X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FLaRCsim%2Fls_step.c;h=3927425cd07df99c2296f0372c5c4751fd6f618c;hb=e1d5a52a3a535007d4249aeba84fc645158997a7;hp=053199ab222c5d05d050fb29bdb25e71725b555e;hpb=182fd42b4017fa54d680508c092ea1b216398a00;p=flightgear.git

diff --git a/src/FDM/LaRCsim/ls_step.c b/src/FDM/LaRCsim/ls_step.c
index 053199ab2..3927425cd 100644
--- a/src/FDM/LaRCsim/ls_step.c
+++ b/src/FDM/LaRCsim/ls_step.c
@@ -50,6 +50,25 @@
 
 $Header$
 $Log$
+Revision 1.5  2003/07/25 17:53:47  mselig
+UIUC code initilization mods to tidy things up a bit.
+
+Revision 1.4  2003/06/20 19:53:56  ehofman
+Get rid of a multiple defined symbol warning" src/FDM/LaRCsim/ls_step.c
+"
+
+Revision 1.3  2003/06/09 02:50:23  mselig
+mods made to setup for some initializations in uiuc code
+
+Revision 1.2  2003/05/25 12:14:46  ehofman
+Rename some defines to prevent a namespace clash
+
+Revision 1.1.1.1  2002/09/10 01:14:02  curt
+Initial revision of FlightGear-0.9.0
+
+Revision 1.5  2001/09/14 18:47:27  curt
+More changes in support of UIUCModel.
+
 Revision 1.4  2001/03/24 05:03:12  curt
 SG-ified logstream.
 
@@ -278,6 +297,8 @@ Initial Flight Gear revision.
 
 --------------------------------------------------------------------------*/
 
+//#include <FDM/UIUCModel/uiuc_wrapper.h>
+
 #include "ls_types.h"
 #include "ls_constants.h"
 #include "ls_generic.h"
@@ -290,8 +311,21 @@ Initial Flight Gear revision.
 /* #include "ls_sim_control.h" */
 #include <math.h>
 
+extern Model current_model;	/* defined in ls_model.c */
 extern SCALAR Simtime;		/* defined in ls_main.c */
 
+void uiuc_init_vars() {
+    static int init = 0;
+
+    if (init==0) {
+        init=-1;
+        uiuc_init_aeromodel();
+    }
+
+    uiuc_initial_init();
+}
+
+
 void ls_step( SCALAR dt, int Initialize ) {
 	static	int	inited = 0;
 		SCALAR	dth;
@@ -330,6 +364,10 @@ void ls_step( SCALAR dt, int Initialize ) {
     	V_east = V_east + local_gnd_veast;
 
 /* Initialize quaternions and transformation matrix from Euler angles */
+	// Initialize UIUC aircraft model
+	if (current_model == UIUC) {
+	  uiuc_init_2_wrapper();
+        }
 
 	    e_0 = cos(Psi*0.5)*cos(Theta*0.5)*cos(Phi*0.5) 
 		+ sin(Psi*0.5)*sin(Theta*0.5)*sin(Phi*0.5);
@@ -349,6 +387,12 @@ void ls_step( SCALAR dt, int Initialize ) {
 	    T_local_to_body_32 = 2*(e_2*e_3 - e_0*e_1);
 	    T_local_to_body_33 = e_0*e_0 - e_1*e_1 - e_2*e_2 + e_3*e_3;
 
+	    // Initialize local velocities (V_north, V_east, V_down)
+	    // based on transformation matrix calculated above
+	    if (current_model == UIUC) {
+	      uiuc_local_vel_init();
+	    }
+
 /*	Calculate local gravitation acceleration	*/
 
 		ls_gravity( Radius_to_vehicle, Lat_geocentric, &Gravity );
@@ -365,8 +409,8 @@ void ls_step( SCALAR dt, int Initialize ) {
 /* Initialize auxiliary variables */
 
 		ls_aux();
-		Alpha_dot = 0.;
-		Beta_dot = 0.;
+		Std_Alpha_dot = 0.;
+		Std_Beta_dot = 0.;
 
 /* set flag; disable integrators */