X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FLaRCsim.cxx;h=43223bf4cf9bfbde1f8fc6a0df2a7a126bf3e165;hb=ee98995d30e75cda88c9866f3cb6a761fda7d078;hp=f1e7422364d25fc33bc015370d194f0672010f08;hpb=47c3f4182886fa790d074b76b3225f59f5918200;p=flightgear.git diff --git a/src/FDM/LaRCsim.cxx b/src/FDM/LaRCsim.cxx index f1e742236..43223bf4c 100644 --- a/src/FDM/LaRCsim.cxx +++ b/src/FDM/LaRCsim.cxx @@ -20,117 +20,143 @@ // // $Id$ +#include // strcmp() #include #include +#include
#include #include #include #include #include #include +#include +#include #include "IO360.hxx" #include "LaRCsim.hxx" +FGLaRCsim::FGLaRCsim( double dt ) { +// set_delta_t( dt ); -// Initialize the LaRCsim flight model, dt is the time increment for -// each subsequent iteration through the EOM -bool FGLaRCsim::init( double dt ) { - - if ( current_options.get_aircraft() == "c172" ) { - // Initialize our little engine that hopefully might - eng.init(dt); - // dcl - in passing dt to init rather than update I am assuming - // that the LaRCsim dt is fixed at one value (yes it is 120hz CLO) - - // update the engines interface - FGEngInterface e; - add_engine( e ); - } + speed_up = fgGetNode("/sim/speed-up", true); + aero = fgGetNode("/sim/aero", true); - // cout << "FGLaRCsim::init()" << endl; + ls_toplevel_init( 0.0, (char *)(aero->getStringValue()) ); - double save_alt = 0.0; + lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is + if ( !strcmp(aero->getStringValue(), "c172") ) { + copy_to_LaRCsim(); // initialize all of LaRCsim's vars - if ( get_Altitude() < -9000.0 ) { - save_alt = get_Altitude(); - set_Altitude( 0.0 ); + //this should go away someday -- formerly done in fg_init.cxx + Mass = 8.547270E+01; + I_xx = 1.048000E+03; + I_yy = 3.000000E+03; + I_zz = 3.530000E+03; + I_xz = 0.000000E+00; } - // translate FG to LaRCsim structure - copy_to_LaRCsim(); - - // actual LaRCsim top level init - ls_toplevel_init( dt, (char *)current_options.get_aircraft().c_str() ); - - FG_LOG( FG_FLIGHT, FG_INFO, "FG pos = " << - get_Latitude() ); + ls_set_model_dt(dt); - // translate LaRCsim back to FG structure - copy_from_LaRCsim(); + // Initialize our little engine that hopefully might + eng.init(dt); + // dcl - in passing dt to init rather than update I am assuming + // that the LaRCsim dt is fixed at one value (yes it is 120hz CLO) +} - // but lets restore our original bogus altitude when we are done - if ( save_alt < -9000.0 ) { - set_Altitude( save_alt ); +FGLaRCsim::~FGLaRCsim(void) { + if ( lsic != NULL ) { + delete lsic; + lsic = NULL; } +} - // set valid time for this record - stamp_time(); - - return true; +// Initialize the LaRCsim flight model, dt is the time increment for +// each subsequent iteration through the EOM +void FGLaRCsim::init() { + //do init common to all FDM's + common_init(); } // Run an iteration of the EOM (equations of motion) -bool FGLaRCsim::update( int multiloop ) { - // cout << "FGLaRCsim::update()" << endl; +void FGLaRCsim::update( double dt ) { + + if (is_suspended()) + return; - if ( current_options.get_aircraft() == "c172" ) { + int multiloop = _calc_multiloop(dt); + + if ( !strcmp(aero->getStringValue(), "c172") ) { // set control inputs + // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n'; eng.set_IAS( V_calibrated_kts ); - eng.set_Throttle_Lever_Pos( controls.get_throttle( 0 ) * 100.0 ); + eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 ) + * 100.0 ); eng.set_Propeller_Lever_Pos( 100 ); - if ( controls.get_mixture( 0 ) > 0.60 ) { - eng.set_Mixture_Lever_Pos( controls.get_mixture( 0 ) * 100.0 ); - } else { - eng.set_Mixture_Lever_Pos( 60.0 ); - } + eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 ) + * 100.0 ); + eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) ); + eng.setStarterFlag( globals->get_controls()->get_starter(0) ); + eng.set_p_amb( Static_pressure ); + eng.set_T_amb( Static_temperature ); // update engine model eng.update(); + // Fake control-surface positions + fgSetDouble("/surface-positions/flap-pos-norm", + fgGetDouble("/controls/flaps")); + // FIXME: ignoring trim + fgSetDouble("/surface-positions/elevator-pos-norm", + fgGetDouble("/controls/elevator")); + // FIXME: ignoring trim + fgSetDouble("/surface-positions/left-aileron-pos-norm", + fgGetDouble("/controls/aileron")); + // FIXME: ignoring trim + fgSetDouble("/surface-positions/right-aileron-pos-norm", + -1 * fgGetDouble("/controls/aileron")); + // FIXME: ignoring trim + fgSetDouble("/surface-positions/rudder-pos-norm", + fgGetDouble("/controls/rudder")); + // copy engine state values onto "bus" - FGEngInterface *e = get_engine( 0 ); - e->set_Throttle( controls.get_throttle( 0 ) * 100.0 ); - e->set_Mixture( 80 ); - e->set_Prop_Advance( 100 ); - e->set_RPM( eng.get_RPM() ); - e->set_Manifold_Pressure( eng.get_Manifold_Pressure() ); - e->set_MaxHP( eng.get_MaxHP() ); - e->set_Percentage_Power( eng.get_Percentage_Power() ); - e->set_EGT( eng.get_EGT() ); - e->set_prop_thrust( eng.get_prop_thrust_SI() ); - -#if 0 - cout << "Throttle = " << controls.get_throttle( 0 ) * 100.0; - cout << " Mixture = " << controls.get_mixture( 0 ) * 100.0; - cout << " RPM = " << eng.get_RPM(); - cout << " MP = " << eng.get_Manifold_Pressure(); - cout << " HP = " << ( eng.get_MaxHP() * eng.get_Percentage_Power() - / 100.0 ); - cout << " EGT = " << eng.get_EGT(); - cout << " Thrust (N) " << eng.get_prop_thrust_SI(); // Thrust in Newtons - cout << '\n'; -#endif - - F_X_engine = eng.get_prop_thrust_SI() * 0.07; + fgSetDouble("/engines/engine/rpm", eng.get_RPM()); + fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure()); + fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP()); + fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power()); + fgSetDouble("/engines/engine/egt-degf", eng.get_EGT()); + fgSetDouble("/engines/engine/cht-degf", eng.get_CHT()); + fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI()); + fgSetDouble("/engines/engine/fuel-flow-gph", + eng.get_fuel_flow_gals_hr()); + fgSetDouble("/engines/engine/oil-temperature-degf", + eng.get_oil_temp()); + fgSetDouble("/engines/engine/running", eng.getRunningFlag()); + fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag()); + + static const SGPropertyNode *fuel_freeze + = fgGetNode("/sim/freeze/fuel"); + + if ( ! fuel_freeze->getBoolValue() ) { + //Assume we are using both tanks equally for now + fgSetDouble("/consumables/fuel/tank[0]/level-gal_us", + fgGetDouble("/consumables/fuel/tank[0]/level-gal_us") + - (eng.get_fuel_flow_gals_hr() / (2 * 3600)) + * dt); + fgSetDouble("/consumables/fuel/tank[1]/level-gal_us", + fgGetDouble("/consumables/fuel/tank[1]/level-gal_us") + - (eng.get_fuel_flow_gals_hr() / (2 * 3600)) + * dt); + } + + F_X_engine = eng.get_prop_thrust_lbs(); + // cout << "F_X_engine = " << F_X_engine << '\n'; } double save_alt = 0.0; - double time_step = (1.0 / current_options.get_model_hz()) * multiloop; - double start_elev = get_Altitude(); // lets try to avoid really screwing up the LaRCsim model if ( get_Altitude() < -9000.0 ) { @@ -139,29 +165,33 @@ bool FGLaRCsim::update( int multiloop ) { } // copy control positions into the LaRCsim structure - Lat_control = controls.get_aileron() / current_options.get_speed_up(); - Long_control = controls.get_elevator(); - Long_trim = controls.get_elevator_trim(); - Rudder_pedal = controls.get_rudder() / current_options.get_speed_up(); - Flap_handle = 30.0 * controls.get_flaps(); - - if ( current_options.get_aircraft() == "c172" ) { - Use_External_Engine = 1; + Lat_control = globals->get_controls()->get_aileron() / + speed_up->getIntValue(); + Long_control = globals->get_controls()->get_elevator(); + Long_trim = globals->get_controls()->get_elevator_trim(); + Rudder_pedal = globals->get_controls()->get_rudder() / + speed_up->getIntValue(); + Flap_handle = 30.0 * globals->get_controls()->get_flaps(); + + if ( !strcmp(aero->getStringValue(), "c172") ) { + Use_External_Engine = 1; } else { Use_External_Engine = 0; } - Throttle_pct = controls.get_throttle( 0 ) * 1.0; - Brake_pct[0] = controls.get_brake( 1 ); - Brake_pct[1] = controls.get_brake( 0 ); + Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0; - // Inform LaRCsim of the local terrain altitude - Runway_altitude = get_Runway_altitude(); + Brake_pct[0] = globals->get_controls()->get_brake( 1 ); + Brake_pct[1] = globals->get_controls()->get_brake( 0 ); + // Inform LaRCsim of the local terrain altitude + // Runway_altitude = get_Runway_altitude(); + Runway_altitude = getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m() * SG_METER_TO_FEET; // Weather - V_north_airmass = get_V_north_airmass(); - V_east_airmass = get_V_east_airmass(); - V_down_airmass = get_V_down_airmass(); + /* V_north_airmass = get_V_north_airmass(); + V_east_airmass = get_V_east_airmass(); + V_down_airmass = get_V_down_airmass(); */ + // old -- FGInterface_2_LaRCsim() not needed except for Init() // translate FG to LaRCsim structure @@ -170,11 +200,20 @@ bool FGLaRCsim::update( int multiloop ) { // printf("Altitude = %.2f\n", Altitude * 0.3048); // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048); + // for engine functions (sounds and instruments) + // drive the rpm gauge + fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 )); + // manifold air pressure, which drives the sound (see *sound.xml file) + fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 )); + // make the engine cranking and running sounds when fgfs starts up + fgSetDouble("/engines/engine/cranking", 1); + fgSetDouble("/engines/engine/running", 1); + ls_update(multiloop); // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048); // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048); - + // translate LaRCsim back to FG structure so that the // autopilot (and the rest of the sim can use the updated // values @@ -184,14 +223,6 @@ bool FGLaRCsim::update( int multiloop ) { if ( save_alt < -9000.0 ) { set_Altitude( save_alt ); } - - double end_elev = get_Altitude(); - if ( time_step > 0.0 ) { - // feet per second - set_Climb_Rate( (end_elev - start_elev) / time_step ); - } - - return true; } @@ -259,9 +290,9 @@ bool FGLaRCsim::copy_to_LaRCsim () { // P_dot_body = get_P_dot_body(); // Q_dot_body = get_Q_dot_body(); // R_dot_body = get_R_dot_body(); - V_north = get_V_north(); - V_east = get_V_east(); - V_down = get_V_down(); + // V_north = get_V_north(); + // V_east = get_V_east(); + // V_down = get_V_down(); // V_north_rel_ground = get_V_north_rel_ground(); // V_east_rel_ground = get_V_east_rel_ground(); // V_down_rel_ground = get_V_down_rel_ground(); @@ -286,9 +317,9 @@ bool FGLaRCsim::copy_to_LaRCsim () { // V_equiv_kts = get_V_equiv_kts(); // V_calibrated = get_V_calibrated(); // V_calibrated_kts = get_V_calibrated_kts(); - P_body = get_P_body(); - Q_body = get_Q_body(); - R_body = get_R_body(); + // P_body = get_P_body(); + // Q_body = get_Q_body(); + // R_body = get_R_body(); // P_local = get_P_local(); // Q_local = get_Q_local(); // R_local = get_R_local(); @@ -301,15 +332,15 @@ bool FGLaRCsim::copy_to_LaRCsim () { // Latitude_dot = get_Latitude_dot(); // Longitude_dot = get_Longitude_dot(); // Radius_dot = get_Radius_dot(); - Lat_geocentric = get_Lat_geocentric(); - Lon_geocentric = get_Lon_geocentric(); - Radius_to_vehicle = get_Radius_to_vehicle(); - Latitude = get_Latitude(); - Longitude = get_Longitude(); - Altitude = get_Altitude(); - Phi = get_Phi(); - Theta = get_Theta(); - Psi = get_Psi(); + // Lat_geocentric = get_Lat_geocentric(); + // Lon_geocentric = get_Lon_geocentric(); + // Radius_to_vehicle = get_Radius_to_vehicle(); + // Latitude = get_Latitude(); + // Longitude = get_Longitude(); + // Altitude = get_Altitude(); + // Phi = get_Phi(); + // Theta = get_Theta(); + // Psi = get_Psi(); // T_local_to_body_11 = get_T_local_to_body_11(); // T_local_to_body_12 = get_T_local_to_body_12(); // T_local_to_body_13 = get_T_local_to_body_13(); @@ -347,9 +378,9 @@ bool FGLaRCsim::copy_to_LaRCsim () { // Dynamic_pressure = get_Dynamic_pressure(); // Static_temperature = get_Static_temperature(); // Total_temperature = get_Total_temperature(); - Sea_level_radius = get_Sea_level_radius(); - Earth_position_angle = get_Earth_position_angle(); - Runway_altitude = get_Runway_altitude(); + // Sea_level_radius = get_Sea_level_radius(); + // Earth_position_angle = get_Earth_position_angle(); + // Runway_altitude = get_Runway_altitude(); // Runway_latitude = get_Runway_latitude(); // Runway_longitude = get_Runway_longitude(); // Runway_heading = get_Runway_heading(); @@ -375,9 +406,9 @@ bool FGLaRCsim::copy_to_LaRCsim () { bool FGLaRCsim::copy_from_LaRCsim() { // Mass properties and geometry values - set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz ); + _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz ); // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot ); - set_CG_Position( Dx_cg, Dy_cg, Dz_cg ); + _set_CG_Position( Dx_cg, Dy_cg, Dz_cg ); // Forces // set_Forces_Body_Total( F_X, F_Y, F_Z ); @@ -394,70 +425,72 @@ bool FGLaRCsim::copy_from_LaRCsim() { // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear ); // Accelerations - set_Accels_Local( V_dot_north, V_dot_east, V_dot_down ); - set_Accels_Body( U_dot_body, V_dot_body, W_dot_body ); - set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg ); - set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot ); + _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down ); + _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body ); + _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg ); + _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot ); // set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg ); // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot ); // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body ); // Velocities - set_Velocities_Local( V_north, V_east, V_down ); + _set_Velocities_Local( V_north, V_east, V_down ); // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground, // V_down_rel_ground ); - // set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass, - // V_down_airmass ); + _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass, + V_down_airmass ); // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass, // V_east_rel_airmass, V_down_rel_airmass ); // set_Velocities_Gust( U_gust, V_gust, W_gust ); - set_Velocities_Wind_Body( U_body, V_body, W_body ); + _set_Velocities_Wind_Body( U_body, V_body, W_body ); - // set_V_rel_wind( V_rel_wind ); + _set_V_rel_wind( V_rel_wind ); // set_V_true_kts( V_true_kts ); // set_V_rel_ground( V_rel_ground ); // set_V_inertial( V_inertial ); - set_V_ground_speed( V_ground_speed ); + _set_V_ground_speed( V_ground_speed ); // set_V_equiv( V_equiv ); - set_V_equiv_kts( V_equiv_kts ); + _set_V_equiv_kts( V_equiv_kts ); // set_V_calibrated( V_calibrated ); - set_V_calibrated_kts( V_calibrated_kts ); + _set_V_calibrated_kts( V_calibrated_kts ); - set_Omega_Body( P_body, Q_body, R_body ); + _set_Omega_Body( P_body, Q_body, R_body ); // set_Omega_Local( P_local, Q_local, R_local ); // set_Omega_Total( P_total, Q_total, R_total ); - - set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot ); - set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot ); - set_Mach_number( Mach_number ); + _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot ); + _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot ); + + _set_Mach_number( Mach_number ); - FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << Longitude + SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude << " alt = " << Altitude << " sl_radius = " << Sea_level_radius << " radius_to_vehicle = " << Radius_to_vehicle ); double tmp_lon_geoc = Lon_geocentric; - while ( tmp_lon_geoc < -FG_PI ) { tmp_lon_geoc += FG_2PI; } - while ( tmp_lon_geoc > FG_PI ) { tmp_lon_geoc -= FG_2PI; } + while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; } + while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; } double tmp_lon = Longitude; - while ( tmp_lon < -FG_PI ) { tmp_lon += FG_2PI; } - while ( tmp_lon > FG_PI ) { tmp_lon -= FG_2PI; } + while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; } + while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; } // Positions - set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc, - Radius_to_vehicle ); - set_Geodetic_Position( Latitude, tmp_lon, Altitude ); - set_Euler_Angles( Phi, Theta, Psi ); + _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc, + Radius_to_vehicle ); + _set_Geodetic_Position( Latitude, tmp_lon, Altitude ); + _set_Euler_Angles( Phi, Theta, Psi ); + + _set_Altitude_AGL( Altitude - Runway_altitude ); // Miscellaneous quantities - set_T_Local_to_Body(T_local_to_body_m); + _set_T_Local_to_Body(T_local_to_body_m); // set_Gravity( Gravity ); // set_Centrifugal_relief( Centrifugal_relief ); - set_Alpha( Alpha ); - set_Beta( Beta ); + _set_Alpha( Alpha ); + _set_Beta( Beta ); // set_Alpha_dot( Alpha_dot ); // set_Beta_dot( Beta_dot ); @@ -466,33 +499,33 @@ bool FGLaRCsim::copy_from_LaRCsim() { // set_Cos_beta( Cos_beta ); // set_Sin_beta( Sin_beta ); - set_Cos_phi( Cos_phi ); + _set_Cos_phi( Cos_phi ); // set_Sin_phi( Sin_phi ); - set_Cos_theta( Cos_theta ); + _set_Cos_theta( Cos_theta ); // set_Sin_theta( Sin_theta ); // set_Cos_psi( Cos_psi ); // set_Sin_psi( Sin_psi ); - set_Gamma_vert_rad( Gamma_vert_rad ); + _set_Gamma_vert_rad( Gamma_vert_rad ); // set_Gamma_horiz_rad( Gamma_horiz_rad ); // set_Sigma( Sigma ); - set_Density( Density ); + _set_Density( Density ); // set_V_sound( V_sound ); // set_Mach_number( Mach_number ); - set_Static_pressure( Static_pressure ); + _set_Static_pressure( Static_pressure ); // set_Total_pressure( Total_pressure ); // set_Impact_pressure( Impact_pressure ); // set_Dynamic_pressure( Dynamic_pressure ); - set_Static_temperature( Static_temperature ); + _set_Static_temperature( Static_temperature ); // set_Total_temperature( Total_temperature ); - set_Sea_level_radius( Sea_level_radius ); - set_Earth_position_angle( Earth_position_angle ); + _set_Sea_level_radius( Sea_level_radius ); + _set_Earth_position_angle( Earth_position_angle ); - set_Runway_altitude( Runway_altitude ); + _set_Runway_altitude( Runway_altitude ); // set_Runway_latitude( Runway_latitude ); // set_Runway_longitude( Runway_longitude ); // set_Runway_heading( Runway_heading ); @@ -504,10 +537,10 @@ bool FGLaRCsim::copy_from_LaRCsim() { // D_pilot_above_rwy ); // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy ); - set_sin_lat_geocentric(Lat_geocentric); - set_cos_lat_geocentric(Lat_geocentric); - set_sin_cos_longitude(Longitude); - set_sin_cos_latitude(Latitude); + _set_sin_lat_geocentric(Lat_geocentric); + _set_cos_lat_geocentric(Lat_geocentric); + _set_sin_cos_longitude(Longitude); + _set_sin_cos_latitude(Latitude); // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc); // printf("sin_lat %f cos_lat %f\n", @@ -515,5 +548,197 @@ bool FGLaRCsim::copy_from_LaRCsim() { // printf("sin_lon %f cos_lon %f\n", // get_sin_longitude(), get_cos_longitude()); + _set_Climb_Rate( -1 * V_down ); + // cout << "climb rate = " << -V_down * 60 << endl; + + if ( !strcmp(aero->getStringValue(), "uiuc") ) { + if (pilot_elev_no) { + globals->get_controls()->set_elevator(Long_control); + globals->get_controls()->set_elevator_trim(Long_trim); + // controls.set_elevator(Long_control); + // controls.set_elevator_trim(Long_trim); + } + if (pilot_ail_no) { + globals->get_controls()->set_aileron(Lat_control); + // controls.set_aileron(Lat_control); + } + if (pilot_rud_no) { + globals->get_controls()->set_rudder(Rudder_pedal); + // controls.set_rudder(Rudder_pedal); + } + if (Throttle_pct_input) { + globals->get_controls()->set_throttle(0,Throttle_pct); + // controls.set_throttle(0,Throttle_pct); + } + } + return true; } + + +void FGLaRCsim::set_ls(void) { + Phi=lsic->GetRollAngleRadIC(); + Theta=lsic->GetPitchAngleRadIC(); + Psi=lsic->GetHeadingRadIC(); + V_north=lsic->GetVnorthFpsIC(); + V_east=lsic->GetVeastFpsIC(); + V_down=lsic->GetVdownFpsIC(); + Altitude=lsic->GetAltitudeFtIC(); + Latitude=lsic->GetLatitudeGDRadIC(); + Longitude=lsic->GetLongitudeRadIC(); + Runway_altitude=lsic->GetRunwayAltitudeFtIC(); + V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1; + V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1; + V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1; + ls_loop(0.0,-1); + copy_from_LaRCsim(); +} + +void