X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FYASim%2FYASim.cxx;h=88937ed2db0834066d5853ab5cce05c79844ec8b;hb=d0af0c5f58b2d7c00c3ad9d02363f95fd63a1c7b;hp=166b56656afccbddc7397582756317fa136b475a;hpb=93c69c4bc348b899eebc278e978ad518cdb4d780;p=flightgear.git

diff --git a/src/FDM/YASim/YASim.cxx b/src/FDM/YASim/YASim.cxx
index 166b56656..88937ed2d 100644
--- a/src/FDM/YASim/YASim.cxx
+++ b/src/FDM/YASim/YASim.cxx
@@ -1,11 +1,13 @@
-#include <stdio.h>
-
-#include <simgear/misc/sg_path.hxx>
 #include <simgear/debug/logstream.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/scene/model/location.hxx>
+#include <simgear/scene/model/placement.hxx>
 #include <simgear/xml/easyxml.hxx>
+
 #include <Main/globals.hxx>
 #include <Main/fg_props.hxx>
-#include <Scenery/scenery.hxx>
+#include <Model/acmodel.hxx>
 
 #include "FGFDM.hpp"
 #include "Atmosphere.hpp"
@@ -22,7 +24,9 @@
 
 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;
@@ -30,36 +34,12 @@ static const float MPS2KTS = 3600.0/1852.0;
 static const float CM2GALS = 264.172037284; // gallons/cubic meter
 static const float KG2LBS = 2.20462262185;
 static const float W2HP = 1.3416e-3;
-
-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"));
-    }
-}
+static const float INHG2PA = 3386.389;
+static const float SLUG2KG = 14.59390;
 
 YASim::YASim(double dt)
 {
-    set_delta_t(dt);
+//     set_delta_t(dt);
     _fdm = new FGFDM();
 
     _dt = dt;
@@ -76,16 +56,18 @@ void YASim::report()
     float drag = 1000 * a->getDragCoefficient();
 
     SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
-    SG_LOG(SG_FLIGHT,SG_INFO,"      Iterations: "<<a->getSolutionIterations());
-    SG_LOG(SG_FLIGHT,SG_INFO,"Drag Coefficient: "<< drag);
-    SG_LOG(SG_FLIGHT,SG_INFO,"      Lift Ratio: "<<a->getLiftRatio());
-    SG_LOG(SG_FLIGHT,SG_INFO,"      Cruise AoA: "<< aoa);
-    SG_LOG(SG_FLIGHT,SG_INFO,"  Tail Incidence: "<< tail);
+    SG_LOG(SG_FLIGHT,SG_INFO,"       Iterations: "<<a->getSolutionIterations());
+    SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
+    SG_LOG(SG_FLIGHT,SG_INFO,"       Lift Ratio: "<<a->getLiftRatio());
+    SG_LOG(SG_FLIGHT,SG_INFO,"       Cruise AoA: "<< aoa);
+    SG_LOG(SG_FLIGHT,SG_INFO,"   Tail Incidence: "<< tail);
+    SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
+    
 
     float cg[3];
     char buf[256];
     a->getModel()->getBody()->getCG(cg);
-    sprintf(buf, "            CG: %.1f, %.1f, %.1f", cg[0], cg[1], cg[2]);
+    sprintf(buf, "            CG: %.3f, %.3f, %.3f", cg[0], cg[1], cg[2]);
     SG_LOG(SG_FLIGHT, SG_INFO, buf);
 
     if(a->getFailureMsg()) {
@@ -111,7 +93,6 @@ 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()
@@ -124,9 +105,23 @@ void YASim::init()
 
     m->setCrashed(false);
 
+    // Figure out the initial speed type
+    string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
+    if (speed_set == "NED")
+        _speed_set = NED;
+    else if (speed_set == "UVW")
+        _speed_set = UVW;
+    else if (speed_set == "knots")
+        _speed_set = KNOTS;
+    else if (speed_set == "mach")
+        _speed_set = MACH;
+    else {
+        _speed_set = UVW;
+        SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
+    }
+
     // 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);
@@ -148,21 +143,23 @@ void YASim::init()
 	node->setDoubleValue("yoffset-in", pos[1]);
 	node->setDoubleValue("zoffset-in", pos[2]);
     }
-    for(i=0; i<m->numThrusters(); 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);
+//     for(i=0; i<m->numThrusters(); i++) {
+// 	// Sanify the initial input conditions
+// 	char buf[64];
+//  	sprintf(buf, "/controls/engines/engine[%d]/throttle", i);        fgSetFloat(buf, 0);
+// 	sprintf(buf, "/controls/engines/engine[%d]/mixture", i);         fgSetFloat(buf, 1);
+// 	sprintf(buf, "/controls/engines/engine[%d]/propeller-pitch", i); fgSetFloat(buf, 1);
+// 	sprintf(buf, "/controls/engines/engine[%d]/augmentation", i);     fgSetFloat(buf, 0);
+//     }
+
+//     fgSetFloat("/controls/flight/slats", 0);
+//     fgSetFloat("/controls/flight/spoilers", 0);
 
