X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=6d404dd76676717a91580d529bd93636735a6c31;hb=3b870192f4dbd3a9adb435f0cf9ca9591eb4f62e;hp=e061e543286e2ef69006a203c07de4b3d30e0e64;hpb=6bc2f595728571329c094a5a7904e920f325f940;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index e061e5432..6d404dd76 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -47,45 +47,17 @@ // 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) { -} - -FGGearInterface::FGGearInterface(void) { - x=y=z=0.0; - brake=rolls=WoW=false; - position=1.0; -} - -FGGearInterface::~FGGearInterface() { } // Constructor FGInterface::FGInterface() { _setup(); -} +} FGInterface::FGInterface( double dt ) { _setup(); @@ -95,7 +67,7 @@ FGInterface::FGInterface( double dt ) { // Destructor FGInterface::~FGInterface() { -// unbind(); // FIXME: should be called explicitly + // unbind(); // FIXME: should be called explicitly } @@ -130,38 +102,38 @@ 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; @@ -170,7 +142,7 @@ 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; @@ -185,7 +157,7 @@ FGInterface::init () {} * * Subclasses of FGInterface may do their own, additional initialization, * 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 + * this before they begin their own init to make sure the basic structures * are set up properly. */ void @@ -216,10 +188,6 @@ FGInterface::common_init () SG_LOG( SG_FLIGHT, SG_INFO, "...initializing ground elevation to " << ground_elev_ft << "ft..." ); - SG_LOG( SG_FLIGHT, SG_INFO, "common_init(): set ground elevation " - << ground_elev_ft ); - base_fdm_state.set_Runway_altitude( ground_elev_ft ); - set_Runway_altitude( ground_elev_ft ); // Set sea-level radius SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." ); @@ -232,7 +200,7 @@ FGInterface::common_init () * SGD_DEGREES_TO_RADIANS, fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER, &sea_level_radius_meters, &lat_geoc ); - set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET ); + _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET ); // Set initial velocities SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." ); @@ -290,33 +258,33 @@ 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-deg", this, - &FGInterface::get_Latitude_deg, - &FGInterface::set_Latitude_deg, - false); + &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); + &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); + &FGInterface::get_Altitude, + &FGInterface::set_Altitude, + false); fgSetArchivable("/position/altitude-ft"); fgTie("/position/altitude-agl-ft", this, - &FGInterface::get_Altitude_AGL); // read-only + &FGInterface::get_Altitude_AGL); // read-only // Orientation fgTie("/orientation/roll-deg", this, @@ -383,9 +351,19 @@ FGInterface::bind () // Climb and slip (read-only) fgTie("/velocities/vertical-speed-fps", this, - &FGInterface::get_Climb_Rate); // read-only + &FGInterface::get_Climb_Rate, + &FGInterface::set_Climb_Rate ); + fgTie("/velocities/glideslope", this, + &FGInterface::get_Gamma_vert_rad, + &FGInterface::set_Gamma_vert_rad ); fgTie("/velocities/side-slip-rad", this, &FGInterface::get_Beta); // read-only + fgTie("/velocities/side-slip-deg", this, + &FGInterface::get_Beta_deg); // read-only + fgTie("/velocities/alpha-deg", this, + &FGInterface::get_Alpha_deg); // read-only + fgTie("/accelerations/nlf", this, + &FGInterface::get_Nlf); // read-only } @@ -419,29 +397,80 @@ FGInterface::unbind () fgUntie("/velocities/vBody-fps"); fgUntie("/velocities/wBody-fps"); fgUntie("/velocities/vertical-speed-fps"); + fgUntie("/velocities/glideslope"); fgUntie("/velocities/side-slip-rad"); + fgUntie("/velocities/side-slip-deg"); + fgUntie("/velocities/alpha-deg"); + fgUntie("/accelerations/nlf"); + } - /** * Update the state of the FDM (i.e. run the equations of motion). */ void -FGInterface::update () +FGInterface::update (int dt) { - update(1); + cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl; } -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 ); + _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET ); + + _set_sin_lat_geocentric( lat_geoc ); + _set_cos_lat_geocentric( lat_geoc ); + + _set_sin_cos_longitude( lon ); + + _set_sin_cos_latitude( lat ); + + /* 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::_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, @@ -461,31 +490,31 @@ 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.get_cur_elev() * SG_METER_TO_FEET ); - + _set_Runway_altitude( scenery.get_cur_elev() * SG_METER_TO_FEET ); + _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[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] ); + 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) @@ -522,66 +551,39 @@ void FGInterface::extrapolate( int time_offset ) { geocentric_position_v[2] = radius; } - -// Set the altitude (force) -void fgFDMForceAltitude(const string &model, double alt_meters) { - SG_LOG(SG_FLIGHT,SG_INFO, "fgFDMForceAltitude: " << 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 ); - - cur_fdm_state->set_Altitude( alt_meters * SG_METER_TO_FEET ); - cur_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() ); - } -} - - // 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, @@ -589,7 +591,7 @@ 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, @@ -603,20 +605,11 @@ 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; } @@ -628,7 +621,7 @@ 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) { @@ -670,7 +663,7 @@ 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]); @@ -733,7 +726,7 @@ 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 ); -} +} void fgToggleFDMdataLogging(void) {