X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=43b5aa03b62d6b21084263e2717e0c9c82e92403;hb=1e3f0f0050cd4860b8bf2b6ecb59ba040f8b934f;hp=46fb72403b6444bd6a982d63574e06bab8140e05;hpb=65f6e343ab83b6c48ee8a74dbf3261715543b3dd;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 46fb72403..43b5aa03b 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -1,8 +1,8 @@ -// flight.c -- a general interface to the various flight models +// flight.cxx -- a general interface to the various flight models // // Written by Curtis Olson, started May 1997. // -// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com +// Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License as @@ -23,21 +23,20 @@ #include +#include + #include #include #include +#include #include #include -#include #include
#include
+#include -#include "External.hxx" #include "flight.hxx" -#include "JSBSim.hxx" -#include "LaRCsim.hxx" -#include "Balloon.h" // base_fdm_state is the internal state that is updated in integer @@ -45,48 +44,46 @@ // world time, so we introduce cur_fdm_state which is extrapolated by // the difference between sim time and real world time -FGInterface *cur_fdm_state; +FGInterface *cur_fdm_state = 0; FGInterface base_fdm_state; inline void init_vec(FG_VECTOR_3 vec) { vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0; -} - -FGEngInterface::FGEngInterface() { - - // inputs - Throttle=0; - Mixture=0; - Prop_Advance=0; - - // outputs - RPM=0; - Manifold_Pressure=0; - MaxHP=0; - Percentage_Power=0; - EGT=0; - prop_thrust=0; } -FGEngInterface::~FGEngInterface(void) { -} - - // Constructor -FGInterface::FGInterface() { +FGInterface::FGInterface() + : remainder(0) +{ _setup(); -} +} -FGInterface::FGInterface( double dt ) { - +FGInterface::FGInterface( double dt ) + : remainder(0) +{ _setup(); - delta_t = dt; - remainder = elapsed = multi_loop = 0; } // Destructor FGInterface::~FGInterface() { -// unbind(); // FIXME: should be called explicitly + // unbind(); // FIXME: should be called explicitly +} + + +int +FGInterface::_calc_multiloop (double dt) +{ + int hz = fgGetInt("/sim/model-hz"); + int speedup = fgGetInt("/sim/speed-up"); + + dt += remainder; + remainder = 0; + double ml = dt * hz; + // Avoid roundoff problems by adding the roundoff itself. + // ... ok, two times the roundoff to have enough room. + int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON))); + remainder = (ml - multiloop) / hz; + return (multiloop * speedup); } @@ -98,6 +95,9 @@ FGInterface::~FGInterface() { void FGInterface::_setup () { + inited = false; + bound = false; + init_vec( d_pilot_rp_body_v ); init_vec( d_cg_rp_body_v ); init_vec( f_body_total_v ); @@ -118,38 +118,38 @@ FGInterface::_setup () init_vec( n_pilot_body_v ); init_vec( omega_dot_body_v ); init_vec( v_local_v ); - init_vec( v_local_rel_ground_v ); - init_vec( v_local_airmass_v ); - init_vec( v_local_rel_airmass_v ); - init_vec( v_local_gust_v ); - init_vec( v_wind_body_v ); - init_vec( omega_body_v ); - init_vec( omega_local_v ); - init_vec( omega_total_v ); + init_vec( v_local_rel_ground_v ); + init_vec( v_local_airmass_v ); + init_vec( v_local_rel_airmass_v ); + init_vec( v_local_gust_v ); + init_vec( v_wind_body_v ); + init_vec( omega_body_v ); + init_vec( omega_local_v ); + init_vec( omega_total_v ); init_vec( euler_rates_v ); - init_vec( geocentric_rates_v ); + init_vec( geocentric_rates_v ); init_vec( geocentric_position_v ); init_vec( geodetic_position_v ); init_vec( euler_angles_v ); - init_vec( d_cg_rwy_local_v ); - init_vec( d_cg_rwy_rwy_v ); - init_vec( d_pilot_rwy_local_v ); - init_vec( d_pilot_rwy_rwy_v ); + init_vec( d_cg_rwy_local_v ); + init_vec( d_cg_rwy_rwy_v ); + init_vec( d_pilot_rwy_local_v ); + init_vec( d_pilot_rwy_rwy_v ); init_vec( t_local_to_body_m[0] ); init_vec( t_local_to_body_m[1] ); init_vec( t_local_to_body_m[2] ); - + mass=i_xx=i_yy=i_zz=i_xz=0; - nlf=0; + nlf=0; v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0; v_ground_speed=v_equiv=v_equiv_kts=0; v_calibrated=v_calibrated_kts=0; - gravity=0; - centrifugal_relief=0; - alpha=beta=alpha_dot=beta_dot=0; + gravity=0; + centrifugal_relief=0; + alpha=beta=alpha_dot=beta_dot=0; cos_alpha=sin_alpha=cos_beta=sin_beta=0; cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0; - gamma_vert_rad=gamma_horiz_rad=0; + gamma_vert_rad=gamma_horiz_rad=0; sigma=density=v_sound=mach_number=0; static_pressure=total_pressure=impact_pressure=0; dynamic_pressure=0; @@ -158,88 +158,111 @@ FGInterface::_setup () runway_altitude=runway_latitude=runway_longitude=0; runway_heading=0; radius_to_rwy=0; - climb_rate=0; + climb_rate=0; sin_lat_geocentric=cos_lat_geocentric=0; sin_latitude=cos_latitude=0; sin_longitude=cos_longitude=0; altitude_agl=0; } +void +FGInterface::init () {} /** * Initialize the state of the FDM. * * Subclasses of FGInterface may do their own, additional initialization, - * but normally they should invoke this method explicitly first as - * FGInterface::init() to make sure the basic structures are set up - * properly. + * but there is some that is common to all. Normally, they should call + * this before they begin their own init to make sure the basic structures + * are set up properly. */ void -FGInterface::init () +FGInterface::common_init () { - SG_LOG(SG_FLIGHT, SG_INFO, "Start initializing FGInterface"); - - stamp(); - set_remainder(0); - - // Set initial position - SG_LOG(SG_FLIGHT, SG_INFO, "...initializing position..."); - set_Longitude(fgGetDouble("/position/longitude") * SGD_DEGREES_TO_RADIANS); - set_Latitude(fgGetDouble("/position/latitude") * SGD_DEGREES_TO_RADIANS); - double ground_elev_m = scenery.cur_elev + 1; - double ground_elev_ft = ground_elev_m * METERS_TO_FEET; - if (fgGetBool("/sim/startup/onground") || - fgGetDouble("/position/altitude") < ground_elev_ft) - fgSetDouble("/position/altitude", ground_elev_ft); - set_Altitude(fgGetDouble("/position/altitude")); - - // Set ground elevation - SG_LOG(SG_FLIGHT, SG_INFO, - "...initializing ground elevation to " - << ground_elev_ft << "ft..."); - fgFDMSetGroundElevation("jsb", ground_elev_m); - - // Set sea-level radius - SG_LOG(SG_FLIGHT, SG_INFO, "...initializing sea-level radius..."); - double sea_level_radius_meters; - double lat_geoc; - sgGeodToGeoc(get_Latitude(), get_Altitude(), - &sea_level_radius_meters, &lat_geoc); - set_Sea_level_radius(sea_level_radius_meters * SG_METER_TO_FEET); - - // Set initial velocities - SG_LOG(SG_FLIGHT, SG_INFO, "...initializing velocities..."); - if (!fgHasValue("/sim/startup/speed-set")) { - set_V_calibrated_kts(0.0); - } else { - const string speedset = fgGetString("/sim/startup/speed-set"); - if (speedset == "knots" || speedset == "KNOTS") { - set_V_calibrated_kts(fgGetDouble("/velocities/airspeed")); - } else if (speedset == "mach" || speedset == "MACH") { - set_Mach_number(fgGetDouble("/velocities/mach")); - } else if (speedset == "UVW" || speedset == "uvw") { - set_Velocities_Wind_Body(fgGetDouble("/velocities/uBody"), - fgGetDouble("/velocities/vBody"), - fgGetDouble("/velocities/wBody")); - } else if (speedset == "NED" || speedset == "ned") { - set_Velocities_Local(fgGetDouble("/velocities/speed-north"), - fgGetDouble("/velocities/speed-east"), - fgGetDouble("/velocities/speed-down")); + SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" ); + + set_inited( true ); + +// stamp(); +// set_remainder( 0 ); + + // Set initial position + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." ); + double lon = fgGetDouble("/sim/presets/longitude-deg") + * SGD_DEGREES_TO_RADIANS; + double lat = fgGetDouble("/sim/presets/latitude-deg") + * SGD_DEGREES_TO_RADIANS; + double alt_ft = fgGetDouble("/sim/presets/altitude-ft"); + double alt_m = alt_ft * SG_FEET_TO_METER; + set_Longitude( lon ); + set_Latitude( lat ); + + double ground_elev_m = get_groundlevel_m(lat, lon, alt_m); + double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET; + _set_Runway_altitude ( ground_elev_ft ); + if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) { + fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1); + set_Altitude( ground_elev_ft + 0.1); } else { - SG_LOG(SG_FLIGHT, SG_ALERT, - "Unrecognized value for /sim/startup/speed-set: " << speedset); - set_V_calibrated_kts(0.0); + set_Altitude( alt_ft ); } - } - // Set initial Euler angles - SG_LOG(SG_FLIGHT, SG_INFO, "...initializing Euler angles..."); - set_Euler_Angles - (fgGetDouble("/orientation/roll") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/orientation/pitch") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/orientation/heading") * SGD_DEGREES_TO_RADIANS); + // Set ground elevation + SG_LOG( SG_FLIGHT, SG_INFO, + "...initializing ground elevation to " << ground_elev_ft + << "ft..." ); - SG_LOG(SG_FLIGHT, SG_INFO, "End initializing FGInterface"); + // Set sea-level radius + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." ); + SG_LOG( SG_FLIGHT, SG_INFO, " lat = " + << fgGetDouble("/sim/presets/latitude-deg") + << " alt = " << get_Altitude() ); + double sea_level_radius_meters; + double lat_geoc; + sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg") + * SGD_DEGREES_TO_RADIANS, + get_Altitude() * SG_FEET_TO_METER, + &sea_level_radius_meters, &lat_geoc ); + _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET ); + + // Set initial velocities + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." ); + if ( !fgHasNode("/sim/presets/speed-set") ) { + set_V_calibrated_kts(0.0); + } else { + const string speedset = fgGetString("/sim/presets/speed-set"); + if ( speedset == "knots" || speedset == "KNOTS" ) { + set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") ); + } else if ( speedset == "mach" || speedset == "MACH" ) { + set_Mach_number( fgGetDouble("/sim/presets/mach") ); + } else if ( speedset == "UVW" || speedset == "uvw" ) { + set_Velocities_Wind_Body( + fgGetDouble("/sim/presets/uBody-fps"), + fgGetDouble("/sim/presets/vBody-fps"), + fgGetDouble("/sim/presets/wBody-fps") ); + } else if ( speedset == "NED" || speedset == "ned" ) { + set_Velocities_Local( + fgGetDouble("/sim/presets/speed-north-fps"), + fgGetDouble("/sim/presets/speed-east-fps"), + fgGetDouble("/sim/presets/speed-down-fps") ); + } else { + SG_LOG( SG_FLIGHT, SG_ALERT, + "Unrecognized value for /sim/presets/speed-set: " + << speedset); + set_V_calibrated_kts( 0.0 ); + } + } + + // Set initial Euler angles + SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." ); + set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg") + * SGD_DEGREES_TO_RADIANS, + fgGetDouble("/sim/presets/pitch-deg") + * SGD_DEGREES_TO_RADIANS, + fgGetDouble("/sim/presets/heading-deg") + * SGD_DEGREES_TO_RADIANS ); + + SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" ); } @@ -255,75 +278,158 @@ FGInterface::init () void FGInterface::bind () { + bound = true; + // Time management (read-only) - fgTie("/fdm/time/delta_t", this, - &FGInterface::get_delta_t); // read-only - fgTie("/fdm/time/elapsed", this, - &FGInterface::get_elapsed); // read-only - fgTie("/fdm/time/remainder", this, - &FGInterface::get_remainder); // read-only - fgTie("/fdm/time/multi_loop", this, - &FGInterface::get_multi_loop); // read-only +// fgTie("/fdm/time/delta_t", this, +// &FGInterface::get_delta_t); // read-only +// fgTie("/fdm/time/elapsed", this, +// &FGInterface::get_elapsed); // read-only +// fgTie("/fdm/time/remainder", this, +// &FGInterface::get_remainder); // read-only +// fgTie("/fdm/time/multi_loop", this, +// &FGInterface::get_multi_loop); // read-only // Aircraft position - fgTie("/position/latitude", this, - &FGInterface::get_Latitude_deg, - &FGInterface::set_Latitude_deg, - false); - fgTie("/position/longitude", this, - &FGInterface::get_Longitude_deg, - &FGInterface::set_Longitude_deg, - false); - fgTie("/position/altitude", this, - &FGInterface::get_Altitude, - &FGInterface::set_Altitude, - false); - fgTie("/position/altitude-agl", this, - &FGInterface::get_Altitude_AGL); // read-only + fgTie("/position/latitude-deg", this, + &FGInterface::get_Latitude_deg, + &FGInterface::set_Latitude_deg, + false); + fgSetArchivable("/position/latitude-deg"); + fgTie("/position/longitude-deg", this, + &FGInterface::get_Longitude_deg, + &FGInterface::set_Longitude_deg, + false); + fgSetArchivable("/position/longitude-deg"); + fgTie("/position/altitude-ft", this, + &FGInterface::get_Altitude, + &FGInterface::set_Altitude, + false); + fgSetArchivable("/position/altitude-ft"); + fgTie("/position/altitude-agl-ft", this, + &FGInterface::get_Altitude_AGL); // read-only + fgSetArchivable("/position/ground-elev-ft"); + fgTie("/position/ground-elev-ft", this, + &FGInterface::get_Runway_altitude); // read-only + fgSetArchivable("/position/ground-elev-m"); + fgTie("/position/ground-elev-m", this, + &FGInterface::get_Runway_altitude_m); // read-only + fgTie("/environment/ground-elevation-m", this, + &FGInterface::get_Runway_altitude_m); // read-only + fgSetArchivable("/position/sea-level-radius-ft"); + fgTie("/position/sea-level-radius-ft", this, + &FGInterface::get_Sea_level_radius); // read-only // Orientation - fgTie("/orientation/roll", this, + fgTie("/orientation/roll-deg", this, &FGInterface::get_Phi_deg, &FGInterface::set_Phi_deg); - fgTie("/orientation/pitch", this, + fgSetArchivable("/orientation/roll-deg"); + fgTie("/orientation/pitch-deg", this, &FGInterface::get_Theta_deg, &FGInterface::set_Theta_deg); - fgTie("/orientation/heading", this, + fgSetArchivable("/orientation/pitch-deg"); + fgTie("/orientation/heading-deg", this, &FGInterface::get_Psi_deg, &FGInterface::set_Psi_deg); + fgSetArchivable("/orientation/heading-deg"); + + // Body-axis "euler rates" (rotation speed, but in a funny + // representation). + fgTie("/orientation/roll-rate-degps", this, + &FGInterface::get_Phi_dot_degps); + fgTie("/orientation/pitch-rate-degps", this, + &FGInterface::get_Theta_dot_degps); + fgTie("/orientation/yaw-rate-degps", this, + &FGInterface::get_Psi_dot_degps); // Calibrated airspeed - fgTie("/velocities/airspeed", this, + fgTie("/velocities/airspeed-kt", this, &FGInterface::get_V_calibrated_kts, - &FGInterface::set_V_calibrated_kts); + &FGInterface::set_V_calibrated_kts, + false); + + // Mach number + fgTie("/velocities/mach", this, + &FGInterface::get_Mach_number, + &FGInterface::set_Mach_number, + false); // Local velocities - fgTie("/velocities/speed-north", this, - &FGInterface::get_V_north, - &FGInterface::set_V_north); - fgTie("/velocities/speed-east", this, - &FGInterface::get_V_east, - &FGInterface::set_V_east); - fgTie("/velocities/speed-down", this, - &FGInterface::get_V_down, - &FGInterface::set_V_down); +// fgTie("/velocities/speed-north-fps", this, +// &FGInterface::get_V_north, +// &FGInterface::set_V_north); +// fgSetArchivable("/velocities/speed-north-fps"); +// fgTie("/velocities/speed-east-fps", this, +// &FGInterface::get_V_east, +// &FGInterface::set_V_east); +// fgSetArchivable("/velocities/speed-east-fps"); +// fgTie("/velocities/speed-down-fps", this, +// &FGInterface::get_V_down, +// &FGInterface::set_V_down); +// fgSetArchivable("/velocities/speed-down-fps"); + // FIXME: Temporarily read-only, until the + // incompatibilities between JSBSim and + // LaRCSim are fixed (LaRCSim adds the + // earth's rotation to the east velocity). + fgTie("/velocities/speed-north-fps", this, + &FGInterface::get_V_north); + fgTie("/velocities/speed-east-fps", this, + &FGInterface::get_V_east); + fgTie("/velocities/speed-down-fps", this, + &FGInterface::get_V_down); // Relative wind - fgTie("/velocities/uBody", this, + // FIXME: temporarily archivable, until + // the NED problem is fixed. + fgTie("/velocities/uBody-fps", this, &FGInterface::get_uBody, - &FGInterface::set_uBody); - fgTie("/velocities/vBody", this, + &FGInterface::set_uBody, + false); + fgSetArchivable("/velocities/uBody-fps"); + fgTie("/velocities/vBody-fps", this, &FGInterface::get_vBody, - &FGInterface::set_vBody); - fgTie("/velocities/wBody", this, + &FGInterface::set_vBody, + false); + fgSetArchivable("/velocities/vBody-fps"); + fgTie("/velocities/wBody-fps", this, &FGInterface::get_wBody, - &FGInterface::set_wBody); + &FGInterface::set_wBody, + false); + fgSetArchivable("/velocities/wBody-fps"); // Climb