X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FYASim%2FYASim.cxx;h=88e2ed60583e855e2598bdedae5558530a3a1be8;hb=5161029fc5394e305defe2260ab5a12c47249433;hp=efa82483825f154c063c1c657adf42954d6ac8fa;hpb=0cabedaa4f8ce11bdab4d182937110d111d2590c;p=flightgear.git

diff --git a/src/FDM/YASim/YASim.cxx b/src/FDM/YASim/YASim.cxx
index efa824838..88e2ed605 100644
--- a/src/FDM/YASim/YASim.cxx
+++ b/src/FDM/YASim/YASim.cxx
@@ -1,8 +1,12 @@
-#include <simgear/misc/sg_path.hxx>
 #include <simgear/debug/logstream.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 <Model/acmodel.hxx>
 
 #include "FGFDM.hpp"
 #include "Atmosphere.hpp"
@@ -19,7 +23,9 @@
 
 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;
@@ -45,7 +51,7 @@ void YASim::printDEBUG()
 //  	       fgGetFloat("/engines/engine[0]/epr"),
 //  	       fgGetFloat("/engines/engine[0]/egt"));
 
-// 	printf("gear: %f\n", fgGetFloat("/controls/gear-down"));
+// 	printf("gear: %f\n", fgGetFloat("/controls/gear/gear-down"));
 
 //    	printf("alpha %5.1f beta %5.1f\n", get_Alpha()*57.3, get_Beta()*57.3);
 
@@ -86,7 +92,7 @@ void YASim::report()
     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()) {
@@ -122,12 +128,25 @@ void YASim::init()
 
     // Superclass hook
     common_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);
@@ -149,23 +168,23 @@ 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.
     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; i<a->numGear(); i++) {
 	    Gear* g = a->getGear(i);
@@ -175,7 +194,7 @@ 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
@@ -234,7 +253,7 @@ 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;
@@ -255,10 +274,48 @@ void YASim::copyToYASim(bool copyState)
     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
@@ -365,7 +422,7 @@ void YASim::copyFromYASim()
     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, s->v, v);               // to body coordinates
+    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?
 
@@ -386,7 +443,12 @@ 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...
@@ -404,6 +466,8 @@ 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
@@ -430,10 +494,6 @@ void YASim::copyFromYASim()
 	node->setBoolValue("running", t->isRunning());
 	node->setBoolValue("cranking", t->isCranking());
 
-        // Note: assumes all tanks have the same fuel density!
-	node->setDoubleValue("fuel-flow-gph", CM2GALS * t->getFuelFlow()
-			     / airplane->getFuelDensity(0));
-
         float tmp[3];
         t->getThrust(tmp);
 	node->setDoubleValue("prop-thrust", Math::mag3(tmp) * KG2LBS / 9.8);