X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FLaRCsim.cxx;h=47c6bfa93079a73b4cb050749a872e9635185469;hb=7a235abecdb3b17580ed81bd69d20a55b1c8b4e6;hp=e3134d337517577be630ace1b1da2ced72a54e49;hpb=7cc98ad15f7295cc3665abe6a0d419bf84ada3ac;p=flightgear.git diff --git a/src/FDM/LaRCsim.cxx b/src/FDM/LaRCsim.cxx index e3134d337..47c6bfa93 100644 --- a/src/FDM/LaRCsim.cxx +++ b/src/FDM/LaRCsim.cxx @@ -38,24 +38,22 @@ #include "LaRCsim.hxx" FGLaRCsim::FGLaRCsim(void) { - ls_toplevel_init( 0.0, (char *)globals->get_options()->get_aircraft().c_str() ); - lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is - copy_to_LaRCsim(); // initialize all of LaRCsim's vars - //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; - - - + ls_toplevel_init( 0.0, + (char *)globals->get_options()->get_aircraft().c_str() ); + lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is + copy_to_LaRCsim(); // initialize all of LaRCsim's vars + //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; } FGLaRCsim::~FGLaRCsim(void) { - if(lsic != NULL) { - delete lsic; - } + if(lsic != NULL) { + delete lsic; + } } // Initialize the LaRCsim flight model, dt is the time increment for @@ -71,7 +69,7 @@ bool FGLaRCsim::init( double dt ) { // update the engines interface FGEngInterface e; add_engine( e ); - + // FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::init()" ); @@ -87,7 +85,6 @@ bool FGLaRCsim::init( double dt ) { // actual LaRCsim top level init // ls_toplevel_init( dt, (char *)globals->get_options()->get_aircraft().c_str() ); - FG_LOG( FG_FLIGHT, FG_INFO, "FG pos = " << get_Latitude() ); @@ -116,9 +113,9 @@ bool FGLaRCsim::update( int multiloop ) { eng.set_Throttle_Lever_Pos( 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 ); + eng.set_Mixture_Lever_Pos( controls.get_mixture( 0 ) * 100.0 ); } else { - eng.set_Mixture_Lever_Pos( 60.0 ); + eng.set_Mixture_Lever_Pos( 60.0 ); } // update engine model @@ -134,16 +131,20 @@ bool FGLaRCsim::update( int multiloop ) { e->set_MaxHP( eng.get_MaxHP() ); e->set_Percentage_Power( eng.get_Percentage_Power() ); e->set_EGT( eng.get_EGT() ); + e->set_CHT( eng.get_CHT() ); e->set_prop_thrust( eng.get_prop_thrust_SI() ); #if 0 - FG_LOG( FG_FLIGHT, FG_INFO, "Throttle = " << controls.get_throttle( 0 ) * 100.0); + FG_LOG( FG_FLIGHT, FG_INFO, "Throttle = " + << controls.get_throttle( 0 ) * 100.0); FG_LOG( FG_FLIGHT, FG_INFO, " Mixture = " << 80); FG_LOG( FG_FLIGHT, FG_INFO, " RPM = " << eng.get_RPM()); FG_LOG( FG_FLIGHT, FG_INFO, " MP = " << eng.get_Manifold_Pressure()); - FG_LOG( FG_FLIGHT, FG_INFO, " HP = " << ( eng.get_MaxHP() * eng.get_Percentage_Power()/ 100.0) ); + FG_LOG( FG_FLIGHT, FG_INFO, " HP = " + << ( eng.get_MaxHP() * eng.get_Percentage_Power()/ 100.0) ); FG_LOG( FG_FLIGHT, FG_INFO, " EGT = " << eng.get_EGT()); - FG_LOG( FG_FLIGHT, FG_INFO, " Thrust (N) " << eng.get_prop_thrust_SI()); // Thrust in Newtons + FG_LOG( FG_FLIGHT, FG_INFO, " Thrust (N) " + << eng.get_prop_thrust_SI()); // Thrust in Newtons FG_LOG( FG_FLIGHT, FG_INFO, '\n'); #endif // Hmm .. Newtons to lbs is 0.2248 ... @@ -184,8 +185,8 @@ bool FGLaRCsim::update( int multiloop ) { // Weather /* V_north_airmass = get_V_north_airmass(); - V_east_airmass = get_V_east_airmass(); - V_down_airmass = get_V_down_airmass(); */ + V_east_airmass = get_V_east_airmass(); + V_down_airmass = get_V_down_airmass(); */ // old -- FGInterface_2_LaRCsim() not needed except for Init() @@ -197,14 +198,9 @@ bool FGLaRCsim::update( int multiloop ) { ls_update(multiloop); - if(isnan(Phi)) { - busdump(); - exit(1); - } - // 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 @@ -430,14 +426,14 @@ bool