//
// 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
//
// 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.
//
// $Id$
#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
}
}
+// Float version
+static void htonf (float &x)
+{
+ if ( sgIsLittleEndian() ) {
+ int *Float_Overlay;
+ int Holding_Buffer;
+
+ Float_Overlay = (int *) &x;
+ Holding_Buffer = Float_Overlay [0];
+
+ Float_Overlay [0] = htonl (Holding_Buffer);
+ } else {
+ return;
+ }
+}
+
FGNativeFDM::FGNativeFDM() {
}
set_enabled( true );
+ // Is this really needed here ????
cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
+
return true;
}
void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
- int i;
+ unsigned int i;
// Version sanity checking
net->version = FG_NET_FDM_VERSION;
net->longitude = cur_fdm_state->get_Longitude();
net->latitude = cur_fdm_state->get_Latitude();
net->altitude = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER;
+ net->agl = cur_fdm_state->get_Altitude_AGL() * SG_FEET_TO_METER;
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;
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" );
}
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");
}
- // cout << "Flap deflection = " << aero->dflap << endl;
- net->flap_deflection = fgGetDouble("/surface-positions/flap-pos-norm" );
-
// the following really aren't used in this context
net->cur_time = globals->get_time_params()->get_cur_time();
net->warp = globals->get_warp();
net->visibility = fgGetDouble("/environment/visibility-m");
+ // Control surface positions
+ SGPropertyNode *node = fgGetNode("/surface-positions", true);
+ net->elevator = node->getDoubleValue( "elevator-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" );
+
if ( net_byte_order ) {
// Convert the net buffer to network format
net->version = htonl(net->version);
htond(net->longitude);
htond(net->latitude);
htond(net->altitude);
- htond(net->phi);
- htond(net->theta);
- htond(net->psi);
-
- htond(net->phidot);
- htond(net->thetadot);
- htond(net->psidot);
- htond(net->vcas);
- htond(net->climb_rate);
- htond(net->v_north);
- htond(net->v_east);
- htond(net->v_down);
- htond(net->v_wind_body_north);
- htond(net->v_wind_body_east);
- htond(net->v_wind_body_down);
- htond(net->stall_warning);
-
- htond(net->A_X_pilot);
- htond(net->A_Y_pilot);
- htond(net->A_Z_pilot);
+ htonf(net->agl);
+ htonf(net->phi);
+ htonf(net->theta);
+ htonf(net->psi);
+ htonf(net->alpha);
+ htonf(net->beta);
+
+ htonf(net->phidot);
+ htonf(net->thetadot);
+ htonf(net->psidot);
+ htonf(net->vcas);
+ htonf(net->climb_rate);
+ htonf(net->v_north);
+ htonf(net->v_east);
+ htonf(net->v_down);
+ htonf(net->v_wind_body_north);
+ htonf(net->v_wind_body_east);
+ htonf(net->v_wind_body_down);
+
+ 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]);
- htond(net->rpm[i]);
- htond(net->fuel_flow[i]);
- htond(net->EGT[i]);
- htond(net->oil_temp[i]);
- htond(net->oil_px[i]);
+ net->eng_state[i] = htonl(net->eng_state[i]);
+ htonf(net->rpm[i]);
+ htonf(net->fuel_flow[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]);
}
net->num_engines = htonl(net->num_engines);
for ( i = 0; i < net->num_tanks; ++i ) {
- htond(net->fuel_quantity[i]);
+ htonf(net->fuel_quantity[i]);
}
net->num_tanks = htonl(net->num_tanks);
for ( i = 0; i < net->num_wheels; ++i ) {
net->wow[i] = htonl(net->wow[i]);
+ htonf(net->gear_pos[i]);
+ htonf(net->gear_steer[i]);
+ htonf(net->gear_compression[i]);
}
net->num_wheels = htonl(net->num_wheels);
- htond(net->flap_deflection);
net->cur_time = htonl( net->cur_time );
net->warp = htonl( net->warp );
- htond(net->visibility);
+ htonf(net->visibility);
+
+ htonf(net->elevator);
+ 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);
}
}
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
htond(net->longitude);
htond(net->latitude);
htond(net->altitude);
- htond(net->phi);
- htond(net->theta);
- htond(net->psi);
