Merge branch 'master' of git://gitorious.org/fg/flightgear into next

diff --git a/.gitignore b/.gitignore
new file mode 100644 (file)
index 0000000..98517f5
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,16 @@
+.deps
+Makefile
+Makefile.in
+config.sub
+config.guess
+config.log
+config.status
+configure
+aclocal.m4
+autom4te.cache
+depcomp
+install-sh
+missing
+INSTALL
+*.o
+lib*.a

diff --git a/configure.ac b/configure.ac
index df8ba3dcb4b4647d7633865b493a8e28a75724fc..9225c0fa00c1f3294e2224c1fce3dcdf60a2bb7d 100644 (file)
--- a/configure.ac
+++ b/configure.ac
@@ -2,7 +2,7 @@ dnl Process this file with autogen.sh to produce a working configure
 dnl script.
 
 AC_INIT
-AC_CONFIG_SRCDIR([src/Aircraft/aircraft.cxx])
+AC_CONFIG_SRCDIR([src/Airports/simple.cxx])
 
 dnl Require at least automake 2.52
 AC_PREREQ(2.52)
@@ -58,7 +58,7 @@ case "${host}" in
 
     dnl Thank you Christian Bauer from SheepSaver
     dnl Modified by Tatsuhiro Nishioka for accepting a given framework path
-    dnl AC_CHECK_FRAMEWORK($1=NAME, $2=INCLUDES, $3=FRAMEWORK_PATH) ; $3 is optional
+    dnl AC_CHECK_FRAMEWORK($1=NAME, $2=INCLUDES, $3=FRAMEWORK_PATH, $4=ACTION_IF_FOUND) ; 
     AC_DEFUN([AC_CHECK_FRAMEWORK], [
     AS_VAR_PUSHDEF([ac_Framework], [ac_cv_framework_$1])dnl
     AC_CACHE_CHECK([whether compiler supports framework $1],
@@ -71,6 +71,7 @@ case "${host}" in
             FRAMEWORKS="$FRAMEWORKS -F$3"
             CXXFLAGS="$CXXFLAGS -F$3"
             CCFLAGS="$CCFLAGS -F$3"
+            CPPFLAGS="$CPPFLAGS -F$3"
             dnl This is needed for AC_TRY_LINK when a framework path is specified
             export DYLD_FRAMEWORK_PATH="${DYLD_FRAMEWORK_PATH}:$3"
         fi
@@ -82,6 +83,7 @@ case "${host}" in
     AS_IF([test AS_VAR_GET(ac_Framework) = yes],
         [AC_DEFINE(AS_TR_CPP(HAVE_FRAMEWORK_$1), 1, [Define if framework $1 is available.])]
     )
+    AS_IF([test AS_VAR_GET(ac_Framework) = yes], $4)
     AS_VAR_POPDEF([ac_Framework])dnl
     ])
 
@@ -107,9 +109,9 @@ case "${host}" in
        export DYLD_FRAMEWORK_PATH="$DYLD_FRAMEWORK_PATH:$with_plib_framework"
     fi
 
-    AC_ARG_WITH(openal_framework, [ --with-openal-framework=PREFIX    Speicfy the prefix path to OpenAL.framework ])
-    if test "x$with_openal_framework" != "x"; then
-        echo "OpenAL framework prefix is $with_openal_framework"
+    AC_ARG_WITH(alut_framework, [ --with-alut-framework=PREFIX    Specify the prefix path to ALUT.framework ])
+    if test "x$with_alut_framework" != "x"; then
+        echo "ALUT framework prefix is $with_alut_framework"
     fi
 
     ;;
@@ -177,13 +179,13 @@ AM_CONDITIONAL(ENABLE_SP_FDM, test "x$enable_sp_fdms" != "xno")
 
 # Specify whether we want to compile ATCDCL.
 # default to with_atcdcl=yes
-AC_ARG_ENABLE(atcdcl, [  --enable-atcdcl                Compile and link the depricated atc/ai module], [enable_atcdcl="$enableval"] )
-if test "x$enable_atcdcl" != "xno"; then
+AC_ARG_ENABLE(atcdcl, [  --enable-atcdcl                Compile and link the depricated atc/ai module], [], [enable_atcdcl="$enableval"] )
+if test "x$enable_atcdcl" = "xyes"; then
     AC_DEFINE([ENABLE_ATCDCL], 1, [Define to include old ATC/AI module])
 else
     AC_DEFINE([ENABLE_ATCDCL], 0, [Define to include old ATC/AI module])
 fi
-AM_CONDITIONAL(ENABLE_ATCDCL, test "x$enable_atcdcl" != "xno")
+AM_CONDITIONAL(ENABLE_ATCDCL, test "x$enable_atcdcl" = "xyes")
 
 
 
@@ -428,19 +430,15 @@ case "${host}" in
 *-apple-darwin*)
     dnl Mac OS X
 
-    # Mac OS X has OpenAL.framework with ALUT by default
-    # so we can use it without checking it.
-    # Note: SimGear needs to check the existance of alut.h since it includes the header.
-    LIBS="$LIBS -framework IOKit -framework OpenAL"
-    openal_LIBS="$LIBS"
-    OPENAL_OK="yes"
-    ALUT_OK="yes"
+    # Mac OS X has OpenAL.framework, but no ALUT, by default, so we
+    # require use of a non-Apple ALUT.framework which we provide
+    openal_LIBS="-framework IOKit -framework OpenAL"
     
