X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FYASim%2FYASim.cxx;h=730d57e12d5a587df8c8468a881a650860331c3a;hb=ce91286e19d6d66b316811d04b5b66b8b768827b;hp=c43b9279540ca94256f31944017570ba0cde10bb;hpb=c7998b9940b9ffe7d99172ab1743cb70039f630b;p=flightgear.git diff --git a/src/FDM/YASim/YASim.cxx b/src/FDM/YASim/YASim.cxx index c43b92795..730d57e12 100644 --- a/src/FDM/YASim/YASim.cxx +++ b/src/FDM/YASim/YASim.cxx @@ -1,11 +1,14 @@ -#include + #include +#include +#include +#include +#include #include + #include
#include
#include -#include -#include
#include "FGFDM.hpp" #include "Atmosphere.hpp" @@ -22,7 +25,9 @@ using namespace yasim; -static const float RAD2DEG = 180/3.14159265358979323846; +static const float YASIM_PI = 3.14159265358979323846; +static const float RAD2DEG = 180/YASIM_PI; +static const float PI2 = YASIM_PI*2; static const float RAD2RPM = 9.54929658551; static const float M2FT = 3.2808399; static const float FT2M = 0.3048; @@ -33,32 +38,6 @@ static const float W2HP = 1.3416e-3; static const float INHG2PA = 3386.389; static const float SLUG2KG = 14.59390; -void YASim::printDEBUG() -{ - static int debugCount = 0; - - debugCount++; - if(debugCount >= 3) { - debugCount = 0; - -// printf("N1 %5.1f N2 %5.1f FF %7.1f EPR %4.2f EGT %6.1f\n", -// fgGetFloat("/engines/engine[0]/n1"), -// fgGetFloat("/engines/engine[0]/n2"), -// fgGetFloat("/engines/engine[0]/fuel-flow-gph"), -// fgGetFloat("/engines/engine[0]/epr"), -// fgGetFloat("/engines/engine[0]/egt")); - -// printf("gear: %f\n", fgGetFloat("/controls/gear-down")); - -// printf("alpha %5.1f beta %5.1f\n", get_Alpha()*57.3, get_Beta()*57.3); - -// printf("pilot: %f %f %f\n", -// fgGetDouble("/sim/view/pilot/x-offset-m"), -// fgGetDouble("/sim/view/pilot/y-offset-m"), -// fgGetDouble("/sim/view/pilot/z-offset-m")); - } -} - YASim::YASim(double dt) { // set_delta_t(dt); @@ -115,7 +94,6 @@ void YASim::bind() sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf); sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf); } - } void YASim::init() @@ -144,8 +122,7 @@ void YASim::init() } // Build a filename and parse it - SGPath f(globals->get_fg_root()); - f.append("Aircraft-yasim"); + SGPath f(fgGetString("/sim/aircraft-dir")); f.append(fgGetString("/sim/aero")); f.concat(".xml"); readXML(f.str(), *_fdm); @@ -167,23 +144,12 @@ void YASim::init() node->setDoubleValue("yoffset-in", pos[1]); node->setDoubleValue("zoffset-in", pos[2]); } - for(i=0; inumThrusters(); i++) { - // Sanify the initial input conditions - char buf[64]; - sprintf(buf, "/controls/throttle[%d]", i); fgSetFloat(buf, 0); - sprintf(buf, "/controls/mixture[%d]", i); fgSetFloat(buf, 1); - sprintf(buf, "/controls/propeller-pitch[%d]", i); fgSetFloat(buf, 1); - sprintf(buf, "/controls/afterburner[%d]", i); fgSetFloat(buf, 0); - } - - fgSetFloat("/controls/slats", 0); - fgSetFloat("/controls/spoilers", 0); // Are we at ground level? If so, lift the plane up so the gear // clear the ground. double runway_altitude = get_Runway_altitude(); - fgSetBool("/controls/gear-down", false); if(get_Altitude() - runway_altitude < 50) { + fgSetBool("/controls/gear/gear-down", false); float minGearZ = 1e18; for(i=0; inumGear(); i++) { Gear* g = a->getGear(i); @@ -193,16 +159,9 @@ void YASim::init() minGearZ = pos[2]; } _set_Altitude(runway_altitude - minGearZ*M2FT); - fgSetBool("/controls/gear-down", true); + fgSetBool("/controls/gear/gear-down", true); } - // The pilot's eyepoint - float pilot[3]; - a->getPilotPos(pilot); -// fgSetFloat("/sim/view/pilot/x-offset-m", -pilot[0]); -// fgSetFloat("/sim/view/pilot/y-offset-m", -pilot[1]); -// fgSetFloat("/sim/view/pilot/z-offset-m", pilot[2]); - // Blank the state, and copy in ours State s; m->setState(&s); @@ -217,21 +176,22 @@ void YASim::init() void YASim::update(double dt) { if (is_suspended()) - return; + return; int iterations = _calc_multiloop(dt); // If we're crashed, then we don't care - if(_fdm->getAirplane()->getModel()->isCrashed()) - return; + if(_fdm->getAirplane()->getModel()->isCrashed()) { + if(!fgGetBool("/sim/crashed")) + fgSetBool("/sim/crashed", true); + return; + } int i; for(i=0; iiterate(_dt); - copyFromYASim(); - - printDEBUG(); + copyToYASim(false); + _fdm->iterate(_dt); + copyFromYASim(); } } @@ -252,7 +212,7 @@ void YASim::copyToYASim(bool copyState) wind[2] = get_V_down_airmass() * FT2M * -1.0; // Get ground elevation from the FGinterface's FGlocation data - double ground = getACModel()->get3DModel()->getFGLocation()->get_cur_elev_m(); + double ground = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m(); // cout << "YASIM: ground = " << ground << endl; float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA; @@ -267,7 +227,7 @@ void YASim::copyToYASim(bool copyState) Glue::xyz2nedMat(lat, lon, xyz2ned); // position - Glue::geod2xyz(lat, lon, alt, s.pos); + sgGeodToCart(lat, lon, alt, s.pos); // orientation Glue::euler2orient(roll, pitch, hdg, s.orient); @@ -325,8 +285,8 @@ void YASim::copyToYASim(bool copyState) // us, find the (geodetic) up vector normal to the ground, then // use that to find the final (radius) term of the plane equation. double xyz[3], gplane[3]; float up[3]; - Glue::geod2xyz(lat, lon, ground, xyz); - Glue::geodUp(xyz, up); // FIXME, needless reverse computation... + sgGeodToCart(lat, lon, ground, xyz); + Glue::geodUp(lat, lon, up); // FIXME, needless reverse computation... int i; for(i=0; i<3; i++) gplane[i] = up[i]; double rad = gplane[0]*xyz[0] + gplane[1]*xyz[1] + gplane[2]*xyz[2]; @@ -389,7 +349,7 @@ void YASim::copyFromYASim() // position double lat, lon, alt; - Glue::xyz2geod(s->pos, &lat, &lon, &alt); + sgCartToGeod(s->pos, &lat, &lon, &alt); _set_Geodetic_Position(lat, lon, alt*M2FT); // UNUSED @@ -465,6 +425,8 @@ void YASim::copyFromYASim() Math::mmul33(s->orient, tmp, tmp); float roll, pitch, hdg; Glue::orient2euler(tmp, &roll, &pitch, &hdg); + // make heading positive value + if(hdg < 0.0) hdg += PI2; _set_Euler_Angles(roll, pitch, hdg); // rotation