     // Are we at ground level?  If so, lift the plane up so the gear
-    // clear the ground
-    if(get_Altitude() - get_Runway_altitude() < 50) {
+    // clear the ground.
+    double runway_altitude = get_Runway_altitude();
+    if(get_Altitude() - runway_altitude < 50) {
+        fgSetBool("/controls/gear/gear-down", false);
 	float minGearZ = 1e18;
 	for(i=0; i<a->numGear(); i++) {
 	    Gear* g = a->getGear(i);
@@ -171,15 +168,16 @@ void YASim::init()
 	    if(pos[2] < minGearZ)
 		minGearZ = pos[2];
 	}
-	_set_Altitude(get_Runway_altitude() - minGearZ*M2FT);
+	_set_Altitude(runway_altitude - minGearZ*M2FT);
+	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]);
+//     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;
@@ -187,24 +185,30 @@ void YASim::init()
     copyToYASim(true);
 
     _fdm->getExternalInput();
-    _fdm->getAirplane()->stabilizeThrust();
+    _fdm->getAirplane()->initEngines();
 
     set_inited(true);
 }
 
-void YASim::update(int iterations)
+void YASim::update(double dt)
 {
+    if (is_suspended())
+        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; i<iterations; i++) {
-	    copyToYASim(false);
-	    _fdm->iterate(_dt);
-	    copyFromYASim();
-
-	    printDEBUG();
+        copyToYASim(false);
+        _fdm->iterate(_dt);
+        copyFromYASim();
     }
 }
 
@@ -220,23 +224,18 @@ void YASim::copyToYASim(bool copyState)
 
     // Environment
     float wind[3];
-    wind[0] = get_V_north_airmass() * FT2M;
-    wind[1] = get_V_east_airmass() * FT2M;
-    wind[2] = get_V_down_airmass() * FT2M;
-
-    // The ground elevation doesn't come from FGInterface; query it
-    // from the scenery and set it for others to find.
-    double ground = scenery.get_cur_elev();
-    _set_Runway_altitude(ground * FT2M);
+    wind[0] = get_V_north_airmass() * FT2M * -1.0;
+    wind[1] = get_V_east_airmass() * FT2M * -1.0;
+    wind[2] = get_V_down_airmass() * FT2M * -1.0;
+
+    // Get ground elevation from the FGinterface's FGlocation data
+    double ground = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m();
     // cout << "YASIM: ground = " << ground << endl;
 
-    // You'd this this would work, but it doesn't.  These values are
-    // always zero.  Use a "standard" pressure intstead.
-    //
-    // float pressure = get_Static_pressure();
-    // float temp = get_Static_temperature();
-    float pressure = Atmosphere::getStdPressure(alt);
-    float temp = Atmosphere::getStdTemperature(alt);
+    float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
+    float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
+    float dens = fgGetFloat("/environment/density-slugft3") 
+        * SLUG2KG * M2FT*M2FT*M2FT;
 
     // Convert and set:
     Model* model = _fdm->getAirplane()->getModel();
@@ -245,16 +244,54 @@ 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);
     Math::mmul33(s.orient, xyz2ned, s.orient);
 