FGLaRCsim::snap_shot(void) { + lsic->SetLatitudeGDRadIC( get_Latitude() ); + lsic->SetLongitudeRadIC( get_Longitude() ); + lsic->SetAltitudeFtIC( get_Altitude() ); + lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() ); + lsic->SetVtrueFpsIC( get_V_rel_wind() ); + lsic->SetPitchAngleRadIC( get_Theta() ); + lsic->SetRollAngleRadIC( get_Phi() ); + lsic->SetHeadingRadIC( get_Psi() ); + lsic->SetClimbRateFpsIC( get_Climb_Rate() ); + lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(), + get_V_east_airmass(), + get_V_down_airmass() ); +} + +//Positions +void FGLaRCsim::set_Latitude(double lat) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat ); + snap_shot(); + lsic->SetLatitudeGDRadIC(lat); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +void FGLaRCsim::set_Longitude(double lon) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon ); + snap_shot(); + lsic->SetLongitudeRadIC(lon); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +void FGLaRCsim::set_Altitude(double alt) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt ); + snap_shot(); + lsic->SetAltitudeFtIC(alt); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +void FGLaRCsim::set_V_calibrated_kts(double vc) { + SG_LOG( SG_FLIGHT, SG_INFO, + "FGLaRCsim::set_V_calibrated_kts: " << vc ); + snap_shot(); + lsic->SetVcalibratedKtsIC(vc); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +void FGLaRCsim::set_Mach_number(double mach) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach ); + snap_shot(); + lsic->SetMachIC(mach); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){ + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: " + << north << " " << east << " " << down ); + snap_shot(); + lsic->SetVNEDFpsIC(north, east, down); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){ + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: " + << u << " " << v << " " << w ); + snap_shot(); + lsic->SetUVWFpsIC(u,v,w); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +//Euler angles +void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: " + << phi << " " << theta << " " << psi ); + + snap_shot(); + lsic->SetPitchAngleRadIC(theta); + lsic->SetRollAngleRadIC(phi); + lsic->SetHeadingRadIC(psi); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +//Flight Path +void FGLaRCsim::set_Climb_Rate( double roc) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc ); + snap_shot(); + lsic->SetClimbRateFpsIC(roc); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +void FGLaRCsim::set_Gamma_vert_rad( double gamma) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma ); + snap_shot(); + lsic->SetFlightPathAngleRadIC(gamma); + set_ls(); + copy_from_LaRCsim(); //update the bus +} + +void FGLaRCsim::set_AltitudeAGL(double altagl) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl ); + snap_shot(); + lsic->SetAltitudeAGLFtIC(altagl); + set_ls(); + copy_from_LaRCsim(); +} + +/* getting a namespace conflict... +void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth, + double weast, + double wdown ) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: " + << wnorth << " " << weast << " " << wdown ); + snap_shot(); + lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown ); + set_ls(); + copy_from_LaRCsim(); +} +*/ + +void FGLaRCsim::set_Static_pressure(double p) { + SG_LOG( SG_FLIGHT, SG_INFO, + "FGLaRCsim::set_Static_pressure: " << p ); + SG_LOG( SG_FLIGHT, SG_INFO, + "LaRCsim does not support externally supplied atmospheric data" ); +} + +void FGLaRCsim::set_Static_temperature(double T) { + SG_LOG( SG_FLIGHT, SG_INFO, + "FGLaRCsim::set_Static_temperature: " << T ); + SG_LOG( SG_FLIGHT, SG_INFO, + "LaRCsim does not support externally supplied atmospheric data" ); + +} + +void FGLaRCsim::set_Density(double rho) { + SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho ); + SG_LOG( SG_FLIGHT, SG_INFO, + "LaRCsim does not support externally supplied atmospheric data" ); + +} +