-    dnl Check for OpenAL.framework when --with-openal-framework is specified
-    if test "x$with_openal_framework" != "x"; then
-      AC_CHECK_FRAMEWORK(OpenAL, [#include <OpenAL/alut.h>], $with_openal_framework)
-    fi
-
+    AC_CHECK_FRAMEWORK(OpenAL, [#include <OpenAL/al.h>], "", [OPENAL_OK="yes"])
+    AC_CHECK_FRAMEWORK(ALUT, [#include <ALUT/alut.h>], $with_alut_framework, [
+        ALUT_OK="yes"
+        openal_LIBS="$openal_LIBS -framework ALUT"
+    ])
     ;;
 
 *)
@@ -747,10 +745,9 @@ fi
 dnl Check for Subversion library support
 save_LIBS=$LIBS
 save_CPPFLAGS=$CPPFLAGS
-LIBS=""
+LIBS="`apr-1-config --link-ld`"
 CPPFLAGS="-I/usr/include/subversion-1 `apr-1-config --includes`"
-AC_CHECK_LIB(svn_client-1, svn_client_checkout3)
-AC_CHECK_HEADERS([svn_client.h glut.h])
+AC_CHECK_HEADERS([svn_client.h])
 if test "x$ac_cv_header_svn_client_h" != "xyes"; then
   echo "TerraSync will shell out for command line subversion"
   svn_LIBS=""
@@ -758,6 +755,7 @@ if test "x$ac_cv_header_svn_client_h" != "xyes"; then
 else
   echo "TerraSync will use integrated subversion library"
   AC_SEARCH_LIBS(svn_client_checkout, svn_client-1)
+  AC_SEARCH_LIBS(svn_cmdline_init, svn_subr-1)
   svn_LIBS=$LIBS
   svn_CPPFLAGS=$CPPFLAGS
   AC_SUBST(svn_LIBS)
@@ -815,10 +813,6 @@ AC_CONFIG_FILES([ \
        src/Makefile \
        src/Include/Makefile \
        src/Include/version.h \
-       src/Include/config.h-msvc6 \
-       src/Include/config.h-msvc71 \
-       src/Include/config.h-msvc8 \
-       src/Include/config.h-msvc90 \
        src/Aircraft/Makefile \
        src/Airports/Makefile \
        src/ATC/Makefile \
@@ -914,7 +908,7 @@ else
     echo "Include special purpose flight models: no"
 fi
 
-if test "x$enable_atcdcl" != "xno"; then
+if test "x$enable_atcdcl" = "xyes"; then
     echo "Build depricated ATC/AI module: yes"
 else
     echo "Build depricated ATC/AI module: no"

diff --git a/docs-mini/README.MSVC b/docs-mini/README.MSVC
index 3549336d25cac059924c20e4ded14978bd89710d..17e79095ccca2c74fb56280524487e676e9b75a1 100644 (file)
--- a/docs-mini/README.MSVC
+++ b/docs-mini/README.MSVC
@@ -67,4 +67,49 @@ x64 build :
          projects /
             VC90 /
 
-3rdParty.x64, boost_1_39_0 and install/msvc90-64 are included in the x32 3rdParty archive.
+3rdParty.x64, boost_1_39_0 and install/msvc90-64 are included in the x64 3rdParty archive.
+
+Typical setup should decompose into the following steps :
+
+  1. Install Visual Studio 2008 Express (http://msdn.microsoft.com/fr-fr/express/aa975050.aspx)
+  2. Install msysGit (http://code.google.com/p/msysgit/)
+  3. Create a new directory, say D:\FGFSDevel (or anything else)
+  4. Unzip precompiled Win32 3rd party archive in it
+  5. Open a Git Bash session and cd to the new directory ( cd /d/FGFSDevel )
+  6. Get SimGear sources from Gitorious : git clone git://gitorious.org/fg/simgear.git SimGear
+  7. Get FlightGear source from Gitorious : git clone git://gitorious.org/fg/flightgear.git FlightGear
+  8. Go to D:\FGFSDevel\FlightGear\projects\VC90 and double-click on FlightGear.sln
+  9. Select the "Release" configuration
+ 10. Open file D:\FGFSDevel\SimGear\simgear\version.h.in and change @VERSION@ into "2.0.0" or any current version
+ 11. Save file as version.h in the same directory
+ 12. Start build (usually F7)
+ 13. Get the data from Gitorious too : git clone git://gitorious.org/fg/fgdata.git fgdata
+ 14. Wait...
+ 15. Add <any_directory_on_any_drive>/install/msvc90/OpenSceneGraph/bin and <any_directory_on_any_drive>/3rdParty/bin to your PATH environment variable
+ 16. Enjoy - programs are in D:\FGFSDevel\FlightGear\projects\VC90\Win32\Release
+
+It is also possible to compile a Debug version. This is only useful when hacking the code because 
+a Debug version is way slower than the Release one.
+
+The 64bit build is only available to people having the Professional edition of Visual Studio 2008. In that case, 14. above should be :
+ 14. Add <any_directory_on_any_drive>/install/msvc90-64/OpenSceneGraph/bin and <any_directory_on_any_drive>/3rdParty.x64/bin to your PATH environment variable
+
+When the manual build works, it is possible to start it from the command line. This is useful 
+when setting up a build server or automating the process of retrieving the code and building 
+it in a scheduled task. To do that :
+
+ 1. open a command line window
+ 2. execute "C:\Program Files\Microsoft Visual Studio 9.0\Common7\Tools\vsvars32.bat"
+     or "C:\Program Files (x86)\Microsoft Visual Studio 9.0\Common7\Tools\vsvars32.bat" in a 
+     64bit environment (Vista 64-bit or Windows7 64-bit)
+     You should see : "Setting environment for using Microsoft Visual Studio 2008 x86 tools."
+     printed in the console
+ 3. cd to the FlightGear project directory :
+     D:
+     cd \FGFSDevel\FlightGear\projects\VC90  (for example)
+ 4. start the build with the command line below :
+     msbuild FlightGear.sln /p:Configuration=Release /m
+    or 
+     msbuild FlightGear.sln /p:Configuration=Debug /m
+
+That's all...