and slip (read-only) - fgTie("/velocities/vertical-speed", this, - &FGInterface::get_Climb_Rate); // read-only - fgTie("/velocities/side-slip", this, + fgTie("/velocities/vertical-speed-fps", this, + &FGInterface::get_Climb_Rate, + &FGInterface::set_Climb_Rate ); + fgTie("/velocities/glideslope", this, + &FGInterface::get_Gamma_vert_rad, + &FGInterface::set_Gamma_vert_rad ); + fgTie("/orientation/side-slip-rad", this, &FGInterface::get_Beta); // read-only + fgTie("/orientation/side-slip-deg", this, + &FGInterface::get_Beta_deg); // read-only + fgTie("/orientation/alpha-deg", this, + &FGInterface::get_Alpha_deg); // read-only + fgTie("/accelerations/nlf", this, + &FGInterface::get_Nlf); // read-only + + // NED accelerations + fgTie("/accelerations/ned/north-accel-fps_sec", + this, &FGInterface::get_V_dot_north); + fgTie("/accelerations/ned/east-accel-fps_sec", + this, &FGInterface::get_V_dot_east); + fgTie("/accelerations/ned/down-accel-fps_sec", + this, &FGInterface::get_V_dot_down); + + // Pilot accelerations + fgTie("/accelerations/pilot/x-accel-fps_sec", + this, &FGInterface::get_A_X_pilot); + fgTie("/accelerations/pilot/y-accel-fps_sec", + this, &FGInterface::get_A_Y_pilot); + fgTie("/accelerations/pilot/z-accel-fps_sec", + this, &FGInterface::get_A_Z_pilot); + } @@ -336,47 +442,97 @@ FGInterface::bind () void FGInterface::unbind () { - fgUntie("/fdm/time/delta_t"); - fgUntie("/fdm/time/elapsed"); - fgUntie("/fdm/time/remainder"); - fgUntie("/fdm/time/multi_loop"); - fgUntie("/position/latitude"); - fgUntie("/position/longitude"); - fgUntie("/position/altitude"); - fgUntie("/position/heading"); - fgUntie("/position/pitch"); - fgUntie("/position/roll"); - fgUntie("/velocities/airspeed"); - fgUntie("/velocities/speed-north"); - fgUntie("/velocities/speed-east"); - fgUntie("/velocities/speed-down"); - fgUntie("/velocities/uBody"); - fgUntie("/velocities/vBody"); - fgUntie("/velocities/wBody"); - fgUntie("/velocities/vertical-speed"); - fgUntie("/velocities/side-slip"); + bound = false; + + // fgUntie("/fdm/time/delta_t"); + // fgUntie("/fdm/time/elapsed"); + // fgUntie("/fdm/time/remainder"); + // fgUntie("/fdm/time/multi_loop"); + fgUntie("/position/latitude-deg"); + fgUntie("/position/longitude-deg"); + fgUntie("/position/altitude-ft"); + fgUntie("/position/altitude-agl-ft"); + fgUntie("/position/ground-elev-ft"); + fgUntie("/position/ground-elev-m"); + fgUntie("/environment/ground-elevation-m"); + fgUntie("/position/sea-level-radius-ft"); + fgUntie("/orientation/roll-deg"); + fgUntie("/orientation/pitch-deg"); + fgUntie("/orientation/heading-deg"); + fgUntie("/orientation/roll-rate-degps"); + fgUntie("/orientation/pitch-rate-degps"); + fgUntie("/orientation/yaw-rate-degps"); + fgUntie("/orientation/side-slip-rad"); + fgUntie("/orientation/side-slip-deg"); + fgUntie("/orientation/alpha-deg"); + fgUntie("/velocities/airspeed-kt"); + fgUntie("/velocities/mach"); + fgUntie("/velocities/speed-north-fps"); + fgUntie("/velocities/speed-east-fps"); + fgUntie("/velocities/speed-down-fps"); + fgUntie("/velocities/uBody-fps"); + fgUntie("/velocities/vBody-fps"); + fgUntie("/velocities/wBody-fps"); + fgUntie("/velocities/vertical-speed-fps"); + fgUntie("/velocities/glideslope"); + fgUntie("/accelerations/nlf"); + fgUntie("/accelerations/pilot/x-accel-fps_sec"); + fgUntie("/accelerations/pilot/y-accel-fps_sec"); + fgUntie("/accelerations/pilot/z-accel-fps_sec"); + fgUntie("/accelerations/ned/north-accel-fps_sec"); + fgUntie("/accelerations/ned/east-accel-fps_sec"); + fgUntie("/accelerations/ned/down-accel-fps_sec"); } - /** * Update the state of the FDM (i.e. run the equations of motion). */ void -FGInterface::update () +FGInterface::update (double dt) { - update(1); + SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!"); } -bool