inline void _set_V_calibrated_kts( double kts ) { v_calibrated_kts = kts; }
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 void init ();
+ virtual void bind ();
+ virtual void unbind ();
+ virtual void update ();
virtual bool update( int multi_loop );
+ 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_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown );
-
+
+ // Consumables
+ inline void set_Tank1Fuel( double f ) { Tank1Fuel = f; }
+ inline void set_Tank2Fuel( double f ) { Tank2Fuel = f; }
+
+ inline void reduce_Tank1Fuel( double f ) {
+ Tank1Fuel -= f;
+ if(Tank1Fuel < 0)
+ Tank1Fuel = 0;
+ }
+ inline void reduce_Tank2Fuel( double f ) {
+ Tank2Fuel -= f;
+ if(Tank2Fuel < 0)
+ Tank2Fuel = 0;
+ }
+
// ========== Mass properties and geometry values ==========
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_body() const { return v_wind_body_v[1]; }
inline double get_W_body() const { return v_wind_body_v[2]; }
- // inline double get_V_rel_wind() const { return v_rel_wind; }
+ 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_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_Climb_Rate() const { return climb_rate; }
- inline FGTimeStamp 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;
}
+ // 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]; }
+
+ // Consumables
+ inline double get_Tank1Fuel() const { return Tank1Fuel; }
+ inline double get_Tank2Fuel() const { return Tank2Fuel; }
+
// engines
- inline double get_num_engines() const {
+ inline int get_num_engines() const {
return engines.size();
}
inline void add_engine( FGEngInterface e ) {
engines.push_back( e );
}
+
+ //gear
+ inline int get_num_gear() const {
+ return gear.size();
+ }
+
+ inline FGGearInterface* get_gear_unit( int i ) {
+ return &gear[i];
+ }
+
+ inline void add_gear_unit( FGGearInterface fgi ) {
+ gear.push_back( fgi );
+ }
};
// General interface to the flight model routines
-// Initialize the flight model parameters
-int fgFDMInit(int model, FGInterface& f, double dt);
-
-// Run multiloop iterations of the flight model
-int fgFDMUpdate(int model, FGInterface& f, int multiloop, int jitter);
-
// Set the altitude (force)
-void fgFDMForceAltitude(int model, double alt_meters);
+void fgFDMForceAltitude(const string &model, double alt_meters);
-// Set the local ground elevation
-void fgFDMSetGroundElevation(int model, double alt_meters);
+// Toggle data logging on/off
+void fgToggleFDMdataLogging(void);
#endif // _FLIGHT_HXX
projects / flightgear.git / blobdiff