diff --git a/docs-mini/README.digitalfilters b/docs-mini/README.digitalfilters
index dce9a80ddd479506b965b43f8548def99a8cb4a6..9f65b8ae9445bc4edd6a05daef5f64de9b8a34ed 100644 (file)
--- a/docs-mini/README.digitalfilters
+++ b/docs-mini/README.digitalfilters
@@ -1,3 +1,9 @@
+NOTE:
+This manual may contain outdated information. For documentation of the most recent features
+refer to
+http://wiki.flightgear.org/index.php/Howto:_Design_an_autopilot
+http://wiki.flightgear.org/index.php/Autopilot_Configuration_Reference
+
 COMMON SETTINGS
 ==============================================================================
 

diff --git a/man/.gitignore b/man/.gitignore
new file mode 100644 (file)
index 0000000..f7e585b
--- /dev/null
+++ b/man/.gitignore
@@ -0,0 +1 @@
+*.1

diff --git a/projects/VC100/.gitignore b/projects/VC100/.gitignore
new file mode 100644 (file)
index 0000000..994d77b
--- /dev/null
+++ b/projects/VC100/.gitignore
@@ -0,0 +1,8 @@
+FlightGear.suo
+FlightGear.sdf
+FlightGear.opensdf
+Win32
+x64
+ipch
+*.user
+*.sln.cache

