X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.cxx;h=b0969c3f68f851086ffc8d927ea7aac617b6068c;hb=7b3c6c0ff76db9326a020ccdddbfb3361dd5dc95;hp=8bd66f39a996d412e0fabc94a28810c62ef4f624;hpb=ac1342de592530f5f8af0a22497a96b21f54ec47;p=flightgear.git diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx index 8bd66f39a..b0969c3f6 100644 --- a/src/FDM/flight.cxx +++ b/src/FDM/flight.cxx @@ -1,4 +1,4 @@ -// 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. // @@ -23,9 +23,12 @@ #include +#include + #include #include #include +#include #include #include @@ -33,11 +36,7 @@ #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 +44,44 @@ // 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; + int multiloop = int(floor(ml)); + remainder = (ml - multiloop) / hz; + return (multiloop * speedup); } @@ -98,6 +93,9 @@ 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 +116,38 @@ 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 +156,108 @@ 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-deg") * SGD_DEGREES_TO_RADIANS); - set_Latitude(fgGetDouble("/position/latitude-deg") * 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-ft") < ground_elev_ft) - fgSetDouble("/position/altitude-ft", ground_elev_ft); - set_Altitude(fgGetDouble("/position/altitude-ft")); - - // 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 (!fgHasNode("/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-kt")); - } 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-fps"), - fgGetDouble("/velocities/vBody-fps"), - fgGetDouble("/velocities/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")); + 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..." ); + set_Longitude( fgGetDouble("/sim/presets/longitude-deg") + * SGD_DEGREES_TO_RADIANS ); + set_Latitude( fgGetDouble("/sim/presets/latitude-deg") + * SGD_DEGREES_TO_RADIANS ); + double ground_elev_m = globals->get_scenery()->get_cur_elev(); + double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET; + 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 ground elevation + SG_LOG( SG_FLIGHT, SG_INFO, + "...initializing ground elevation to " << ground_elev_ft + << "ft..." ); + + // 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 { - SG_LOG(SG_FLIGHT, SG_ALERT, - "Unrecognized value for /sim/startup/speed-set: " << speedset); - set_V_calibrated_kts(0.0); + 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("/orientation/roll-deg") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/orientation/pitch-deg") * SGD_DEGREES_TO_RADIANS, - fgGetDouble("/orientation/heading-deg") * SGD_DEGREES_TO_RADIANS); + // 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 initializing FGInterface"); + SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" ); } @@ -255,34 +273,36 @@ 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-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, @@ -298,41 +318,102 @@ 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); + &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-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, - &FGInterface::set_V_north); - fgSetArchivable("/velocities/speed-north-fps"); + &FGInterface::get_V_north); fgTie("/velocities/speed-east-fps", this, - &FGInterface::get_V_east, - &FGInterface::set_V_east); - fgSetArchivable("/velocities/speed-east-fps"); + &FGInterface::get_V_east); fgTie("/velocities/speed-down-fps", this, - &FGInterface::get_V_down, - &FGInterface::set_V_down); - fgSetArchivable("/velocities/speed-down-fps"); + &FGInterface::get_V_down); // Relative wind + // FIXME: temporarily archivable, until + // the NED problem is fixed. fgTie("/velocities/uBody-fps", this, &FGInterface::get_uBody, - &FGInterface::set_uBody); + &FGInterface::set_uBody, + false); + fgSetArchivable("/velocities/uBody-fps"); fgTie("/velocities/vBody-fps", this, &FGInterface::get_vBody, - &FGInterface::set_vBody); + &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-fps", this, - &FGInterface::get_Climb_Rate); // read-only - fgTie("/velocities/side-slip-rad", 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); + } @@ -345,17 +426,27 @@ FGInterface::bind () void FGInterface::unbind () { - fgUntie("/fdm/time/delta_t"); - fgUntie("/fdm/time/elapsed"); - fgUntie("/fdm/time/remainder"); - fgUntie("/fdm/time/multi_loop"); + 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/heading"); - fgUntie("/position/pitch"); - fgUntie("/position/roll"); + fgUntie("/position/altitude-agl-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"); @@ -363,29 +454,84 @@ FGInterface::unbind () fgUntie("/velocities/vBody-fps"); fgUntie("/velocities/wBody-fps"); fgUntie("/velocities/vertical-speed-fps"); - fgUntie("/velocities/side-slip-rad"); + 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 ); + _set_Runway_altitude( fgGetDouble("/position/ground-elev-m") * 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, &lat_geod, &tmp_alt, &sl_radius1 ); sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc ); @@ -403,31 +549,31 @@ 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.cur_elev*METERS_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 ); - + _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) @@ -442,7 +588,7 @@ 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; @@ -464,75 +610,39 @@ 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() ); - } -} - - -// 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, @@ -540,7 +650,7 @@ 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, @@ -554,20 +664,11 @@ 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; } @@ -579,7 +680,7 @@ 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) { @@ -621,7 +722,7 @@ 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]); @@ -684,10 +785,9 @@ 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) { cur_fdm_state->ToggleDataLogging(); } -