FGInterface::update( int multi_loop ) { - cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl; - return false; +void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt ) +{ + double lat_geoc, sl_radius; + + // cout << "starting sea level rad = " << get_Sea_level_radius() << endl; + + sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc ); + + SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon + << " lat_geod = " << lat + << " lat_geoc = " << lat_geoc + << " alt = " << alt + << " sl_radius = " << sl_radius * SG_METER_TO_FEET + << " Equator = " << SG_EQUATORIAL_RADIUS_FT ); + + _set_Geocentric_Position( lat_geoc, lon, + sl_radius * SG_METER_TO_FEET + alt ); + + _set_Geodetic_Position( lat, lon, alt ); + + _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET ); + _update_ground_elev_at_pos(); + + _set_sin_lat_geocentric( lat_geoc ); + _set_cos_lat_geocentric( lat_geoc ); + + _set_sin_cos_longitude( lon ); + + _set_sin_cos_latitude( lat ); } - -void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) { + +void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon, + double alt ) +{ double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc; - + + // cout << "starting sea level rad = " << get_Sea_level_radius() << endl; + sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER, &lat_geod, &tmp_alt, &sl_radius1 ); sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc ); @@ -394,37 +550,25 @@ void FGInterface::_updatePosition( double lat_geoc, double lon, double alt ) { sl_radius2 * SG_METER_TO_FEET + alt ); _set_Geodetic_Position( lat_geod, lon, alt ); - + _set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET ); - _set_Runway_altitude( scenery.cur_elev*METERS_TO_FEET ); - + _update_ground_elev_at_pos(); + _set_sin_lat_geocentric( lat_geoc ); _set_cos_lat_geocentric( lat_geoc ); - + _set_sin_cos_longitude( lon ); - + _set_sin_cos_latitude( lat_geod ); - - /* Norman's code for slope of the terrain */ - /* needs to be tested -- get it on the HUD and taxi around */ - /* double *tnorm = scenery.cur_normal; - - double sy = sin ( -get_Psi() ) ; - double cy = cos ( -get_Psi() ) ; - - double phitb, thetatb, psitb; - if(tnorm[1] != 0.0) { - psitb = -atan2 ( tnorm[0], tnorm[1] ); - } - if(tnorm[2] != 0.0) { - thetatb = atan2 ( tnorm[0] * cy - tnorm[1] * sy, tnorm[2] ); - phitb = -atan2 ( tnorm[1] * cy + tnorm[0] * sy, tnorm[2] ); - } - - _set_terrain_slope(phitb, thetatb, psitb) - */ } +void FGInterface::_update_ground_elev_at_pos( void ) { + double lat = get_Latitude(); + double lon = get_Longitude(); + double alt_m = get_Altitude()*SG_FEET_TO_METER; + double groundlevel_m = get_groundlevel_m(lat, lon, alt_m); + _set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET ); +} // Extrapolate fdm based on time_offset (in usec) void FGInterface::extrapolate( int time_offset ) { @@ -433,7 +577,7 @@ void FGInterface::extrapolate( int time_offset ) { // -dw- metrowerks complains about ambiguous access, not critical // to keep this ;) #ifndef __MWERKS__ - cout << "extrapolating FDM by dt = " << dt << endl; + SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt); #endif double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt; @@ -455,70 +599,39 @@ void FGInterface::extrapolate( int time_offset ) { geocentric_position_v[2] = radius; } - -// Set the altitude (force) -void fgFDMForceAltitude(const string &model, double alt_meters) { - double sea_level_radius_meters; - double lat_geoc; - - // Set the FG variables first - sgGeodToGeoc( base_fdm_state.get_Latitude(), alt_meters, - &sea_level_radius_meters, &lat_geoc); - - base_fdm_state.set_Altitude( alt_meters * SG_METER_TO_FEET ); - base_fdm_state.set_Sea_level_radius( sea_level_radius_meters * - SG_METER_TO_FEET ); - - - // additional work needed for some flight models - if ( model == "larcsim" ) { - ls_ForceAltitude( base_fdm_state.get_Altitude() ); - } -} - - -// Set the local ground elevation -void fgFDMSetGroundElevation(const string &model, double