diff --git a/projects/VC100/FlightGear.sln b/projects/VC100/FlightGear.sln
new file mode 100644 (file)
index 0000000..e1ebfa8
--- /dev/null
+++ b/projects/VC100/FlightGear.sln
@@ -0,0 +1,163 @@
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Visual Studio 2010
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "fgadmin", "fgadmin\fgadmin.vcxproj", "{7004E589-7EA0-4AFD-B432-3D5E00B55049}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "fgjs", "fgjs\fgjs.vcxproj", "{6749547A-6493-4754-8E0E-49FB3137C4CA}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "fgviewer", "fgviewer\fgviewer.vcxproj", "{0F13A557-EC52-481D-ADFB-9209C068FCEB}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "FlightGear", "FlightGear\FlightGear.vcxproj", "{49142EAF-B264-4B9F-B096-F669999EBB2E}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "GPSsmooth", "GPSsmooth\GPSsmooth.vcxproj", "{AE9CE7E4-8F21-4C34-82DD-4D0371C210DA}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "metar", "metar\metar.vcxproj", "{FC424099-5D77-4BC2-A93F-2EE59F816B51}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "MIDGsmooth", "MIDGsmooth\MIDGsmooth.vcxproj", "{92010FAB-17A3-4891-AE6D-507214FEA508}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "terrasync", "terrasync\terrasync.vcxproj", "{874D3F55-6048-4068-A7C2-7FA6AF1F30EA}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "UGsmooth", "UGsmooth\UGsmooth.vcxproj", "{EEEEB798-BFFD-425F-86F9-03C6FE6B8B99}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "xmlgrep", "xmlgrep\xmlgrep.vcxproj", "{1F40CF41-9836-4488-BAAF-560623665C12}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "yasim", "yasim\yasim.vcxproj", "{800CB1FF-C398-4B81-B3D6-8BBD9E0897D2}"
+       ProjectSection(ProjectDependencies) = postProject
+               {22540CD3-D3CA-4C86-A773-80AEEE3ACDED} = {22540CD3-D3CA-4C86-A773-80AEEE3ACDED}
+       EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "SimGear", "..\..\..\SimGear\projects\VC100\SimGear.vcxproj", "{22540CD3-D3CA-4C86-A773-80AEEE3ACDED}"
+EndProject
+Global
+       GlobalSection(SolutionConfigurationPlatforms) = preSolution
+               Debug|Win32 = Debug|Win32
+               Debug|x64 = Debug|x64
+               Release|Win32 = Release|Win32
+               Release|x64 = Release|x64
+       EndGlobalSection
+       GlobalSection(ProjectConfigurationPlatforms) = postSolution
+               {7004E589-7EA0-4AFD-B432-3D5E00B55049}.Debug|Win32.ActiveCfg = Debug|Win32
+               {7004E589-7EA0-4AFD-B432-3D5E00B55049}.Debug|Win32.Build.0 = Debug|Win32
+               {7004E589-7EA0-4AFD-B432-3D5E00B55049}.Debug|x64.ActiveCfg = Debug|x64
+               {7004E589-7EA0-4AFD-B432-3D5E00B55049}.Debug|x64.Build.0 = Debug|x64
+               {7004E589-7EA0-4AFD-B432-3D5E00B55049}.Release|Win32.ActiveCfg = Release|Win32
+               {7004E589-7EA0-4AFD-B432-3D5E00B55049}.Release|Win32.Build.0 = Release|Win32
+               {7004E589-7EA0-4AFD-B432-3D5E00B55049}.Release|x64.ActiveCfg = Release|x64
+               {7004E589-7EA0-4AFD-B432-3D5E00B55049}.Release|x64.Build.0 = Release|x64
+               {6749547A-6493-4754-8E0E-49FB3137C4CA}.Debug|Win32.ActiveCfg = Debug|Win32
+               {6749547A-6493-4754-8E0E-49FB3137C4CA}.Debug|Win32.Build.0 = Debug|Win32
+               {6749547A-6493-4754-8E0E-49FB3137C4CA}.Debug|x64.ActiveCfg = Debug|x64
+               {6749547A-6493-4754-8E0E-49FB3137C4CA}.Debug|x64.Build.0 = Debug|x64
+               {6749547A-6493-4754-8E0E-49FB3137C4CA}.Release|Win32.ActiveCfg = Release|Win32
+               {6749547A-6493-4754-8E0E-49FB3137C4CA}.Release|Win32.Build.0 = Release|Win32
+               {6749547A-6493-4754-8E0E-49FB3137C4CA}.Release|x64.ActiveCfg = Release|x64
+               {6749547A-6493-4754-8E0E-49FB3137C4CA}.Release|x64.Build.0 = Release|x64
+               {0F13A557-EC52-481D-ADFB-9209C068FCEB}.Debug|Win32.ActiveCfg = Debug|Win32
+               {0F13A557-EC52-481D-ADFB-9209C068FCEB}.Debug|Win32.Build.0 = Debug|Win32
+               {0F13A557-EC52-481D-ADFB-9209C068FCEB}.Debug|x64.ActiveCfg = Debug|x64
+               {0F13A557-EC52-481D-ADFB-9209C068FCEB}.Debug|x64.Build.0 = Debug|x64
+               {0F13A557-EC52-481D-ADFB-9209C068FCEB}.Release|Win32.ActiveCfg = Release|Win32
+               {0F13A557-EC52-481D-ADFB-9209C068FCEB}.Release|Win32.Build.0 = Release|Win32
+               {0F13A557-EC52-481D-ADFB-9209C068FCEB}.Release|x64.ActiveCfg = Release|x64
+               {0F13A557-EC52-481D-ADFB-9209C068FCEB}.Release|x64.Build.0 = Release|x64
+               {49142EAF-B264-4B9F-B096-F669999EBB2E}.Debug|Win32.ActiveCfg = Debug|Win32
+               {49142EAF-B264-4B9F-B096-F669999EBB2E}.Debug|Win32.Build.0 = Debug|Win32
+               {49142EAF-B264-4B9F-B096-F669999EBB2E}.Debug|x64.ActiveCfg = Debug|x64
+               {49142EAF-B264-4B9F-B096-F669999EBB2E}.Debug|x64.Build.0 = Debug|x64
+               {49142EAF-B264-4B9F-B096-F669999EBB2E}.Release|Win32.ActiveCfg = Release|Win32
+               {49142EAF-B264-4B9F-B096-F669999EBB2E}.Release|Win32.Build.0 = Release|Win32
+               {49142EAF-B264-4B9F-B096-F669999EBB2E}.Release|x64.ActiveCfg = Release|x64
+               {49142EAF-B264-4B9F-B096-F669999EBB2E}.Release|x64.Build.0 = Release|x64
+               {AE9CE7E4-8F21-4C34-82DD-4D0371C210DA}.Debug|Win32.ActiveCfg = Debug|Win32
+               {AE9CE7E4-8F21-4C34-82DD-4D0371C210DA}.Debug|Win32.Build.0 = Debug|Win32
+               {AE9CE7E4-8F21-4C34-82DD-4D0371C210DA}.Debug|x64.ActiveCfg = Debug|x64
+               {AE9CE7E4-8F21-4C34-82DD-4D0371C210DA}.Debug|x64.Build.0 = Debug|x64
+               {AE9CE7E4-8F21-4C34-82DD-4D0371C210DA}.Release|Win32.ActiveCfg = Release|Win32
+               {AE9CE7E4-8F21-4C34-82DD-4D0371C210DA}.Release|Win32.Build.0 = Release|Win32
+               {AE9CE7E4-8F21-4C34-82DD-4D0371C210DA}.Release|x64.ActiveCfg = Release|x64
+               {AE9CE7E4-8F21-4C34-82DD-4D0371C210DA}.Release|x64.Build.0 = Release|x64
