X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=86324a8312e8a02c300996e0b59041b48349d6e3;hb=18ff3a6108bc29bd5fed76322c4ab63589095a2a;hp=6d404dd76676717a91580d529bd93636735a6c31;hpb=6c978b02f849436a512545b4cb4b22c18f212913;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 6d404dd76..86324a831 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -2,7 +2,7 @@ // // 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 @@ -28,18 +28,15 @@ #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 @@ -55,14 +52,16 @@ inline void init_vec(FG_VECTOR_3 vec) { } // 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 @@ -71,6 +70,23 @@ FGInterface::~FGInterface() { } +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); +} + + /** * Set default values for the state of the FDM. * @@ -167,22 +183,26 @@ FGInterface::common_init () set_inited( true ); - stamp(); - set_remainder( 0 ); +// stamp(); +// set_remainder( 0 ); // Set initial position SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." ); - set_Longitude( fgGetDouble("/position/longitude-deg") + set_Longitude( fgGetDouble("/sim/presets/longitude-deg") * SGD_DEGREES_TO_RADIANS ); - set_Latitude( fgGetDouble("/position/latitude-deg") + set_Latitude( fgGetDouble("/sim/presets/latitude-deg") * SGD_DEGREES_TO_RADIANS ); - double ground_elev_m = scenery.get_cur_elev(); + double ground_elev_m = globals->get_scenery()->get_cur_elev(); double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET; - if ( fgGetBool("/sim/startup/onground") - || fgGetDouble("/position/altitude-ft") < ground_elev_ft ) { + fgSetDouble("/position/ground-elev-m", ground_elev_m); + _set_Runway_altitude ( ground_elev_ft ); + if ( fgGetBool("/sim/presets/onground") + || fgGetDouble("/sim/presets/altitude-ft") < ground_elev_ft ) { fgSetDouble("/position/altitude-ft", ground_elev_ft); + set_Altitude( ground_elev_ft ); + } else { + set_Altitude( fgGetDouble("/sim/presets/altitude-ft") ); } - set_Altitude( fgGetDouble("/position/altitude-ft") ); // Set ground elevation SG_LOG( SG_FLIGHT, SG_INFO, @@ -192,39 +212,39 @@ FGInterface::common_init () // Set sea-level radius SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." ); SG_LOG( SG_FLIGHT, SG_INFO, " lat = " - << fgGetDouble("/position/latitude-deg") - << " alt = " << fgGetDouble("/position/altitude-ft") ); + << fgGetDouble("/sim/presets/latitude-deg") + << " alt = " << get_Altitude() ); double sea_level_radius_meters; double lat_geoc; - sgGeodToGeoc( fgGetDouble("/position/latitude-deg") + sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER, + 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/startup/speed-set") ) { + if ( !fgHasNode("/sim/presets/speed-set") ) { set_V_calibrated_kts(0.0); } else { - const string speedset = fgGetString("/sim/startup/speed-set"); + const string speedset = fgGetString("/sim/presets/speed-set"); if ( speedset == "knots" || speedset == "KNOTS" ) { - set_V_calibrated_kts( fgGetDouble("/velocities/airspeed-kt") ); + set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") ); } else if ( speedset == "mach" || speedset == "MACH" ) { - set_Mach_number( fgGetDouble("/velocities/mach") ); + set_Mach_number( fgGetDouble("/sim/presets/mach") ); } else if ( speedset == "UVW" || speedset == "uvw" ) { set_Velocities_Wind_Body( - fgGetDouble("/velocities/uBody-fps"), - fgGetDouble("/velocities/vBody-fps"), - fgGetDouble("/velocities/wBody-fps") ); + 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("/velocities/speed-north-fps"), - fgGetDouble("/velocities/speed-east-fps"), - fgGetDouble("/velocities/speed-down-fps") ); + 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/startup/speed-set: " + "Unrecognized value for /sim/presets/speed-set: " << speedset); set_V_calibrated_kts( 0.0 ); } @@ -232,11 +252,11 @@ FGInterface::common_init () // Set initial Euler angles SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." ); - set_Euler_Angles( fgGetDouble("/orientation/roll-deg") + set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/orientation/pitch-deg") + fgGetDouble("/sim/presets/pitch-deg") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/orientation/heading-deg") + fgGetDouble("/sim/presets/heading-deg") * SGD_DEGREES_TO_RADIANS ); SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" ); @@ -258,14 +278,14 @@ 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, @@ -300,10 +320,25 @@ FGInterface::bind () &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-kt", this, &FGInterface::get_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 @@ -356,14 +391,31 @@ FGInterface::bind () fgTie("/velocities/glideslope", this, &FGInterface::get_Gamma_vert_rad, &FGInterface::set_Gamma_vert_rad ); - fgTie("/velocities/side-slip-rad", this, + fgTie("/orientation/side-slip-rad", this, &FGInterface::get_Beta); // read-only - fgTie("/velocities/side-slip-deg", this, + fgTie("/orientation/side-slip-deg", this, &FGInterface::get_Beta_deg); // read-only - fgTie("/velocities/alpha-deg", this, + 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); + } @@ -378,18 +430,25 @@ FGInterface::unbind () { bound = false; - fgUntie("/fdm/time/delta_t"); - fgUntie("/fdm/time/elapsed"); - fgUntie("/fdm/time/remainder"); - fgUntie("/fdm/time/multi_loop"); + // 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("/orientation/heading-deg"); - fgUntie("/orientation/pitch-deg"); 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"); @@ -398,20 +457,22 @@ FGInterface::unbind () 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"); - + 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 (int dt) +FGInterface::update (double dt) { - cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl; + SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!"); } @@ -436,7 +497,7 @@ void FGInterface::_updateGeodeticPosition( double lat, double lon, double 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_Runway_altitude( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET ); _set_sin_lat_geocentric( lat_geoc ); _set_cos_lat_geocentric( lat_geoc ); @@ -492,7 +553,7 @@ void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon, _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( fgGetDouble("/position/ground-elev-m") * SG_METER_TO_FEET ); _set_sin_lat_geocentric( lat_geoc ); _set_cos_lat_geocentric( lat_geoc ); @@ -529,7 +590,7 @@ 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; @@ -728,6 +789,129 @@ void FGInterface::_busdump(void) { 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, 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, 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::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();