X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2Fflight.hxx;h=8dc1aaebb3dc48c8c2198e494519b988e196990a;hb=ee98995d30e75cda88c9866f3cb6a761fda7d078;hp=02bb1c250a7db0eb4911a2819bac4aa58b4affde;hpb=11a68e55d4599b1e21c2e173acf7e1944e617161;p=flightgear.git

diff --git a/src/FDM/flight.hxx b/src/FDM/flight.hxx
index 02bb1c250..8dc1aaebb 100644
--- a/src/FDM/flight.hxx
+++ b/src/FDM/flight.hxx
@@ -87,81 +87,52 @@
 
 #include <list>
 #include <vector>
+#include <string>
 
-#include <Time/timestamp.hxx>
+#include <simgear/constants.h>
+// #include <simgear/timing/timestamp.hxx>
 
-FG_USING_STD(list);
-FG_USING_STD(vector);
+#include <Main/fgfs.hxx>
+#include <Model/acmodel.hxx>
+#include <Model/model.hxx>
+#include <Main/location.hxx>
 
+SG_USING_STD(list);
+SG_USING_STD(vector);
+SG_USING_STD(string);
 
-typedef double FG_VECTOR_3[3];
-
-
-class FGEngInterface {
-
-private:
-
-    // inputs
-    double Throttle;
-    double Mixture;
-    double Prop_Advance;
-
-    // outputs
-    double RPM;
-    double Manifold_Pressure;
-    double MaxHP;
-    double Percentage_Power;
-    double EGT;
-    double CHT;
-    double prop_thrust;
-    
-    /* others...
-    double PercentN1,N1;  //GE,CFM
-    double PercentN2,N2;
-    double EPR;  //P&W, RR?
-    double FuelFlow;
-    bool AfterBurner;
-    double InletAngles[3];
-    double InletPosition[3];
-    double ThrustVector[3];
-    */
-
-public:
-    FGEngInterface(void);
-    ~FGEngInterface(void);
-    
-    inline double get_Throttle() const { return Throttle; }
-    inline double get_Mixture() const { return Mixture; }
-    inline double get_Prop_Advance() const { return Prop_Advance; }
-    inline double get_RPM() const { return RPM; }
-    inline double get_Manifold_Pressure() const { return Manifold_Pressure; }
-    inline double get_MaxHP() const { return MaxHP; }
-    inline double get_Percentage_Power() const { return Percentage_Power; }
-    inline double get_EGT() const { return EGT; }
-    inline double get_CHT() const { return CHT; }
-    inline double get_prop_thrust() const { return prop_thrust; }
-
-    inline void set_Throttle( double t ) { Throttle = t; }
-    inline void set_Mixture( double m ) { Mixture = m; }
-    inline void set_Prop_Advance( double p ) { Prop_Advance = p; }
-    inline void set_RPM( double r ) { RPM = r; }
-    inline void set_Manifold_Pressure( double mp ) { Manifold_Pressure = mp; }
-    inline void set_MaxHP( double hp ) { MaxHP = hp; }
-    inline void set_Percentage_Power( double p ) { Percentage_Power = p; }
-    inline void set_EGT( double e ) { EGT = e; }
-    inline void set_CHT( double c ) { CHT = c; }
-    inline void set_prop_thrust( double t ) { prop_thrust = t; }
-
-};
-
-typedef vector < FGEngInterface > engine_list;
 
+typedef double FG_VECTOR_3[3];
 
 // This is based heavily on LaRCsim/ls_generic.h
-class FGInterface {
+class FGInterface : public FGSubsystem {
 
 private:
   
+    // Has the init() method been called.  This is used to delay
+    // initialization until scenery can be loaded and we know the true
+    // ground elevation.
+    bool inited;
+
+    // Have we bound to the property system
+    bool bound; 
+
+    // periodic update management variable.  This is a scheme to run
+    // the fdm with a fixed delta-t.  We control how many iteration of
+    // the fdm to run with the fixed dt based on the elapsed time from
+    // the last update.  This allows us to maintain sync with the real
+    // time clock, even though each frame could take a random amount
+    // of time.  Since "dt" is unlikely to divide evenly into the
+    // elapse time, we keep track of the remainder and add it into the
+    // next elapsed time.  This yields a small amount of temporal
+    // jitter ( < dt ) but in practice seems to work well.
+
+//     double delta_t;		// delta "t"
+//     SGTimeStamp time_stamp;	// time stamp of last run
+//     long elapsed;		// time elapsed since last run
+    double remainder;		// remainder time from last run
+//     int multi_loop;		// number of iterations of "delta_t" to run
+
     // Pilot location rel to ref pt
     FG_VECTOR_3 d_pilot_rp_body_v;
 