FGLaRCsim::copy_from_LaRCsim() { _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_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 ); @@ -450,7 +446,7 @@ bool FGLaRCsim::copy_from_LaRCsim() { _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 ); @@ -471,7 +467,7 @@ bool FGLaRCsim::copy_from_LaRCsim() { // Positions _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc, - Radius_to_vehicle ); + Radius_to_vehicle ); _set_Geodetic_Position( Latitude, tmp_lon, Altitude ); _set_Euler_Angles( Phi, Theta, Psi ); @@ -548,159 +544,188 @@ bool FGLaRCsim::copy_from_LaRCsim() { 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(); - V_east_airmass = lsic->GetVeastAirmassFpsIC(); - V_down_airmass = lsic->GetVdownAirmassFpsIC(); - ls_loop(0.0,-1); - copy_from_LaRCsim(); - FG_LOG( FG_FLIGHT, FG_INFO, " FGLaRCsim::set_ls(): " ); - FG_LOG( FG_FLIGHT, FG_INFO, " Phi: " << Phi ); - FG_LOG( FG_FLIGHT, FG_INFO, " Theta: " << Theta ); - FG_LOG( FG_FLIGHT, FG_INFO, " Psi: " << Psi ); - FG_LOG( FG_FLIGHT, FG_INFO, " V_north: " << V_north ); - FG_LOG( FG_FLIGHT, FG_INFO, " V_east: " << V_east ); - FG_LOG( FG_FLIGHT, FG_INFO, " V_down: " << V_down ); - FG_LOG( FG_FLIGHT, FG_INFO, " Altitude: " << Altitude ); - FG_LOG( FG_FLIGHT, FG_INFO, " Latitude: " << Latitude ); - FG_LOG( FG_FLIGHT, FG_INFO, " Longitude: " << Longitude ); - FG_LOG( FG_FLIGHT, FG_INFO, " Runway_altitude: " << Runway_altitude ); - FG_LOG( FG_FLIGHT, FG_INFO, " V_north_airmass: " << V_north_airmass ); - FG_LOG( FG_FLIGHT, FG_INFO, " V_east_airmass: " << V_east_airmass ); - FG_LOG( FG_FLIGHT, FG_INFO, " V_down_airmass: " << V_down_airmass ); + 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(); + V_east_airmass = lsic->GetVeastAirmassFpsIC(); + V_down_airmass = lsic->GetVdownAirmassFpsIC(); + ls_loop(0.0,-1); + copy_from_LaRCsim(); + FG_LOG( FG_FLIGHT, FG_INFO, " FGLaRCsim::set_ls(): " ); + FG_LOG( FG_FLIGHT, FG_INFO, " Phi: " << Phi ); + FG_LOG( FG_FLIGHT, FG_INFO, " Theta: " << Theta ); + FG_LOG( FG_FLIGHT, FG_INFO, " Psi: " << Psi ); + FG_LOG( FG_FLIGHT, FG_INFO, " V_north: " << V_north ); + FG_LOG( FG_FLIGHT, FG_INFO, " V_east: " << V_east ); + FG_LOG( FG_FLIGHT, FG_INFO, " V_down: " << V_down ); + FG_LOG( FG_FLIGHT, FG_INFO, " Altitude: " << Altitude ); + FG_LOG( FG_FLIGHT, FG_INFO, " Latitude: " << Latitude ); + FG_LOG( FG_FLIGHT, FG_INFO, " Longitude: " << Longitude ); + FG_LOG( FG_FLIGHT, FG_INFO, " Runway_altitude: " << Runway_altitude ); + FG_LOG( FG_FLIGHT, FG_INFO, " V_north_airmass: " << V_north_airmass ); + FG_LOG( FG_FLIGHT, FG_INFO, " V_east_airmass: " << V_east_airmass ); + FG_LOG( FG_FLIGHT, FG_INFO, " V_down_airmass: " << V_down_airmass ); } - //Positions +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) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Latitude: " << lat ); - lsic->SetLatitudeGDRadIC(lat); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Latitude: " << lat ); + snap_shot(); + lsic->SetLatitudeGDRadIC(lat); + set_ls(); + copy_from_LaRCsim(); //update the bus } void FGLaRCsim::set_Longitude(double lon) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Longitude: " << lon ); - lsic->SetLongitudeRadIC(lon); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Longitude: " << lon ); + snap_shot(); + lsic->SetLongitudeRadIC(lon); + set_ls(); + copy_from_LaRCsim(); //update the bus } void FGLaRCsim::set_Altitude(double alt) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Altitude: " << alt ); - lsic->SetAltitudeFtIC(alt); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_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) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_V_calibrated_kts: " << vc ); - lsic->SetVcalibratedKtsIC(vc); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_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) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Mach_number: " << mach ); - lsic->SetMachIC(mach); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_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 ){ - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_local: " - << north << " " << east << " " << down ); - lsic->SetVnorthFpsIC(north); - lsic->SetVeastFpsIC(east); - lsic->SetVdownFpsIC(down); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_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){ - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: " - << u << " " << v << " " << w ); - - lsic->SetUBodyFpsIC(u); - lsic->SetVBodyFpsIC(v); - lsic->SetWBodyFpsIC(w); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_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 ) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Euler_angles: " - << phi << " " << theta << " " << psi ); - - lsic->SetPitchAngleRadIC(theta); - lsic->SetRollAngleRadIC(phi); - lsic->SetHeadingRadIC(psi); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_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) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Climb_rate: " << roc ); - lsic->SetClimbRateFpsIC(roc); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_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) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma ); - lsic->SetFlightPathAngleRadIC(gamma); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma ); + snap_shot(); + lsic->SetFlightPathAngleRadIC(gamma); + set_ls(); + copy_from_LaRCsim(); //update the bus } void FGLaRCsim::set_Runway_altitude(double ralt) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt ); - lsic->SetRunwayAltitudeFtIC(ralt); - set_ls(); - copy_from_LaRCsim(); //update the bus + FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt ); + snap_shot(); + lsic->SetRunwayAltitudeFtIC(ralt); + set_ls(); + copy_from_LaRCsim(); //update the bus } void FGLaRCsim::set_AltitudeAGL(double altagl) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl ); - lsic->SetAltitudeAGLFtIC(altagl); - set_ls(); - copy_from_LaRCsim(); + FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl ); + snap_shot(); + lsic->SetAltitudeAGLFtIC(altagl); + set_ls(); + copy_from_LaRCsim(); } void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth, - double weast, - double wdown ) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: " - << wnorth << " " << weast << " " << wdown ); - _set_Velocities_Local_Airmass( wnorth, weast, wdown ); - set_ls(); - copy_from_LaRCsim(); + double weast, + double wdown ) { + FG_LOG( FG_FLIGHT, FG_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) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Static_pressure: " << p ); - FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" ); + FG_LOG( FG_FLIGHT, FG_INFO, + "FGLaRCsim::set_Static_pressure: " << p ); + FG_LOG( FG_FLIGHT, FG_INFO, + "LaRCsim does not support externally supplied atmospheric data" ); } void FGLaRCsim::set_Static_temperature(double T) { - FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Static_temperature: " << T ); - FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" ); + FG_LOG( FG_FLIGHT, FG_INFO, + "FGLaRCsim::set_Static_temperature: " << T ); + FG_LOG( FG_FLIGHT, FG_INFO, + "LaRCsim does not support externally supplied atmospheric data" ); } - + void FGLaRCsim::set_Density(double rho) { FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Density: " << rho ); - FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" ); + FG_LOG( FG_FLIGHT, FG_INFO, + "LaRCsim does not support externally supplied atmospheric data" ); }