X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;ds=sidebyside;f=src%2FFDM%2Fflight.cxx;h=ed670fa8b81e4a80b7c620367c9be06e2456466e;hb=f0e6716953604730579a5e45f785fd063737dce4;hp=fc9d0cab400d2f88af49103129a2d9c50b3625e4;hpb=e1ac99d5c934b11af27a2cb4eb21526425e3280e;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index fc9d0cab4..ed670fa8b 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -52,10 +52,10 @@ FGInterface base_fdm_state; inline void init_vec(FG_VECTOR_3 vec) { vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0; -} +} FGEngInterface::FGEngInterface() { - + // inputs Throttle=0; Mixture=0; @@ -77,7 +77,7 @@ FGGearInterface::FGGearInterface(void) { x=y=z=0.0; brake=rolls=WoW=false; position=1.0; -} +} FGGearInterface::~FGGearInterface() { } @@ -85,7 +85,7 @@ FGGearInterface::~FGGearInterface() { // Constructor FGInterface::FGInterface() { _setup(); -} +} FGInterface::FGInterface( double dt ) { _setup(); @@ -95,7 +95,7 @@ FGInterface::FGInterface( double dt ) { // Destructor FGInterface::~FGInterface() { -// unbind(); // FIXME: should be called explicitly + // unbind(); // FIXME: should be called explicitly } @@ -130,38 +130,38 @@ FGInterface::_setup () init_vec( n_pilot_body_v ); init_vec( omega_dot_body_v ); init_vec( v_local_v ); - init_vec( v_local_rel_ground_v ); - init_vec( v_local_airmass_v ); - init_vec( v_local_rel_airmass_v ); - init_vec( v_local_gust_v ); - init_vec( v_wind_body_v ); - init_vec( omega_body_v ); - init_vec( omega_local_v ); - init_vec( omega_total_v ); + init_vec( v_local_rel_ground_v ); + init_vec( v_local_airmass_v ); + init_vec( v_local_rel_airmass_v ); + init_vec( v_local_gust_v ); + init_vec( v_wind_body_v ); + init_vec( omega_body_v ); + init_vec( omega_local_v ); + init_vec( omega_total_v ); init_vec( euler_rates_v ); - init_vec( geocentric_rates_v ); + init_vec( geocentric_rates_v ); init_vec( geocentric_position_v ); init_vec( geodetic_position_v ); init_vec( euler_angles_v ); - init_vec( d_cg_rwy_local_v ); - init_vec( d_cg_rwy_rwy_v ); - init_vec( d_pilot_rwy_local_v ); - init_vec( d_pilot_rwy_rwy_v ); + init_vec( d_cg_rwy_local_v ); + init_vec( d_cg_rwy_rwy_v ); + init_vec( d_pilot_rwy_local_v ); + init_vec( d_pilot_rwy_rwy_v ); init_vec( t_local_to_body_m[0] ); init_vec( t_local_to_body_m[1] ); init_vec( t_local_to_body_m[2] ); - + mass=i_xx=i_yy=i_zz=i_xz=0; - nlf=0; + nlf=0; v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0; v_ground_speed=v_equiv=v_equiv_kts=0; v_calibrated=v_calibrated_kts=0; - gravity=0; - centrifugal_relief=0; - alpha=beta=alpha_dot=beta_dot=0; + gravity=0; + centrifugal_relief=0; + alpha=beta=alpha_dot=beta_dot=0; cos_alpha=sin_alpha=cos_beta=sin_beta=0; cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0; - gamma_vert_rad=gamma_horiz_rad=0; + gamma_vert_rad=gamma_horiz_rad=0; sigma=density=v_sound=mach_number=0; static_pressure=total_pressure=impact_pressure=0; dynamic_pressure=0; @@ -170,7 +170,7 @@ FGInterface::_setup () runway_altitude=runway_latitude=runway_longitude=0; runway_heading=0; radius_to_rwy=0; - climb_rate=0; + climb_rate=0; sin_lat_geocentric=cos_lat_geocentric=0; sin_latitude=cos_latitude=0; sin_longitude=cos_longitude=0; @@ -185,7 +185,7 @@ FGInterface::init () {} * * Subclasses of FGInterface may do their own, additional initialization, * 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 + * this before they begin their own init to make sure the basic structures * are set up properly. */ void @@ -217,7 +217,7 @@ FGInterface::common_init () "...initializing ground elevation to " << ground_elev_ft << "ft..." ); SG_LOG( SG_FLIGHT, SG_INFO, "common_init(): set ground elevation " - << ground_elev_ft ); + << ground_elev_ft ); base_fdm_state.set_Runway_altitude( ground_elev_ft ); set_Runway_altitude( ground_elev_ft ); @@ -290,33 +290,33 @@ FGInterface::bind () bound = true; // Time management (read-only) - fgTie("/fdm/time/delta_t", this, - &FGInterface::get_delta_t); // read-only - fgTie("/fdm/time/elapsed", this, - &FGInterface::get_elapsed); // read-only - fgTie("/fdm/time/remainder", this, - &FGInterface::get_remainder); // read-only - fgTie("/fdm/time/multi_loop", this, - &FGInterface::get_multi_loop); // read-only + fgTie("/fdm/time/delta_t", this, + &FGInterface::get_delta_t); // read-only + fgTie("/fdm/time/elapsed", this, + &FGInterface::get_elapsed); // read-only + fgTie("/fdm/time/remainder", this, + &FGInterface::get_remainder); // read-only + fgTie("/fdm/time/multi_loop", this, + &FGInterface::get_multi_loop); // read-only // Aircraft position fgTie("/position/latitude-deg", this, - &FGInterface::get_Latitude_deg, - &FGInterface::set_Latitude_deg, - false); + &FGInterface::get_Latitude_deg, + &FGInterface::set_Latitude_deg, + false); fgSetArchivable("/position/latitude-deg"); fgTie("/position/longitude-deg", this, - &FGInterface::get_Longitude_deg, - &FGInterface::set_Longitude_deg, - false); + &FGInterface::get_Longitude_deg, + &FGInterface::set_Longitude_deg, + false); fgSetArchivable("/position/longitude-deg"); fgTie("/position/altitude-ft", this, - &FGInterface::get_Altitude, - &FGInterface::set_Altitude, - false); + &FGInterface::get_Altitude, + &FGInterface::set_Altitude, + false); fgSetArchivable("/position/altitude-ft"); fgTie("/position/altitude-agl-ft", this, - &FGInterface::get_Altitude_AGL); // read-only + &FGInterface::get_Altitude_AGL); // read-only // Orientation fgTie("/orientation/roll-deg", this, @@ -471,26 +471,92 @@ FGInterface::unbind () } } +void +FGInterface::free_engines () +{ + int i; + for ( i = 0; i < get_num_engines(); ++i ) { + delete get_engine(i); + } + engines.clear(); +} + +void +FGInterface::free_gear_units () +{ + int i; + for ( i = 0; i < get_num_gear(); ++i ) { + delete [] get_gear_unit(i); + } + gear.clear(); +} /** * Update the state of the FDM (i.e. run the equations of motion). */ void -FGInterface::update () +FGInterface::update (int dt) { - update(1); + cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl; } -bool FGInterface::update( int multi_loop ) { - cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl; - return false; +void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt ) +{ + double lat_geoc, sl_radius; + + // cout << "starting sea level rad = " << get_Sea_level_radius() << endl; + + sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc ); + + SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon + << " lat_geod = " << lat + << " lat_geoc = " << lat_geoc + << " alt = " << alt + << " sl_radius = " << sl_radius * SG_METER_TO_FEET + << " Equator = " << SG_EQUATORIAL_RADIUS_FT ); + + _set_Geocentric_Position( lat_geoc, lon, + sl_radius * SG_METER_TO_FEET + alt ); + + _set_Geodetic_Position( lat, lon, alt ); + + _set_Sea_level_radius( sl_radius * SG_METER_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_sin_cos_longitude( lon ); + + _set_sin_cos_latitude( lat ); + + /* Norman's code for slope of the terrain */ + /* needs to be tested -- get it on the HUD and taxi around */ + /* double *tnorm = scenery.cur_normal; + + double sy = sin ( -get_Psi() ) ; + double cy = cos ( -get_Psi() ) ; + + double phitb, thetatb, psitb; + if ( tnorm[1] != 0.0 ) { + psitb = -atan2 ( tnorm[0], tnorm[1] ); + } + if ( tnorm[2] != 0.0 ) { + thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] ); + phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] ); + } + + _set_terrain_slope(phitb, thetatb, psitb) + */ } - -void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) { + +void FGInterface::_updateGeocentricPosition( 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, @@ -510,31 +576,31 @@ void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) { sl_radius2 * SG_METER_TO_FEET + alt ); _set_Geodetic_Position( lat_geod, lon, alt ); - + _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET ); - _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_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_sin_cos_longitude( lon ); - + _set_sin_cos_latitude( lat_geod ); - + /* Norman's code for slope of the terrain */ /* needs to be tested -- get it on the HUD and taxi around */ /* double *tnorm = scenery.cur_normal; - + double sy = sin ( -get_Psi() ) ; double cy = cos ( -get_Psi() ) ; double phitb, thetatb, psitb; - if(tnorm[1] != 0.0) { - psitb = -atan2 ( tnorm[0], tnorm[1] ); + if ( tnorm[1] != 0.0 ) { + psitb = -atan2 ( tnorm[0], tnorm[1] ); } - if(tnorm[2] != 0.0) { - thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] ); - phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] ); + if ( tnorm[2] != 0.0 ) { + thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] ); + phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] ); } _set_terrain_slope(phitb, thetatb, psitb) @@ -575,7 +641,7 @@ void FGInterface::extrapolate( int time_offset ) { // 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; @@ -589,7 +655,7 @@ void fgFDMForceAltitude(const string &model, double alt_meters) { 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 ); + SG_METER_TO_FEET ); // additional work needed for some flight models if ( model == "larcsim" ) { @@ -599,38 +665,38 @@ void fgFDMForceAltitude(const string &model, double alt_meters) { // Positions -void FGInterface::set_Latitude(double lat) { +void FGInterface::set_Latitude(double lat) { geodetic_position_v[0] = lat; -} +} void FGInterface::set_Longitude(double lon) { geodetic_position_v[1] = lon; -} +} void FGInterface::set_Altitude(double alt) { geodetic_position_v[2] = alt; -} +} void FGInterface::set_AltitudeAGL(double altagl) { altitude_agl=altagl; -} +} // Velocities void FGInterface::set_V_calibrated_kts(double vc) { v_calibrated_kts = vc; -} +} void FGInterface::set_Mach_number(double mach) { mach_number = mach; -} +} void FGInterface::set_Velocities_Local( double north, double east, double down ){ v_local_v[0] = north; v_local_v[1] = east; - v_local_v[2] = down; -} + v_local_v[2] = down; +} void FGInterface::set_Velocities_Wind_Body( double u, double v, @@ -638,7 +704,7 @@ void FGInterface::set_Velocities_Wind_Body( double u, v_wind_body_v[0] = u; v_wind_body_v[1] = v; v_wind_body_v[2] = w; -} +} // Euler angles void FGInterface::set_Euler_Angles( double phi, @@ -652,20 +718,20 @@ void FGInterface::set_Euler_Angles( double phi, // Flight Path void FGInterface::set_Climb_Rate( double roc) { climb_rate = roc; -} +} void FGInterface::set_Gamma_vert_rad( double gamma) { gamma_vert_rad = gamma; -} +} // Earth void FGInterface::set_Sea_level_radius(double slr) { sea_level_radius = slr; -} +} void FGInterface::set_Runway_altitude(double ralt) { runway_altitude = ralt; -} +} void FGInterface::set_Static_pressure(double p) { static_pressure = p; } void FGInterface::set_Static_temperature(double T) { static_temperature = T; } @@ -677,7 +743,7 @@ void FGInterface::set_Velocities_Local_Airmass (double wnorth, v_local_airmass_v[0] = wnorth; v_local_airmass_v[1] = weast; v_local_airmass_v[2] = wdown; -} +} void FGInterface::_busdump(void) { @@ -719,7 +785,7 @@ void FGInterface::_busdump(void) { SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]); SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]); SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]); - + SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]); SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]); SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]); @@ -782,7 +848,7 @@ void FGInterface::_busdump(void) { SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude ); SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude ); SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl ); -} +} void fgToggleFDMdataLogging(void) {