@@ -248,16 +219,31 @@ private:
     double sin_longitude, cos_longitude;
     double sin_latitude, cos_latitude;
     double altitude_agl;
-    
-    // Engine list
-    engine_list engines;
 
-    FGTimeStamp valid_stamp;          // time this record is valid
-    FGTimeStamp next_stamp;           // time this record is valid
+    double daux[16];		// auxilliary doubles
+    float  faux[16];		// auxilliary floats
+    int    iaux[16];		// auxilliary ints
+
+    // SGTimeStamp valid_stamp;          // time this record is valid
+    // SGTimeStamp next_stamp;           // time this record is valid
+
+    // Model tied to FDM
+    FGAircraftModel * _acmodel;
 
 protected:
+
+    int _calc_multiloop (double dt);
+
+public:
+
+				// deliberately not virtual so that
+				// FGInterface constructor will call
+				// the right version
+    void _setup();
+
     void _busdump(void);
-    void _updatePosition( double lat_geoc, double lon, double alt );
+    void _updateGeodeticPosition( double lat, double lon, double alt );
+    void _updateGeocentricPosition( double lat_geoc, double lon, double alt );
     void _updateWeather( void );
 
     inline void _set_Inertias( double m, double xx, double yy, 
@@ -410,13 +396,22 @@ protected:
 	cos_latitude = cos(parm);
     }
 
+    inline void _set_daux( int n, double value ) { daux[n] = value; }
+    inline void _set_faux( int n, float value ) { faux[n] = value; }
+    inline void _set_iaux( int n, int value ) { iaux[n] = value; }
+
 public:
   
-    FGInterface(void);
+    FGInterface();
+    FGInterface( double dt );
     virtual ~FGInterface();
 
-    virtual bool init( double dt );
-    virtual bool update( int multi_loop );
+    virtual void init ();
+    virtual void bind ();
+    virtual void unbind ();
+    virtual void update(double dt);
+    virtual bool ToggleDataLogging(bool state) { return false; }
+    virtual bool ToggleDataLogging(void) { return false; }
 
     // Define the various supported flight models (many not yet implemented)
     enum {
@@ -447,28 +442,86 @@ public:
 	FG_EXTERNAL = 10
     };
 
+    // initialization
+    inline bool get_inited() const { return inited; }
+    inline void set_inited( bool value ) { inited = value; }
+
+    inline bool get_bound() const { return bound; }
+
+    //perform initializion that is common to all FDM's
+    void common_init();
+
+    // time and update management values
+//     inline double get_delta_t() const { return delta_t; }
+//     inline void set_delta_t( double dt ) { delta_t = dt; }
+//     inline SGTimeStamp get_time_stamp() const { return time_stamp; }
+//     inline void set_time_stamp( SGTimeStamp s ) { time_stamp = s; }
+//     inline void stamp() { time_stamp.stamp(); }
+//     inline long get_elapsed() const { return elapsed; }
+//     inline void set_elapsed( long e ) { elapsed = e; }
+//     inline long get_remainder() const { return remainder; }
+//     inline void set_remainder( long r ) { remainder = r; }
+//     inline int get_multi_loop() const { return multi_loop; }
+//     inline void set_multi_loop( int ml ) { multi_loop = ml; }
+
     // Positions
     virtual void set_Latitude(double lat);       // geocentric
     virtual void set_Longitude(double lon);    
     virtual void set_Altitude(double alt);  // triggers re-calc of AGL altitude
     virtual void set_AltitudeAGL(double altagl); // and vice-versa
+    virtual void set_Latitude_deg (double lat) {
+      set_Latitude(lat * SGD_DEGREES_TO_RADIANS);
+    }
+    virtual void set_Longitude_deg (double lon) {
+      set_Longitude(lon * SGD_DEGREES_TO_RADIANS);
+    }
     
     // Speeds -- setting any of these will trigger a re-calc of the rest
     virtual void set_V_calibrated_kts(double vc);
     virtual void set_Mach_number(double mach);
     virtual void set_Velocities_Local( double north, double east, double down );
+    inline void set_V_north (double north) { 
+      set_Velocities_Local(north, v_local_v[1], v_local_v[2]);
+    }
+    inline void set_V_east (double east) { 
+      set_Velocities_Local(v_local_v[0], east, v_local_v[2]);
+    }
+    inline void set_V_down (double down) { 
+      set_Velocities_Local(v_local_v[0], v_local_v[1], down);
+    }
     virtual void set_Velocities_Wind_Body( double u, double v, double w);
+    virtual void set_uBody (double uBody) { 
+      set_Velocities_Wind_Body(uBody, v_wind_body_v[1], v_wind_body_v[2]);
+    }
+    virtual void set_vBody (double vBody) { 
+      set_Velocities_Wind_Body(v_wind_body_v[0], vBody, v_wind_body_v[2]);
+    }
+    virtual void set_wBody (double wBody) {
+      set_Velocities_Wind_Body(v_wind_body_v[0], v_wind_body_v[1], wBody);
+    }
     