+               {FC424099-5D77-4BC2-A93F-2EE59F816B51}.Debug|Win32.ActiveCfg = Debug|Win32
+               {FC424099-5D77-4BC2-A93F-2EE59F816B51}.Debug|Win32.Build.0 = Debug|Win32
+               {FC424099-5D77-4BC2-A93F-2EE59F816B51}.Debug|x64.ActiveCfg = Debug|x64
+               {FC424099-5D77-4BC2-A93F-2EE59F816B51}.Debug|x64.Build.0 = Debug|x64
+               {FC424099-5D77-4BC2-A93F-2EE59F816B51}.Release|Win32.ActiveCfg = Release|Win32
+               {FC424099-5D77-4BC2-A93F-2EE59F816B51}.Release|Win32.Build.0 = Release|Win32
+               {FC424099-5D77-4BC2-A93F-2EE59F816B51}.Release|x64.ActiveCfg = Release|x64
+               {FC424099-5D77-4BC2-A93F-2EE59F816B51}.Release|x64.Build.0 = Release|x64
+               {92010FAB-17A3-4891-AE6D-507214FEA508}.Debug|Win32.ActiveCfg = Debug|Win32
+               {92010FAB-17A3-4891-AE6D-507214FEA508}.Debug|Win32.Build.0 = Debug|Win32
+               {92010FAB-17A3-4891-AE6D-507214FEA508}.Debug|x64.ActiveCfg = Debug|x64
+               {92010FAB-17A3-4891-AE6D-507214FEA508}.Debug|x64.Build.0 = Debug|x64
+               {92010FAB-17A3-4891-AE6D-507214FEA508}.Release|Win32.ActiveCfg = Release|Win32
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new file mode 100644 (file)
index 0000000..04d9c33
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+    <ClCompile>
+      <AdditionalIncludeDirectories>..\..\..\src;..\..\..\..\SimGear;..\..\..\..\install\msvc100-64\OpenSceneGraph\include;..\..\..\..\3rdParty.x64\include;..\..\..\..\boost_1_43_0;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;NOMINMAX;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+      <RuntimeTypeInfo>true</RuntimeTypeInfo>
+      <PrecompiledHeader>
+      </PrecompiledHeader>
+      <WarningLevel>Level3</WarningLevel>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+    </ClCompile>
+    <Link>
+      <AdditionalDependencies>sg.lib;ul.lib;OpenThreads.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalLibraryDirectories>..\..\..\..\install\msvc100-64\OpenSceneGraph\lib;..\..\..\..\3rdParty.x64\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <SubSystem>Console</SubSystem>
+      <OptimizeReferences>true</OptimizeReferences>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <RandomizedBaseAddress>false</RandomizedBaseAddress>
+      <DataExecutionPrevention>
+      </DataExecutionPrevention>
+      <TargetMachine>MachineX64</TargetMachine>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Airplane.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Atmosphere.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\ControlMap.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\FGFDM.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Gear.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Glue.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Ground.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Hitch.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Hook.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Integrator.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Jet.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Launchbar.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Math.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Model.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\PistonEngine.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Propeller.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\PropEngine.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\RigidBody.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Rotor.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Rotorpart.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\SimpleJet.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Surface.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Thruster.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\TurbineEngine.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Turbulence.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Wing.cpp" />
+    <ClCompile Include="..\..\..\src\Fdm\YASim\yasim-test.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Airplane.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Atmosphere.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\ControlMap.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\FGFDM.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Gear.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Glue.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Ground.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Hitch.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Hook.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Integrator.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Jet.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Launchbar.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Math.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Model.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\PistonEngine.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Propeller.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\PropEngine.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\RigidBody.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Rotor.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Rotorpart.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\SimpleJet.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Surface.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Thruster.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\TurbineEngine.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Turbulence.hpp" />
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Wing.hpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\..\..\..\SimGear\projects\VC100\SimGear.vcxproj">
+      <Project>{22540cd3-d3ca-4c86-a773-80aeee3acded}</Project>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>
\ No newline at end of file

