Update Mac configure script for new ALUT scheme; support --with-alut-framework.

[flightgear.git] / src / Network / native_fdm.cxx

diff --git a/src/Network/native_fdm.cxx b/src/Network/native_fdm.cxx
index 281ee8df59bf9c0aac375b21617611ea66f97451..4fa6275cedd7937179b35feaf855ae69576d0841 100644 (file)
--- a/src/Network/native_fdm.cxx
+++ b/src/Network/native_fdm.cxx
@@ -2,7 +2,7 @@
 //
 // Written by Curtis Olson, started September 2001.
 //
-// Copyright (C) 2001  Curtis L. Olson - curt@flightgear.org
+// Copyright (C) 2001  Curtis L. Olson - http://www.flightgear.org/~curt
 //
 // This program is free software; you can redistribute it and/or
 // modify it under the terms of the GNU General Public License as
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$
 
@@ -34,12 +34,15 @@
 #include <Time/tmp.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/globals.hxx>
+#include <Scenery/scenery.hxx>
 
 #include "native_fdm.hxx"
 
 // FreeBSD works better with this included last ... (?)
-#if defined(WIN32) && !defined(__CYGWIN__)
+#if defined( _MSC_VER )
 #  include <windows.h>
+#elif defined( __MINGW32__ )
+#  include <winsock2.h>
 #else
 #  include <netinet/in.h>      // htonl() ntohl()
 #endif
@@ -119,7 +122,7 @@ bool FGNativeFDM::open() {
 
 
 void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
-    int i;
+    unsigned int i;
 
     // Version sanity checking
     net->version = FG_NET_FDM_VERSION;
@@ -132,6 +135,8 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
     net->phi = cur_fdm_state->get_Phi();
     net->theta = cur_fdm_state->get_Theta();
     net->psi = cur_fdm_state->get_Psi();
+    net->alpha = cur_fdm_state->get_Alpha();
+    net->beta = cur_fdm_state->get_Beta();
     net->phidot = cur_fdm_state->get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
     net->thetadot = cur_fdm_state->get_Theta_dot_degps()
         * SG_DEGREES_TO_RADIANS;
@@ -146,27 +151,34 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
     net->v_wind_body_north = cur_fdm_state->get_uBody();
     net->v_wind_body_east = cur_fdm_state->get_vBody();
     net->v_wind_body_down = cur_fdm_state->get_wBody();
-    net->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
 
     net->A_X_pilot = cur_fdm_state->get_A_X_pilot();
     net->A_Y_pilot = cur_fdm_state->get_A_Y_pilot();
     net->A_Z_pilot = cur_fdm_state->get_A_Z_pilot();
 
+    net->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
+    net->slip_deg
+      = fgGetDouble("/instrumentation/slip-skid-ball/indicated-slip-skid");
+
     // Engine parameters
     net->num_engines = FGNetFDM::FG_MAX_ENGINES;
     for ( i = 0; i < net->num_engines; ++i ) {
         SGPropertyNode *node = fgGetNode("engines/engine", i, true);
         if ( node->getBoolValue( "running" ) ) {
-            net->eng_state[0] = 2;
+            net->eng_state[i] = 2;
         } else if ( node->getBoolValue( "cranking" ) ) {
-            net->eng_state[0] = 1;
+            net->eng_state[i] = 1;
         } else {
-            net->eng_state[0] = 0;
+            net->eng_state[i] = 0;
         }
         net->rpm[i] = node->getDoubleValue( "rpm" );
         net->fuel_flow[i] = node->getDoubleValue( "fuel-flow-gph" );
-        net->EGT[i] = node->getDoubleValue( "egt-degf" );
+        net->fuel_px[i] = node->getDoubleValue( "fuel-px-psi" );
+        net->egt[i] = node->getDoubleValue( "egt-degf" );
         // cout << "egt = " << aero->EGT << endl;
+        net->cht[i] = node->getDoubleValue( "cht-degf" );
+        net->mp_osi[i] = node->getDoubleValue( "mp-osi" );
+        net->tit[i] = node->getDoubleValue( "tit" );
         net->oil_temp[i] = node->getDoubleValue( "oil-temperature-degf" );
         net->oil_px[i] = node->getDoubleValue( "oil-pressure-psi" );
     }
@@ -182,7 +194,7 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
     net->num_wheels = FGNetFDM::FG_MAX_WHEELS;
     for (i = 0; i < net->num_wheels; ++i ) {
         SGPropertyNode *node = fgGetNode("/gear/gear", i, true);
-        net->wow[i] = node->getDoubleValue("wow");
+        net->wow[i] = node->getIntValue("wow");
         net->gear_pos[i] = node->getDoubleValue("position-norm");
         net->gear_steer[i] = node->getDoubleValue("steering-norm");
         net->gear_compression[i] = node->getDoubleValue("compression-norm");
@@ -196,10 +208,15 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
     // Control surface positions
     SGPropertyNode *node = fgGetNode("/surface-positions", true);
     net->elevator = node->getDoubleValue( "elevator-pos-norm" );
-    net->flaps = node->getDoubleValue( "flap-pos-norm" );
+    net->elevator_trim_tab
+        = node->getDoubleValue( "elevator-trim-tab-pos-norm" );
+    // FIXME: CLO 10/28/04 - This really should be separated out into 2 values
+    net->left_flap = node->getDoubleValue( "flap-pos-norm" );
+    net->right_flap = node->getDoubleValue( "flap-pos-norm" );
     net->left_aileron = node->getDoubleValue( "left-aileron-pos-norm" );
     net->right_aileron = node->getDoubleValue( "right-aileron-pos-norm" );
     net->rudder = node->getDoubleValue( "rudder-pos-norm" );
+    net->nose_wheel = node->getDoubleValue( "nose-wheel-pos-norm" );
     net->speedbrake = node->getDoubleValue( "speedbrake-pos-norm" );
     net->spoilers = node->getDoubleValue( "spoilers-pos-norm" );
 