     // Euler angles 
     virtual void set_Euler_Angles( double phi, double theta, double psi );
+    virtual void set_Phi (double phi) {
+      set_Euler_Angles(phi, get_Theta(), get_Psi());
+    }
+    virtual void set_Theta (double theta) {
+      set_Euler_Angles(get_Phi(), theta, get_Psi());
+    }
+    virtual void set_Psi (double psi) { 
+      set_Euler_Angles(get_Phi(), get_Theta(), psi);
+    }
+    virtual void set_Phi_deg (double phi) { set_Phi(phi * SGD_DEGREES_TO_RADIANS); }
+    virtual void set_Theta_deg (double theta) {
+      set_Theta(theta * SGD_DEGREES_TO_RADIANS); 
+    }
+    virtual void set_Psi_deg (double psi) { set_Psi(psi * SGD_DEGREES_TO_RADIANS); }
     
     // Flight Path
     virtual void set_Climb_Rate( double roc);
     virtual void set_Gamma_vert_rad( double gamma);
     
     // Earth
-    virtual void set_Sea_level_radius(double slr);
-    virtual void set_Runway_altitude(double ralt);
     
     virtual void set_Static_pressure(double p);
     virtual void set_Static_temperature(double T);
@@ -477,8 +530,7 @@ public:
     virtual void set_Velocities_Local_Airmass (double wnorth, 
 					       double weast, 
 					       double wdown );
-    
-    
+
     // ========== Mass properties and geometry values ==========
 
     // Inertias
@@ -648,7 +700,7 @@ public:
     //    n_pilot_body_v[2] = z;
     // }
 
-    inline double get_Nlf(void) { return nlf; }
+    inline double get_Nlf(void) const { return nlf; }
 
     // inline double * get_Omega_dot_body_v() { return omega_dot_body_v; }
     // inline double get_P_dot_body() const { return omega_dot_body_v[0]; }
@@ -667,19 +719,25 @@ public:
     inline double get_V_north() const { return v_local_v[0]; }
     inline double get_V_east() const { return v_local_v[1]; }
     inline double get_V_down() const { return v_local_v[2]; }
-
-    // inline double * get_V_local_rel_ground_v() {
-    //     return v_local_rel_ground_v;
-    // }
-    // inline double get_V_north_rel_ground() const {
-    //     return v_local_rel_ground_v[0];
-    // }
-    // inline double get_V_east_rel_ground() const {
-    //     return v_local_rel_ground_v[1];
-    // }
-    // inline double get_V_down_rel_ground() const {
-    //    return v_local_rel_ground_v[2];
-    // }
+    inline double get_uBody () const { return v_wind_body_v[0]; }
+    inline double get_vBody () const { return v_wind_body_v[1]; }
+    inline double get_wBody () const { return v_wind_body_v[2]; }
+
+    // Please dont comment these out. fdm=ada uses these (see
+    // cockpit.cxx) --->
+    inline double * get_V_local_rel_ground_v() {
+        return v_local_rel_ground_v;
+    }
+    inline double get_V_north_rel_ground() const {
+        return v_local_rel_ground_v[0];
+    }
+    inline double get_V_east_rel_ground() const {
+        return v_local_rel_ground_v[1];
+    }
+    inline double get_V_down_rel_ground() const {
+        return v_local_rel_ground_v[2];
+    }
+    // <--- fdm=ada uses these (see cockpit.cxx)
 
     // inline double * get_V_local_airmass_v() { return v_local_airmass_v; }
     inline double get_V_north_airmass() const { return v_local_airmass_v[0]; }
@@ -726,7 +784,7 @@ public:
     inline double get_V_rel_wind() const { return v_rel_wind; }
     // inline void set_V_rel_wind(double wind) { v_rel_wind = wind; }
 
-    // inline double get_V_true_kts() const { return v_true_kts; }
+    inline double get_V_true_kts() const { return v_true_kts; }
     // inline void set_V_true_kts(double kts) { v_true_kts = kts; }
 
     // inline double get_V_rel_ground() const { return v_rel_ground; }
@@ -801,12 +859,22 @@ public:
     inline double get_Latitude() const { return geodetic_position_v[0]; }
     inline double get_Longitude() const { return geodetic_position_v[1]; }
     inline double get_Altitude() const { return geodetic_position_v[2]; }
-    inline double get_Altitude_AGL(void) { return altitude_agl; }
+    inline double get_Altitude_AGL(void) const { return altitude_agl; }
+
+    inline double get_Latitude_deg () const {
+      return get_Latitude() * SGD_RADIANS_TO_DEGREES;
+    }
+    inline double get_Longitude_deg () const {
+      return get_Longitude() * SGD_RADIANS_TO_DEGREES;
+    }
 