diff --git a/projects/VC100/yasim/yasim.vcxproj.filters b/projects/VC100/yasim/yasim.vcxproj.filters
new file mode 100644 (file)
index 0000000..02bac02
--- /dev/null
+++ b/projects/VC100/yasim/yasim.vcxproj.filters
@@ -0,0 +1,180 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hpp;hxx;hm;inl;inc;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx</Extensions>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Airplane.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Atmosphere.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\ControlMap.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\FGFDM.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Gear.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Glue.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Ground.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Hitch.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Hook.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Integrator.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Jet.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Launchbar.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Math.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Model.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\PistonEngine.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Propeller.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\PropEngine.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\RigidBody.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Rotor.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Rotorpart.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\SimpleJet.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Surface.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Thruster.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\TurbineEngine.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Turbulence.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\Wing.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\..\..\src\Fdm\YASim\yasim-test.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Airplane.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Atmosphere.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\ControlMap.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\FGFDM.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Gear.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Glue.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Ground.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Hitch.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Hook.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Integrator.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Jet.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Launchbar.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Math.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Model.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\PistonEngine.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Propeller.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\PropEngine.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\RigidBody.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Rotor.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Rotorpart.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\SimpleJet.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Surface.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Thruster.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\TurbineEngine.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Turbulence.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\..\src\Fdm\YASim\Wing.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>
\ No newline at end of file

diff --git a/projects/VC90/.gitignore b/projects/VC90/.gitignore
new file mode 100644 (file)
index 0000000..d0e66af
--- /dev/null
+++ b/projects/VC90/.gitignore
@@ -0,0 +1,5 @@
+FlightGear.ncb
+FlightGear.suo
+*.sln.cache
+Win32
+x64