-
- htond(net->phidot);
- htond(net->thetadot);
- htond(net->psidot);
- htond(net->vcas);
- htond(net->climb_rate);
- htond(net->v_north);
- htond(net->v_east);
- htond(net->v_down);
- htond(net->v_wind_body_north);
- htond(net->v_wind_body_east);
- htond(net->v_wind_body_down);
- htond(net->stall_warning);
-
- htond(net->A_X_pilot);
- htond(net->A_Y_pilot);
- htond(net->A_Z_pilot);
+ htonf(net->agl);
+ htonf(net->phi);
+ htonf(net->theta);
+ htonf(net->psi);
+ htonf(net->alpha);
+ htonf(net->beta);
+
+ htonf(net->phidot);
+ htonf(net->thetadot);
+ htonf(net->psidot);
+ htonf(net->vcas);
+ htonf(net->climb_rate);
+ htonf(net->v_north);
+ htonf(net->v_east);
+ htonf(net->v_down);
+ htonf(net->v_wind_body_north);
+ htonf(net->v_wind_body_east);
+ htonf(net->v_wind_body_down);
+
+ 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]);
- htond(net->rpm[i]);
- htond(net->fuel_flow[i]);
- htond(net->EGT[i]);
- htond(net->oil_temp[i]);
- htond(net->oil_px[i]);
+ net->eng_state[i] = htonl(net->eng_state[i]);
+ htonf(net->rpm[i]);
+ htonf(net->fuel_flow[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]);
}
net->num_tanks = htonl(net->num_tanks);
for ( i = 0; i < net->num_tanks; ++i ) {
- htond(net->fuel_quantity[i]);
+ htonf(net->fuel_quantity[i]);
}
net->num_wheels = htonl(net->num_wheels);
- // I don't need to convert the Wow flags, since they are one
- // byte in size
- htond(net->flap_deflection);
+ for ( i = 0; i < net->num_wheels; ++i ) {
+ net->wow[i] = htonl(net->wow[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);
- htond(net->visibility);
+ htonf(net->visibility);
+
+ htonf(net->elevator);
+ 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);
}
if ( net->version == FG_NET_FDM_VERSION ) {
net->longitude,
net->altitude
* 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 );
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 );
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] );
}
}
for (i = 0; i < net->num_wheels; ++i ) {
- SGPropertyNode * node
- = fgGetNode("/gear/gear", i, true);
+ SGPropertyNode * node = fgGetNode("/gear/gear", i, true);
node->setDoubleValue("wow", net->wow[i] );
+ node->setDoubleValue("position-norm", net->gear_pos[i] );
+ node->setDoubleValue("steering-norm", net->gear_steer[i] );
+ node->setDoubleValue("compression-norm", net->gear_compression[i] );
}
- fgSetDouble("/surface-positions/flap-pos-norm", net->flap_deflection);
- SGPropertyNode * node = fgGetNode("/controls", true);
- fgSetDouble("/surface-positions/elevator-pos-norm",
- node->getDoubleValue( "elevator" ));
- fgSetDouble("/surface-positions/rudder-pos-norm",
- node->getDoubleValue( "rudder" ));
- fgSetDouble("/surface-positions/left-aileron-pos-norm",
- node->getDoubleValue( "aileron" ));
- fgSetDouble("/surface-positions/right-aileron-pos-norm",
- -node->getDoubleValue( "aileron" ));
-
/* these are ignored for now ... */
/*
if ( net->cur_time ) {
globals->set_warp( net->warp );
last_warp = net->warp;
*/
+
+ SGPropertyNode *node = fgGetNode("/surface-positions", true);
+ node->setDoubleValue("elevator-pos-norm", net->elevator);
+ 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 {
SG_LOG( SG_IO, SG_ALERT,
"Error: version mismatch in FGNetFDM2Props()" );
FGNetFDM2Props( &buf );
}
} else {
- // double dt = 1000000.0 / 30.0;
- // SGTimeStamp current; current.stamp();
int result;
result = io->read( (char *)(& buf), length );
- if ( result == length ) {
- SG_LOG( SG_IO, SG_DEBUG, " Success reading data." );
- FGNetFDM2Props( &buf );
- }
- while ( result == length /* || current - last_time < dt */ ) {
- result = io->read( (char *)(& buf), length );
+ while ( result == length ) {
if ( result == length ) {
SG_LOG( SG_IO, SG_DEBUG, " Success reading data." );
FGNetFDM2Props( &buf );
}
- // current.stamp();
+ result = io->read( (char *)(& buf), length );
}
- // last_time = current;
}
}
projects / flightgear.git / blobdiff