     // inline double * get_Euler_angles_v() { return euler_angles_v; }
     inline double get_Phi() const { return euler_angles_v[0]; }
     inline double get_Theta() const { return euler_angles_v[1]; }
     inline double get_Psi() const { return euler_angles_v[2]; }
+    inline double get_Phi_deg () const { return get_Phi() * SGD_RADIANS_TO_DEGREES; }
+    inline double get_Theta_deg () const { return get_Theta() * SGD_RADIANS_TO_DEGREES; }
+    inline double get_Psi_deg () const { return get_Psi() * SGD_RADIANS_TO_DEGREES; }
 
 
     // ========== Miscellaneous quantities ==========
@@ -851,10 +919,12 @@ public:
     // }
 
     inline double get_Alpha() const { return alpha; }
+    inline double get_Alpha_deg() const { return alpha * SGD_RADIANS_TO_DEGREES; }
     inline double get_Beta() const { return beta; }
-    // inline double get_Alpha_dot() const { return alpha_dot; }
+    inline double get_Beta_deg() const { return beta * SGD_RADIANS_TO_DEGREES; }
+    inline double get_Alpha_dot() const { return alpha_dot; }
     // inline void set_Alpha_dot( double ad ) { alpha_dot = ad; }
-    // inline double get_Beta_dot() const { return beta_dot; }
+    inline double get_Beta_dot() const { return beta_dot; }
     // inline void set_Beta_dot( double bd ) { beta_dot = bd; }
 
     // inline double get_Cos_alpha() const { return cos_alpha; }
@@ -889,15 +959,15 @@ public:
     inline double get_Mach_number() const { return mach_number; }
 
     inline double get_Static_pressure() const { return static_pressure; }
-    // inline double get_Total_pressure() const { return total_pressure; }
+    inline double get_Total_pressure() const { return total_pressure; }
     // inline void set_Total_pressure( double tp ) { total_pressure = tp; }
     // inline double get_Impact_pressure() const { return impact_pressure; }
     // inline void set_Impact_pressure( double ip ) { impact_pressure = ip; }
-    // inline double get_Dynamic_pressure() const { return dynamic_pressure; }
+    inline double get_Dynamic_pressure() const { return dynamic_pressure; }
     // inline void set_Dynamic_pressure( double dp ) { dynamic_pressure = dp; }
 
     inline double get_Static_temperature() const { return static_temperature; }
-    // inline double get_Total_temperature() const { return total_temperature; }
+    inline double get_Total_temperature() const { return total_temperature; }
     // inline void set_Total_temperature( double t ) { total_temperature = t; }
 
     inline double get_Sea_level_radius() const { return sea_level_radius; }
@@ -974,8 +1044,8 @@ public:
 
     inline double get_Climb_Rate() const { return climb_rate; }
 
-    inline FGTimeStamp get_time_stamp() const { return valid_stamp; }
-    inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
+    // inline SGTimeStamp get_time_stamp() const { return valid_stamp; }
+    // inline void stamp_time() { valid_stamp = next_stamp; next_stamp.stamp(); }
 
     // Extrapolate FDM based on time_offset (in usec)
     void extrapolate( int time_offset );
@@ -1002,18 +1072,17 @@ public:
 	return cos_latitude;
     }
 
-    // engines
-    inline double get_num_engines() const {
-	return engines.size();
-    }
+    // Auxilliary variables
+    inline double get_daux( int n ) const { return daux[n]; }
+    inline float  get_faux( int n ) const { return faux[n]; }
+    inline int    get_iaux( int n ) const { return iaux[n]; }
 
-    inline FGEngInterface* get_engine( int i ) {
-	return &engines[i];
-    }
+    // Model tied to FDM
+    FGAircraftModel * getACModel() const { return _acmodel; }
+
+    // Note that currently this is the "same" value runway altitude...
+    inline double get_ground_elev_ft() const { return runway_altitude; }
 
-    inline void add_engine( FGEngInterface e ) {
-	engines.push_back( e );
-    }
 };
 
 
@@ -1027,17 +1096,9 @@ extern FGInterface * cur_fdm_state;
 
 // General interface to the flight model routines
 
-// Initialize the flight model parameters
-int fgFDMInit(int model, FGInterface& f, double dt);
-
-// Run multiloop iterations of the flight model
-int fgFDMUpdate(int model, FGInterface& f, int multiloop, int jitter);
-
-// Set the altitude (force)
-void fgFDMForceAltitude(int model, double alt_meters);
 
-// Set the local ground elevation
-void fgFDMSetGroundElevation(int model, double alt_meters);
+// Toggle data logging on/off
+void fgToggleFDMdataLogging(void);
 
 
 #endif // _FLIGHT_HXX