diff --git a/projects/VC90/FlightGear/.gitignore b/projects/VC90/FlightGear/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/FlightGear/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/FlightGear/FlightGear.vcproj b/projects/VC90/FlightGear/FlightGear.vcproj
index bb6d3f382822d80842c50ded3fe93360fa436d10..eacb7a081dc0317f94ed2c0f929dedec049cf964 100644 (file)
--- a/projects/VC90/FlightGear/FlightGear.vcproj
+++ b/projects/VC90/FlightGear/FlightGear.vcproj
@@ -48,7 +48,7 @@
                                Name="VCCLCompilerTool"
                                Optimization="0"
                                AdditionalIncludeDirectories="..\..\..\src;..\..\..\src\include;..\..\..\..\SimGear;..\..\..\src\FDM\JSBSim;..\..\..\..\install\msvc90\OpenSceneGraph\include;..\..\..\..\3rdParty\include;..\..\..\..\boost_1_39_0"
-                               PreprocessorDefinitions="_DEBUG;WIN32;_CONSOLE;HAVE_CONFIG_H;FGFS;ENABLE_AUDIO_SUPPORT;_FG_NDEBUG;ENABLE_THREADS=1;FG_ENABLE_MULTIPASS_CLOUDS;ENABLE_SP_FMDS;_USE_MATH_DEFINES;FG_JPEG_SERVER;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS;ENABLE_ATCDCL"
+                               PreprocessorDefinitions="_DEBUG;WIN32;_CONSOLE;HAVE_CONFIG_H;FGFS;ENABLE_AUDIO_SUPPORT;_FG_NDEBUG;ENABLE_THREADS=1;FG_ENABLE_MULTIPASS_CLOUDS;ENABLE_SP_FMDS;_USE_MATH_DEFINES;FG_JPEG_SERVER;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS"
                                StringPooling="true"
                                BasicRuntimeChecks="0"
                                RuntimeLibrary="3"
@@ -137,7 +137,7 @@
                                Name="VCCLCompilerTool"
                                Optimization="0"
                                AdditionalIncludeDirectories="..\..\..\src;..\..\..\src\include;..\..\..\..\SimGear;..\..\..\src\FDM\JSBSim;..\..\..\..\install\msvc90-64\OpenSceneGraph\include;..\..\..\..\3rdParty.x64\include;..\..\..\..\boost_1_39_0"
-                               PreprocessorDefinitions="_DEBUG;WIN32;_CONSOLE;HAVE_CONFIG_H;FGFS;ENABLE_AUDIO_SUPPORT;_FG_NDEBUG;ENABLE_THREADS=1;FG_ENABLE_MULTIPASS_CLOUDS;ENABLE_SP_FMDS;_USE_MATH_DEFINES;FG_JPEG_SERVER;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS;PU_USE_NATIVE;ENABLE_ATCDCL"
+                               PreprocessorDefinitions="_DEBUG;WIN32;_CONSOLE;HAVE_CONFIG_H;FGFS;ENABLE_AUDIO_SUPPORT;_FG_NDEBUG;ENABLE_THREADS=1;FG_ENABLE_MULTIPASS_CLOUDS;ENABLE_SP_FMDS;_USE_MATH_DEFINES;FG_JPEG_SERVER;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS;PU_USE_NATIVE"
                                StringPooling="true"
                                BasicRuntimeChecks="0"
                                RuntimeLibrary="3"
@@ -225,7 +225,7 @@
                                Name="VCCLCompilerTool"
                                InlineFunctionExpansion="1"
                                AdditionalIncludeDirectories="..\..\..\src;..\..\..\src\include;..\..\..\src\FDM\JSBSim;..\..\..\..\SimGear;..\..\..\..\install\msvc90\OpenSceneGraph\include;..\..\..\..\3rdParty\include;..\..\..\..\boost_1_39_0"
-                               PreprocessorDefinitions="NDEBUG;WIN32;_CONSOLE;HAVE_CONFIG_H;FGFS;ENABLE_AUDIO_SUPPORT;_FG_NDEBUG;ENABLE_THREADS=1;FG_ENABLE_MULTIPASS_CLOUDS;ENABLE_SP_FMDS;_USE_MATH_DEFINES;FG_JPEG_SERVER;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS;ENABLE_ATCDCL"
+                               PreprocessorDefinitions="NDEBUG;WIN32;_CONSOLE;HAVE_CONFIG_H;FGFS;ENABLE_AUDIO_SUPPORT;_FG_NDEBUG;ENABLE_THREADS=1;FG_ENABLE_MULTIPASS_CLOUDS;ENABLE_SP_FMDS;_USE_MATH_DEFINES;FG_JPEG_SERVER;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS"
                                StringPooling="true"
                                RuntimeLibrary="2"
                                EnableFunctionLevelLinking="true"
@@ -313,7 +313,7 @@
                                Name="VCCLCompilerTool"
                                InlineFunctionExpansion="1"
                                AdditionalIncludeDirectories="..\..\..\src;..\..\..\src\include;..\..\..\src\FDM\JSBSim;..\..\..\..\SimGear;..\..\..\..\install\msvc90-64\OpenSceneGraph\include;..\..\..\..\3rdParty.x64\include;..\..\..\..\boost_1_39_0"
-                               PreprocessorDefinitions="NDEBUG;WIN32;_CONSOLE;HAVE_CONFIG_H;FGFS;ENABLE_AUDIO_SUPPORT;_FG_NDEBUG;ENABLE_THREADS=1;FG_ENABLE_MULTIPASS_CLOUDS;ENABLE_SP_FMDS;_USE_MATH_DEFINES;FG_JPEG_SERVER;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS;PU_USE_NATIVE;ENABLE_ATCDCL"
+                               PreprocessorDefinitions="NDEBUG;WIN32;_CONSOLE;HAVE_CONFIG_H;FGFS;ENABLE_AUDIO_SUPPORT;_FG_NDEBUG;ENABLE_THREADS=1;FG_ENABLE_MULTIPASS_CLOUDS;ENABLE_SP_FMDS;_USE_MATH_DEFINES;FG_JPEG_SERVER;_CRT_SECURE_NO_WARNINGS;_CRT_NONSTDC_NO_WARNINGS;PU_USE_NATIVE"
                                StringPooling="true"
                                RuntimeLibrary="2"
                                EnableFunctionLevelLinking="true"
@@ -377,14 +377,6 @@
                <Filter
                        Name="Lib_Aircraft"
                        >
-                       <File
-                               RelativePath="..\..\..\src\Aircraft\aircraft.cxx"
-                               >
-                       </File>
-                       <File
-                               RelativePath="..\..\..\src\Aircraft\aircraft.hxx"
-                               >
-                       </File>
                        <File
                                RelativePath="..\..\..\src\Aircraft\controls.cxx"
                                >
@@ -524,173 +516,1399 @@
                        <File
                                RelativePath="..\..\..\src\ATCDCL\AIEntity.cxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
                        </File>
                        <File
                                RelativePath="..\..\..\src\ATCDCL\AIEntity.hxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
                        </File>
                        <File
                                RelativePath="..\..\..\src\ATCDCL\AIGAVFRTraffic.cxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
                        </File>
                        <File
                                RelativePath="..\..\..\src\ATCDCL\AIGAVFRTraffic.hxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
                        </File>
                        <File
                                RelativePath="..\..\..\src\ATCDCL\AILocalTraffic.cxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
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+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                               ObjectFile="$(IntDir)/$(InputName)1.obj"
+                                       />
+                               </FileConfiguration>
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\ATCDCL\ground.hxx"
+                               >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\ATCDCL\tower.cxx"
+                               >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\AIPlane.hxx"
+                               RelativePath="..\..\..\src\ATCDCL\tower.hxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\approach.cxx"
+                               RelativePath="..\..\..\src\ATCDCL\transmission.cxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\approach.hxx"
+                               RelativePath="..\..\..\src\ATCDCL\transmission.hxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATC.cxx"
+                               RelativePath="..\..\..\src\ATCDCL\transmissionlist.cxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCLCompilerTool"
+                                       />
+                               </FileConfiguration>
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATC.hxx"
+                               RelativePath="..\..\..\src\ATCDCL\transmissionlist.hxx"
                                >
+                               <FileConfiguration
+                                       Name="Debug|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Debug|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|Win32"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
+                               <FileConfiguration
+                                       Name="Release|x64"
+                                       ExcludedFromBuild="true"
+                                       >
+                                       <Tool
+                                               Name="VCCustomBuildTool"
+                                       />
+                               </FileConfiguration>
                        </File>
+               </Filter>
+               <Filter
+                       Name="Lib_Autopilot"
+                       >
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCDialog.cxx"
+                               RelativePath="..\..\..\src\Autopilot\analogcomponent.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCDialog.hxx"
+                               RelativePath="..\..\..\src\Autopilot\analogcomponent.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCmgr.cxx"
+                               RelativePath="..\..\..\src\Autopilot\autopilot.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCmgr.hxx"
+                               RelativePath="..\..\..\src\Autopilot\autopilot.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCProjection.cxx"
+                               RelativePath="..\..\..\src\Autopilot\autopilotgroup.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCProjection.hxx"
+                               RelativePath="..\..\..\src\Autopilot\autopilotgroup.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCutils.cxx"
+                               RelativePath="..\..\..\src\Autopilot\component.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCutils.hxx"
+                               RelativePath="..\..\..\src\Autopilot\component.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCVoice.cxx"
+                               RelativePath="..\..\..\src\Autopilot\digitalcomponent.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ATCVoice.hxx"
