X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FYASim%2FYASim.cxx;h=98bf6e78f3d2c6cd05e927fa068a763851517a0c;hb=3b2d97289c7457fb693a974e8635a4b6ee3292ca;hp=6f0ca2bd6665885428c36d667ef65c561519d9a7;hpb=9f73588b31c5fd393e437d672fedd0d8b9cff94b;p=flightgear.git

diff --git a/src/FDM/YASim/YASim.cxx b/src/FDM/YASim/YASim.cxx
index 6f0ca2bd6..98bf6e78f 100644
--- a/src/FDM/YASim/YASim.cxx
+++ b/src/FDM/YASim/YASim.cxx
@@ -1,11 +1,12 @@
-#include <stdio.h>
-
-#include <simgear/misc/sg_path.hxx>
 #include <simgear/debug/logstream.hxx>
-#include <simgear/easyxml.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 +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;
@@ -30,6 +33,8 @@ 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;
+static const float INHG2PA = 3386.389;
+static const float SLUG2KG = 14.59390;
 
 void YASim::printDEBUG()
 {
@@ -39,11 +44,14 @@ void YASim::printDEBUG()
     if(debugCount >= 3) {
 	debugCount = 0;
 
-// 	printf("RPM %.1f FF %.1f\n",
-// 	       fgGetFloat("/engines/engine[0]/rpm"),
-// 	       fgGetFloat("/engines/engine[0]/fuel-flow-gph"));
+//  	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("gear: %f\n", fgGetFloat("/controls/gear/gear-down"));
 
 //    	printf("alpha %5.1f beta %5.1f\n", get_Alpha()*57.3, get_Beta()*57.3);
 
@@ -56,17 +64,12 @@ void YASim::printDEBUG()
 
 YASim::YASim(double dt)
 {
-    set_delta_t(dt);
+//     set_delta_t(dt);
     _fdm = new FGFDM();
 
-    // Because the integration method is via fourth-order Runge-Kutta,
-    // we only get an "output" state for every 4 times the internal
-    // forces are calculated.  So divide dt by four to account for
-    // this, and only run an iteration every fourth time through
-    // update.
-    _dt = dt * 4;
+    _dt = dt;
+
     _fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
-    _updateCount = 0;
 }
 
 void YASim::report()
@@ -78,16 +81,18 @@ 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()) {
@@ -97,6 +102,24 @@ void YASim::report()
     }
 }
 
+void YASim::bind()
+{
+    // Run the superclass bind to set up a bunch of property ties
+    FGInterface::bind();
+
+    // Now UNtie the ones that we are going to set ourselves.
+    fgUntie("/consumables/fuel/tank[0]/level-gal_us");
+    fgUntie("/consumables/fuel/tank[1]/level-gal_us");
+
+    char buf[256];
+    for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
+	sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
+	sprintf(buf, "/engines/engine[%d]/rpm", i);           fgUntie(buf);
+	sprintf(buf, "/engines/engine[%d]/mp-osi", i);        fgUntie(buf);
+	sprintf(buf, "/engines/engine[%d]/egt-degf", i);      fgUntie(buf);
+    }
+}
+
 void YASim::init()
 {
     Airplane* a = _fdm->getAirplane();
@@ -107,9 +130,23 @@ 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);
@@ -124,28 +161,30 @@ void YASim::init()
     int i;
     for(i=0; i<a->numGear(); i++) {
         Gear* g = a->getGear(i);
-        FGGearInterface fgg;
+	SGPropertyNode * node = fgGetNode("gear/gear", i, true);
         float pos[3];
         g->getPosition(pos);
-        fgg.SetX(pos[0]); fgg.SetY(-pos[1]); fgg.SetZ(-pos[2]);
-        add_gear_unit(fgg);
+	node->setDoubleValue("xoffset-in", pos[0]);
+	node->setDoubleValue("yoffset-in", pos[1]);
+	node->setDoubleValue("zoffset-in", pos[2]);
     }
-    for(i=0; i<m->numThrusters(); i++) {
-        FGEngInterface fge;
-        add_engine(fge);
-
-	// 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);
-    }
-    
+//     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);
@@ -154,47 +193,47 @@ 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;
     m->setState(&s);
-
     copyToYASim(true);
+
+    _fdm->getExternalInput();
+    _fdm->getAirplane()->initEngines();
+
     set_inited(true);
 }
 
