X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FMagicCarpet.cxx;h=8450c45b37380de66d4b26615e8679a728f5edd9;hb=01f846feb21b457fe6cb59871f012cf9ad8d1828;hp=12a018e3dbc9ef59b9f83b9e0a0ae2219b379ddc;hpb=47c3f4182886fa790d074b76b3225f59f5918200;p=flightgear.git

diff --git a/src/FDM/MagicCarpet.cxx b/src/FDM/MagicCarpet.cxx
index 12a018e3d..8450c45b3 100644
--- a/src/FDM/MagicCarpet.cxx
+++ b/src/FDM/MagicCarpet.cxx
@@ -26,72 +26,89 @@
 #include <simgear/math/polar3d.hxx>
 
 #include <Controls/controls.hxx>
-#include <Main/options.hxx>
+#include <Main/globals.hxx>
+#include <Main/fg_props.hxx>
 
 #include "MagicCarpet.hxx"
 
 
+FGMagicCarpet::FGMagicCarpet( double dt ) {
+//     set_delta_t( dt );
+}
+
+
+FGMagicCarpet::~FGMagicCarpet() {
+}
+
+
 // Initialize the Magic Carpet flight model, dt is the time increment
 // for each subsequent iteration through the EOM
-bool FGMagicCarpet::init( double dt ) {
-    // set valid time for this record
-    stamp_time();
-
-    return true;
+void FGMagicCarpet::init() {
+    common_init();
 }
 
 
 // Run an iteration of the EOM (equations of motion)
-bool FGMagicCarpet::update( int multiloop ) {
+void FGMagicCarpet::update( double dt ) {
     // cout << "FGLaRCsim::update()" << endl;
 
-    double time_step = (1.0 / current_options.get_model_hz()) * multiloop;
+    if (is_suspended())
+      return;
+
+    int multiloop = _calc_multiloop(dt);
+
+    double time_step = dt;
 
     // speed and distance traveled
-    double speed = controls.get_throttle( 0 ) * 2000; // meters/sec
+    double speed = globals->get_controls()->get_throttle( 0 ) * 2000; // meters/sec
+    if ( globals->get_controls()->get_brake( 0 ) ) {
+        speed = -speed;
+    }
+
     double dist = speed * time_step;
-    double kts = speed * METER_TO_NM * 3600.0;
-    set_V_equiv_kts( kts );
-    set_V_calibrated_kts( kts );
-    set_V_ground_speed( kts );
-    set_Mach_number(0);
+    double kts = speed * SG_METER_TO_NM * 3600.0;
+    _set_V_equiv_kts( kts );
+    _set_V_calibrated_kts( kts );
+    _set_V_ground_speed( kts );
 
     // angle of turn
-    double turn_rate = controls.get_aileron() * FG_PI_4; // radians/sec
+    double turn_rate = globals->get_controls()->get_aileron() * SGD_PI_4; // radians/sec
     double turn = turn_rate * time_step;
 
     // update euler angles
-    set_Euler_Angles( get_Phi(), get_Theta(), fmod(get_Psi() + turn, FG_2PI) );
-    set_Euler_Rates(0,0,0);
+    _set_Euler_Angles( get_Phi(), get_Theta(),
+                       fmod(get_Psi() + turn, SGD_2PI) );
+    _set_Euler_Rates(0,0,0);
 
     // update (lon/lat) position
     double lat2, lon2, az2;
-    geo_direct_wgs_84 ( get_Altitude(),
-			get_Latitude() * RAD_TO_DEG,
-			get_Longitude() * RAD_TO_DEG,
-			get_Psi() * RAD_TO_DEG,
-			dist, &lat2, &lon2, &az2 );
-    set_Longitude( lon2 * DEG_TO_RAD );
-    set_Latitude( lat2 * DEG_TO_RAD );
-
-    // cout << "lon error = " << fabs(end.x()*RAD_TO_DEG - lon2)
-    //      << "  lat error = " << fabs(end.y()*RAD_TO_DEG - lat2)
+    if ( fabs( speed ) > SG_EPSILON ) {
+	geo_direct_wgs_84 ( get_Altitude(),
+			    get_Latitude() * SGD_RADIANS_TO_DEGREES,
+			    get_Longitude() * SGD_RADIANS_TO_DEGREES,
+			    get_Psi() * SGD_RADIANS_TO_DEGREES,
+			    dist, &lat2, &lon2, &az2 );
+
+	_set_Longitude( lon2 * SGD_DEGREES_TO_RADIANS );
+	_set_Latitude( lat2 * SGD_DEGREES_TO_RADIANS );
+    }
+
+    // cout << "lon error = " << fabs(end.x()*SGD_RADIANS_TO_DEGREES - lon2)
+    //      << "  lat error = " << fabs(end.y()*SGD_RADIANS_TO_DEGREES - lat2)
     //      << endl;
 
     double sl_radius, lat_geoc;
     sgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc );
 
     // update altitude
-    double real_climb_rate = -controls.get_elevator() * 5000; // feet/sec
-    set_Climb_Rate( real_climb_rate / 500.0 );
+    double real_climb_rate = -globals->get_controls()->get_elevator() * 5000; // feet/sec
+    _set_Climb_Rate( real_climb_rate / 500.0 );
     double climb = real_climb_rate * time_step;
 
-    set_Geocentric_Position( lat_geoc, get_Longitude(), 
+    _set_Geocentric_Position( lat_geoc, get_Longitude(), 
 			     sl_radius + get_Altitude() + climb );
     // cout << "sea level radius (ft) = " << sl_radius << endl;
     // cout << "(setto) sea level radius (ft) = " << get_Sea_level_radius() << endl;
-    set_Sea_level_radius( sl_radius * METER_TO_FEET);
-    set_Altitude( get_Altitude() + climb );
-
-    return true;
+    _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET);
+    _set_Altitude( get_Altitude() + climb );
 }