@@ -214,6 +231,8 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
         htonf(net->phi);
         htonf(net->theta);
         htonf(net->psi);
+        htonf(net->alpha);
+        htonf(net->beta);
 
         htonf(net->phidot);
         htonf(net->thetadot);
@@ -226,17 +245,23 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
         htonf(net->v_wind_body_north);
         htonf(net->v_wind_body_east);
         htonf(net->v_wind_body_down);
-        htonf(net->stall_warning);
 
         htonf(net->A_X_pilot);
         htonf(net->A_Y_pilot);
         htonf(net->A_Z_pilot);
 
+        htonf(net->stall_warning);
+        htonf(net->slip_deg);
+
         for ( i = 0; i < net->num_engines; ++i ) {
-            htonl(net->eng_state[i]);
+            net->eng_state[i] = htonl(net->eng_state[i]);
             htonf(net->rpm[i]);
             htonf(net->fuel_flow[i]);
-            htonf(net->EGT[i]);
+            htonf(net->fuel_px[i]);
+            htonf(net->egt[i]);
+            htonf(net->cht[i]);
+            htonf(net->mp_osi[i]);
+            htonf(net->tit[i]);
             htonf(net->oil_temp[i]);
             htonf(net->oil_px[i]);
         }
@@ -249,9 +274,9 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
 
         for ( i = 0; i < net->num_wheels; ++i ) {
             net->wow[i] = htonl(net->wow[i]);
-            net->gear_pos[i] = htonl(net->gear_pos[i]);
-            net->gear_steer[i] = htonl(net->gear_steer[i]);
-            net->gear_compression[i] = htonl(net->gear_compression[i]);
+            htonf(net->gear_pos[i]);
+            htonf(net->gear_steer[i]);
+            htonf(net->gear_compression[i]);
         }
         net->num_wheels = htonl(net->num_wheels);
 
@@ -260,10 +285,13 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
         htonf(net->visibility);
 
         htonf(net->elevator);
-        htonf(net->flaps);
+        htonf(net->elevator_trim_tab);
+        htonf(net->left_flap);
+        htonf(net->right_flap);
         htonf(net->left_aileron);
         htonf(net->right_aileron);
         htonf(net->rudder);
+        htonf(net->nose_wheel);
         htonf(net->speedbrake);
         htonf(net->spoilers);
     }
@@ -271,7 +299,7 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
 
 
 void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
-    int i;
+    unsigned int i;
 
     if ( net_byte_order ) {
         // Convert to the net buffer from network format
@@ -284,6 +312,8 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
         htonf(net->phi);
         htonf(net->theta);
         htonf(net->psi);
+        htonf(net->alpha);
+        htonf(net->beta);
 
         htonf(net->phidot);
         htonf(net->thetadot);
@@ -296,18 +326,24 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
         htonf(net->v_wind_body_north);
         htonf(net->v_wind_body_east);
         htonf(net->v_wind_body_down);
-        htonf(net->stall_warning);
 
         htonf(net->A_X_pilot);
         htonf(net->A_Y_pilot);
         htonf(net->A_Z_pilot);
 