-bool 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 true;
+      return;
 
     int i;
     for(i=0; i<iterations; i++) {
-        // Remember, update only every 4th call
-        _updateCount++;
-        if(_updateCount >= 4) {
-
 	    copyToYASim(false);
 	    _fdm->iterate(_dt);
 	    copyFromYASim();
 
 	    printDEBUG();
-
-            _updateCount = 0;
-        }
     }
-
-    return true; // what does this mean?
 }
 
 void YASim::copyToYASim(bool copyState)
@@ -209,18 +248,18 @@ 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;
-    double ground = get_Runway_altitude() * FT2M;
-
-    // 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);
+    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;
+
+    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();
@@ -235,10 +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
@@ -257,7 +334,7 @@ void YASim::copyToYASim(bool copyState)
     model->setGroundPlane(gplane, rad);
 
     // air
-    model->setAir(pressure, temp);
+    model->setAir(pressure, temp, dens);
 }
 
 // All the settables:
@@ -338,16 +415,22 @@ 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));
 
@@ -360,7 +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...
@@ -378,6 +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
@@ -389,43 +479,35 @@ void YASim::copyFromYASim()
 
     // Fill out our engine and gear objects
     int i;
-    for(i=0; i<get_num_gear(); i++) {
-        FGGearInterface* fgg = get_gear_unit(i);
+    for(i=0; i<airplane->numGear(); i++) {
         Gear* g = airplane->getGear(i);
-        if(g->getBrake() != 0)
-            fgg->SetBrake(true);
-        if(g->getCompressFraction() != 0)
-            fgg->SetWoW(true);
-	else
-	    fgg->SetWoW(false);
-        fgg->SetPosition(g->getExtension());
+	SGPropertyNode * node = fgGetNode("gear/gear", i, true);
+	node->setBoolValue("has-brake", g->getBrake() != 0);
+	node->setBoolValue("wow", g->getCompressFraction() != 0);
+	node->setFloatValue("compression-norm", g->getCompressFraction());
     }
 
-    for(i=0; i<get_num_engines(); i++) {
-        FGEngInterface* fge = get_engine(i);
+    for(i=0; i<model->numThrusters(); i++) {
+        SGPropertyNode * node = fgGetNode("engines/engine", i, true);
         Thruster* t = model->getThruster(i);
 
-        fge->set_Running_Flag(true);
-        fge->set_Cranking_Flag(false);
-
-        // Note: assumes all tanks have the same fuel density!
-        fge->set_Fuel_Flow(CM2GALS * t->getFuelFlow()
-                           / airplane->getFuelDensity(0));
+	node->setBoolValue("running", t->isRunning());
+	node->setBoolValue("cranking", t->isCranking());
 
         float tmp[3];
         t->getThrust(tmp);
-        fge->set_prop_thrust(Math::mag3(tmp) * KG2LBS / 9.8);
+	node->setDoubleValue("prop-thrust", Math::mag3(tmp) * KG2LBS / 9.8);
 
         PropEngine* pe = t->getPropEngine();
         if(pe) {
-            fge->set_RPM(pe->getOmega() * RAD2RPM);
+	    node->setDoubleValue("rpm", pe->getOmega() * RAD2RPM);
 
             pe->getTorque(tmp);
             float power = Math::mag3(tmp) * pe->getOmega();
-            float maxPower = pe->getPistonEngine()->getPower();
+            float maxPower = pe->getPistonEngine()->getMaxPower();
 
-            fge->set_MaxHP(maxPower * W2HP);
-            fge->set_Percentage_Power(100 * power/maxPower);
+	    node->setDoubleValue("max-hp", maxPower * W2HP);
+	    node->setDoubleValue("power-pct", 100 * power/maxPower);
         }
     }
 }