ground_meters) { - SG_LOG( SG_FLIGHT,SG_INFO, "fgFDMSetGroundElevation: " - << ground_meters*SG_METER_TO_FEET ); - base_fdm_state.set_Runway_altitude( ground_meters * SG_METER_TO_FEET ); - cur_fdm_state->set_Runway_altitude( ground_meters * SG_METER_TO_FEET ); -} - - // Positions -void FGInterface::set_Latitude(double lat) { +void FGInterface::set_Latitude(double lat) { geodetic_position_v[0] = lat; -} +} void FGInterface::set_Longitude(double lon) { geodetic_position_v[1] = lon; -} +} void FGInterface::set_Altitude(double alt) { geodetic_position_v[2] = alt; -} +} void FGInterface::set_AltitudeAGL(double altagl) { altitude_agl=altagl; -} +} // Velocities void FGInterface::set_V_calibrated_kts(double vc) { v_calibrated_kts = vc; -} +} void FGInterface::set_Mach_number(double mach) { mach_number = mach; -} +} void FGInterface::set_Velocities_Local( double north, double east, double down ){ v_local_v[0] = north; v_local_v[1] = east; - v_local_v[2] = down; -} + v_local_v[2] = down; +} void FGInterface::set_Velocities_Wind_Body( double u, double v, @@ -526,7 +639,7 @@ void FGInterface::set_Velocities_Wind_Body( double u, v_wind_body_v[0] = u; v_wind_body_v[1] = v; v_wind_body_v[2] = w; -} +} // Euler angles void FGInterface::set_Euler_Angles( double phi, @@ -540,20 +653,11 @@ void FGInterface::set_Euler_Angles( double phi, // Flight Path void FGInterface::set_Climb_Rate( double roc) { climb_rate = roc; -} +} void FGInterface::set_Gamma_vert_rad( double gamma) { gamma_vert_rad = gamma; -} - -// Earth -void FGInterface::set_Sea_level_radius(double slr) { - sea_level_radius = slr; -} - -void FGInterface::set_Runway_altitude(double ralt) { - runway_altitude = ralt; -} +} void FGInterface::set_Static_pressure(double p) { static_pressure = p; } void FGInterface::set_Static_temperature(double T) { static_temperature = T; } @@ -565,7 +669,7 @@ void FGInterface::set_Velocities_Local_Airmass (double wnorth, v_local_airmass_v[0] = wnorth; v_local_airmass_v[1] = weast; v_local_airmass_v[2] = wdown; -} +} void FGInterface::_busdump(void) { @@ -607,7 +711,7 @@ void FGInterface::_busdump(void) { SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]); SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]); SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]); - + SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]); SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]); SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]); @@ -670,10 +774,189 @@ void FGInterface::_busdump(void) { SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude ); SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude ); SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl ); -} +} +bool +FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3], + double rad) +{ + return ground_cache.prepare_ground_cache(ref_time, pt, rad); +} + +bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3], + double rad) +{ + // Convert units and do the real work. + sgdVec3 pt_ft; + sgdScaleVec3( pt_ft, pt, SG_FEET_TO_METER ); + return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER); +} + +bool +FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad) +{ + return ground_cache.is_valid(ref_time, pt, rad); +} + +bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad) +{ + // Convert units and do the real work. + bool found_ground = ground_cache.is_valid(ref_time, pt, rad); + sgdScaleVec3(pt, SG_METER_TO_FEET); + *rad *= SG_METER_TO_FEET; + return found_ground; +} + +double +FGInterface::get_cat_m(double t, const double pt[3], + double end[2][3], double vel[2][3]) +{ + return ground_cache.get_cat(t, pt, end, vel); +} + +double +FGInterface::get_cat_ft(double t, const double pt[3], + double end[2][3], double vel[2][3]) +{ + // Convert units and do the real work. + sgdVec3 pt_m; + sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER ); + double dist = ground_cache.get_cat(t, pt_m, end, vel); + for (int k=0; k<2; ++k) { + sgdScaleVec3( end[k], SG_METER_TO_FEET ); + sgdScaleVec3( vel[k], SG_METER_TO_FEET ); + } + return dist*SG_METER_TO_FEET; +} + +bool +FGInterface::get_agl_m(double t, const double pt[3], + double contact[3], double normal[3], double vel[3], + int *type, double *loadCapacity, + double *frictionFactor, double *agl) +{ + return ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type, + loadCapacity, frictionFactor, agl); +} + +bool +FGInterface::get_agl_ft(double t, const double pt[3], + double contact[3], double normal[3], double vel[3], + int *type, double *loadCapacity, + double *frictionFactor, double *agl) +{ + // Convert units and do the real work. + sgdVec3 pt_m; + sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER ); + bool ret = ground_cache.get_agl(t, pt_m, 2.0, contact, normal, vel, + type, loadCapacity, frictionFactor, agl); + // Convert units back ... + sgdScaleVec3( contact, SG_METER_TO_FEET ); + sgdScaleVec3( vel, SG_METER_TO_FEET ); + *agl *= SG_METER_TO_FEET; + // FIXME: scale the load limit to something in the english unit system. + // Be careful with the DBL_MAX which is returned by default. + return ret; +} + +bool +FGInterface::get_agl_m(double t, const double pt[3], double max_altoff, + double contact[3], double normal[3], double vel[3], + int *type, double *loadCapacity, + double *frictionFactor, double *agl) +{ + return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type, + loadCapacity, frictionFactor, agl); +} + +bool +FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff, + double contact[3], double normal[3], double vel[3], + int *type, double *loadCapacity, + double *frictionFactor, double *agl) +{ + // Convert units and do the real work. + sgdVec3 pt_m; + sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER ); + bool ret = ground_cache.get_agl(t, pt_m, SG_FEET_TO_METER * max_altoff, + contact, normal, vel, + type, loadCapacity, frictionFactor, agl); + // Convert units back ... + sgdScaleVec3( contact, SG_METER_TO_FEET ); + sgdScaleVec3( vel, SG_METER_TO_FEET ); + *agl *= SG_METER_TO_FEET; + // FIXME: scale the load limit to something in the english unit system. + // Be careful with the DBL_MAX which is returned by default. + return ret; +} + + +double +FGInterface::get_groundlevel_m(double lat, double lon, double alt) +{ + // First compute the sea level radius, + sgdVec3 pos, cpos; + sgGeodToCart(lat, lon, 0, pos); + double slr = sgdLengthVec3(pos); + // .. then the cartesian position of the given lat/lon/alt. + sgGeodToCart(lat, lon, alt, pos); + + // FIXME: how to handle t - ref_time differences ??? + double ref_time, radius; + // Prepare the ground cache for that position. + if (!is_valid_m(&ref_time, cpos, &radius)) + prepare_ground_cache_m(ref_time, pos, 10); + else if (radius*radius <= sgdDistanceSquaredVec3(pos, cpos)) + prepare_ground_cache_m(ref_time, pos, radius); + + double contact[3], normal[3], vel[3], lc, ff, agl; + int type; + get_agl_m(ref_time, pos, 2.0, contact, normal, vel, &type, &lc, &ff, &agl); + + return sgdLengthVec3(contact) - slr; +} + +bool +FGInterface::caught_wire_m(double t, const double pt[4][3]) +{ + return ground_cache.caught_wire(t, pt); +} + +bool +FGInterface::caught_wire_ft(double t, const double pt[4][3]) +{ + // Convert units and do the real work. + double pt_m[4][3]; + for (int i=0; i<4; ++i) + sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER); + + return ground_cache.caught_wire(t, pt_m); +} + +bool +FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3]) +{ + return ground_cache.get_wire_ends(t, end, vel); +} + +bool +FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3]) +{ + // Convert units and do the real work. + bool ret = ground_cache.get_wire_ends(t, end, vel); + for (int k=0; k<2; ++k) { + sgdScaleVec3( end[k], SG_METER_TO_FEET ); + sgdScaleVec3( vel[k], SG_METER_TO_FEET ); + } + return ret; +} + +void +FGInterface::release_wire(void) +{ + ground_cache.release_wire(); +} void fgToggleFDMdataLogging(void) { cur_fdm_state->ToggleDataLogging(); } -