+        htonf(net->stall_warning);
+        htonf(net->slip_deg);
+
         net->num_engines = htonl(net->num_engines);
         for ( i = 0; i < net->num_engines; ++i ) {
-            htonl(net->eng_state[i]);
+            net->eng_state[i] = htonl(net->eng_state[i]);
             htonf(net->rpm[i]);
             htonf(net->fuel_flow[i]);
-            htonf(net->EGT[i]);
+            htonf(net->fuel_px[i]);
+            htonf(net->egt[i]);
+            htonf(net->cht[i]);
+            htonf(net->mp_osi[i]);
+            htonf(net->tit[i]);
             htonf(net->oil_temp[i]);
             htonf(net->oil_px[i]);
         }
@@ -320,20 +356,23 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
         net->num_wheels = htonl(net->num_wheels);
         for ( i = 0; i < net->num_wheels; ++i ) {
             net->wow[i] = htonl(net->wow[i]);
-            net->gear_pos[i] = htonl(net->gear_pos[i]);
-            net->gear_steer[i] = htonl(net->gear_steer[i]);
-            net->gear_compression[i] = htonl(net->gear_compression[i]);
+            htonf(net->gear_pos[i]);
+            htonf(net->gear_steer[i]);
+            htonf(net->gear_compression[i]);
         }
 
-        net->cur_time = ntohl(net->cur_time);
+        net->cur_time = htonl(net->cur_time);
         net->warp = ntohl(net->warp);
         htonf(net->visibility);
 
         htonf(net->elevator);
-        htonf(net->flaps);
+        htonf(net->elevator_trim_tab);
+        htonf(net->left_flap);
+        htonf(net->right_flap);
         htonf(net->left_aileron);
         htonf(net->right_aileron);
         htonf(net->rudder);
+        htonf(net->nose_wheel);
         htonf(net->speedbrake);
         htonf(net->spoilers);
     }
@@ -346,10 +385,18 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
                                                 net->longitude,
                                                 net->altitude
                                                   * SG_METER_TO_FEET );
-        cur_fdm_state->_set_Altitude_AGL( net->agl * SG_METER_TO_FEET );
+       if ( net->agl > -9000 ) {
+           cur_fdm_state->_set_Altitude_AGL( net->agl * SG_METER_TO_FEET );
+       } else {
+           double agl_m = net->altitude
+              - cur_fdm_state->get_Runway_altitude_m();
+           cur_fdm_state->_set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
+       }
         cur_fdm_state->_set_Euler_Angles( net->phi,
                                           net->theta,
                                           net->psi );
+        cur_fdm_state->_set_Alpha( net->alpha );
+        cur_fdm_state->_set_Beta( net->beta );
         cur_fdm_state->_set_Euler_Rates( net->phidot,
                                         net->thetadot,
                                         net->psidot );
@@ -362,11 +409,15 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
                                                   net->v_wind_body_east,
                                                   net->v_wind_body_down );
 
-        fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
         cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
                                               net->A_Y_pilot,
                                               net->A_Z_pilot );
 
+        fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
+       fgSetDouble( "/instrumentation/slip-skid-ball/indicated-slip-skid",
+                    net->slip_deg );
+       fgSetBool( "/instrumentation/slip-skid-ball/override", true );
+
        for ( i = 0; i < net->num_engines; ++i ) {
            SGPropertyNode *node = fgGetNode( "engines/engine", i, true );
            
@@ -387,7 +438,11 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
 
            node->setDoubleValue( "rpm", net->rpm[i] );
            node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
-           node->setDoubleValue( "egt-degf", net->EGT[i] );
+           node->setDoubleValue( "fuel-px-psi", net->fuel_px[i] );
+           node->setDoubleValue( "egt-degf", net->egt[i] );
+           node->setDoubleValue( "cht-degf", net->cht[i] );
+           node->setDoubleValue( "mp-osi", net->mp_osi[i] );
+           node->setDoubleValue( "tit", net->tit[i] );
            node->setDoubleValue( "oil-temperature-degf", net->oil_temp[i] );
            node->setDoubleValue( "oil-pressure-psi", net->oil_px[i] );         
        }
@@ -418,10 +473,16 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
 
         SGPropertyNode *node = fgGetNode("/surface-positions", true);
         node->setDoubleValue("elevator-pos-norm", net->elevator);
-        node->setDoubleValue("flap-pos-norm", net->flaps);
+        node->setDoubleValue("elevator-trim-tab-pos-norm",
+                             net->elevator_trim_tab);
+       // FIXME: CLO 10/28/04 - This really should be separated out
+       // into 2 values
+        node->setDoubleValue("flap-pos-norm", net->left_flap);
+        node->setDoubleValue("flap-pos-norm", net->right_flap);
         node->setDoubleValue("left-aileron-pos-norm", net->left_aileron);
         node->setDoubleValue("right-aileron-pos-norm", net->right_aileron);
         node->setDoubleValue("rudder-pos-norm", net->rudder);
+        node->setDoubleValue("nose-wheel-pos-norm", net->nose_wheel);
         node->setDoubleValue("speedbrake-pos-norm", net->speedbrake);
         node->setDoubleValue("spoilers-pos-norm", net->spoilers);
     } else {