-    // Copy in the existing velocity for now...
-    Math::set3(model->getState()->v, s.v);
+    // Velocity
+    string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
+    float v[3];
+    bool needCopy = false;
+    switch (_speed_set) {
+    case NED:
+        v[0] = get_V_north() * FT2M * -1.0;
+        v[1] = get_V_east() * FT2M * -1.0;
+        v[2] = get_V_down() * FT2M * -1.0;
+        break;
+    case UVW:
+        v[0] = get_uBody() * FT2M;
+        v[1] = get_vBody() * FT2M;
+        v[2] = get_wBody() * FT2M;
+        Math::tmul33(s.orient, v, v);
+        break;
+    case KNOTS:
+        v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
+                                       pressure, temp);
+        v[1] = 0;
+        v[2] = 0;
+        Math::tmul33(s.orient, v, v);
+        needCopy = true;
+        break;
+    case MACH:
+        v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
+        v[1] = 0;
+        v[2] = 0;
+        Math::tmul33(s.orient, v, v);
+        needCopy = true;
+        break;
+    default:
+        v[0] = 0;
+        v[1] = 0;
+        v[2] = 0;
+        break;
+    }
+    if (!copyState)
+        _speed_set = UVW;       // change to this after initial setting
+    Math::set3(v, s.v);
 
-    if(copyState)
+    if(copyState || needCopy)
 	model->setState(&s);
 
     // wind
@@ -265,15 +302,15 @@ 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];
     model->setGroundPlane(gplane, rad);
 
     // air
-    model->setAir(pressure, temp);
+    model->setAir(pressure, temp, dens);
 }
 
 // All the settables:
@@ -329,7 +366,7 @@ 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
@@ -354,16 +391,22 @@ void YASim::copyFromYASim()
 
     // _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
 
-    Math::vmul33(s->orient, s->v, v);
+    // Airflow velocity.
+    float wind[3];
+    wind[0] = get_V_north_airmass() * FT2M * -1.0;  // Wind in NED
+    wind[1] = get_V_east_airmass() * FT2M * -1.0;
+    wind[2] = get_V_down_airmass() * FT2M * -1.0;
+    Math::tmul33(xyz2ned, wind, wind);              // Wind in global
+    Math::sub3(s->v, wind, v);                      // V - wind in global
+    Math::vmul33(s->orient, v, v);               // to body coordinates
     _set_Velocities_Wind_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
     _set_V_rel_wind(Math::mag3(v)*M2FT); // units?
 
-    // These don't work, use a dummy based on altitude
-    // float P = get_Static_pressure();
-    // float T = get_Static_temperature();
-    float P = Atmosphere::getStdPressure(alt);
-    float T = Atmosphere::getStdTemperature(alt);
-    _set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T)*MPS2KTS);
+    float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
+    float T = fgGetDouble("/environment/temperature-degC") + 273.15;
+    float D = fgGetFloat("/environment/density-slugft3")
+        *SLUG2KG * M2FT*M2FT*M2FT;
+    _set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T, D)*MPS2KTS);
     _set_V_calibrated_kts(Atmosphere::calcVCAS(v[0], P, T)*MPS2KTS);
     _set_Mach_number(Atmosphere::calcMach(v[0], T));
 
@@ -376,7 +419,12 @@ void YASim::copyFromYASim()
     _set_Accels_CG_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
 
     _fdm->getAirplane()->getPilotAccel(v);
-    _set_Accels_Pilot_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
+    _set_Accels_Pilot_Body(-M2FT*v[0], M2FT*v[1], M2FT*v[2]);
+
+    // There is no property for pilot G's, but I need it for a panel
+    // instrument.  Hack this in here, and REMOVE IT WHEN IT FINDS A
+    // REAL HOME!
+    fgSetFloat("/accelerations/pilot-g", -v[2]/9.8);
 
     // The one appears (!) to want inverted pilot acceleration
     // numbers, in G's...
@@ -394,6 +442,8 @@ 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
@@ -410,19 +460,15 @@ void YASim::copyFromYASim()
 	SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 	node->setBoolValue("has-brake", g->getBrake() != 0);
 	node->setBoolValue("wow", g->getCompressFraction() != 0);
-	node->setBoolValue("position", g->getExtension());
+	node->setFloatValue("compression-norm", g->getCompressFraction());
     }
 
     for(i=0; i<model->numThrusters(); i++) {
         SGPropertyNode * node = fgGetNode("engines/engine", i, true);
         Thruster* t = model->getThruster(i);
 
-	node->setBoolValue("running", true);
-	node->setBoolValue("cranking", false);
-
-        // Note: assumes all tanks have the same fuel density!
-	node->setDoubleValue("fuel-flow-gph", CM2GALS * t->getFuelFlow()
-			     / airplane->getFuelDensity(0));
+	node->setBoolValue("running", t->isRunning());
+	node->setBoolValue("cranking", t->isCranking());
 
         float tmp[3];
         t->getThrust(tmp);