+                               RelativePath="..\..\..\src\Autopilot\digitalcomponent.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\atis.cxx"
+                               RelativePath="..\..\..\src\Autopilot\digitalfilter.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\atis.hxx"
+                               RelativePath="..\..\..\src\Autopilot\digitalfilter.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\commlist.cxx"
+                               RelativePath="..\..\..\src\Autopilot\flipflop.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\commlist.hxx"
+                               RelativePath="..\..\..\src\Autopilot\flipflop.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ground.cxx"
+                               RelativePath="..\..\..\src\Autopilot\inputvalue.cxx"
                                >
-                               <FileConfiguration
-                                       Name="Release|Win32"
-                                       >
-                                       <Tool
-                                               Name="VCCLCompilerTool"
-                                               ObjectFile="$(IntDir)/$(InputName)1.obj"
-                                       />
-                               </FileConfiguration>
-                               <FileConfiguration
-                                       Name="Release|x64"
-                                       >
-                                       <Tool
-                                               Name="VCCLCompilerTool"
-                                               ObjectFile="$(IntDir)/$(InputName)1.obj"
-                                       />
-                               </FileConfiguration>
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\ground.hxx"
+                               RelativePath="..\..\..\src\Autopilot\inputvalue.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\tower.cxx"
+                               RelativePath="..\..\..\src\Autopilot\logic.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\tower.hxx"
+                               RelativePath="..\..\..\src\Autopilot\logic.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\transmission.cxx"
+                               RelativePath="..\..\..\src\Autopilot\pidcontroller.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\transmission.hxx"
+                               RelativePath="..\..\..\src\Autopilot\pidcontroller.hxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\transmissionlist.cxx"
+                               RelativePath="..\..\..\src\Autopilot\pisimplecontroller.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\ATCDCL\transmissionlist.hxx"
+                               RelativePath="..\..\..\src\Autopilot\pisimplecontroller.hxx"
                                >
                        </File>
-               </Filter>
-               <Filter
-                       Name="Lib_Autopilot"
-                       >
                        <File
-                               RelativePath="..\..\..\src\Autopilot\autobrake.cxx"
+                               RelativePath="..\..\..\src\Autopilot\predictor.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\Autopilot\autobrake.hxx"
+                               RelativePath="..\..\..\src\Autopilot\predictor.hxx"
                                >
                        </File>
                        <File
@@ -701,14 +1919,6 @@
                                RelativePath="..\..\..\src\Autopilot\route_mgr.hxx"
                                >
                        </File>
-                       <File
-                               RelativePath="..\..\..\src\Autopilot\xmlauto.cxx"
-                               >
-                       </File>
-                       <File
-                               RelativePath="..\..\..\src\Autopilot\xmlauto.hxx"
-                               >
-                       </File>
                </Filter>
                <Filter
                        Name="Lib_Cockpit"
@@ -932,6 +2142,14 @@
                                        RelativePath="..\..\..\src\Fdm\JSBSim\math\FGRealValue.h"
                                        >
                                </File>
+                               <File
+                                       RelativePath="..\..\..\src\Fdm\JSBSim\math\FGRungeKutta.cpp"
+                                       >
+                               </File>
+                               <File
+                                       RelativePath="..\..\..\src\Fdm\JSBSim\math\FGRungeKutta.h"
+                                       >
+                               </File>
                                <File
                                        RelativePath="..\..\..\src\Fdm\JSBSim\math\FGTable.cpp"
                                        >
@@ -2541,6 +3759,14 @@
                <Filter
                        Name="Lib_Flight"
                        >
+                       <File
+                               RelativePath="..\..\..\src\FDM\fdm_shell.cxx"
+                               >
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\FDM\fdm_shell.hxx"
+                               >
+                       </File>
                        <File
                                RelativePath="..\..\..\src\FDM\flight.cxx"
                                >
@@ -2549,6 +3775,14 @@
                                RelativePath="..\..\..\src\FDM\flight.hxx"
                                >
                        </File>
+                       <File
+                               RelativePath="..\..\..\src\FDM\flightProperties.cxx"
+                               >
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\FDM\flightProperties.hxx"
+                               >
+                       </File>
                        <File
                                RelativePath="..\..\..\src\Fdm\groundcache.cxx"
                                >
@@ -2613,6 +3847,14 @@
                                RelativePath="..\..\..\src\GUI\layout.hxx"
                                >
                        </File>
+                       <File
+                               RelativePath="..\..\..\src\GUI\MapWidget.cxx"
+                               >
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\GUI\MapWidget.hxx"
+                               >
+                       </File>
                        <File
                                RelativePath="..\..\..\src\GUI\menubar.cxx"
                                >
@@ -2645,10 +3887,14 @@
                                RelativePath="..\..\..\src\GUI\SafeTexFont.hxx"
                                >
                        </File>
-                       <File RelativePath="..\..\..\src\GUI\WaypointList.cxx"></File>
-                       <File RelativePath="..\..\..\src\GUI\WaypointList.hxx"></File>
-                       <File RelativePath="..\..\..\src\GUI\MapWidget.cxx"></File>
-                       <File RelativePath="..\..\..\src\GUI\MapWidget.hxx"></File>
+                       <File
+                               RelativePath="..\..\..\src\GUI\WaypointList.cxx"
+                               >
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\GUI\WaypointList.hxx"
+                               >
+                       </File>
                </Filter>
                <Filter
                        Name="Lib_Input"
@@ -3266,11 +4512,11 @@
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\Time\tmp.cxx"
+                               RelativePath="..\..\..\src\Time\TimeManager.cxx"
                                >
                        </File>
                        <File
-                               RelativePath="..\..\..\src\Time\tmp.hxx"
+                               RelativePath="..\..\..\src\Time\TimeManager.hxx"
                                >
                        </File>
                </Filter>
@@ -3365,6 +4611,14 @@
                                RelativePath="..\..\..\src\Environment\environment_mgr.hxx"
                                >
                        </File>
+                       <File
+                               RelativePath="..\..\..\src\Environment\ephemeris.cxx"
+                               >
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\Environment\ephemeris.hxx"
+                               >
+                       </File>
                        <File
                                RelativePath="..\..\..\src\Environment\fgclouds.cxx"
                                >
@@ -4245,6 +5499,22 @@
                <Filter
                        Name="Lib_ATC"
                        >
+                       <File
+                               RelativePath="..\..\..\src\ATC\atcutils.cxx"
+                               >
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\ATC\atcutils.hxx"
+                               >
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\ATC\atis.cxx"
+                               >
+                       </File>
+                       <File
+                               RelativePath="..\..\..\src\ATC\atis.hxx"
+                               >
+                       </File>
                        <File
                                RelativePath="..\..\..\src\Atc\trafficcontrol.cxx"
                                >

diff --git a/projects/VC90/GPSsmooth/.gitignore b/projects/VC90/GPSsmooth/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/GPSsmooth/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/MIDGsmooth/.gitignore b/projects/VC90/MIDGsmooth/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/MIDGsmooth/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/UGsmooth/.gitignore b/projects/VC90/UGsmooth/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/UGsmooth/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/fgadmin/.gitignore b/projects/VC90/fgadmin/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/fgadmin/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/fgjs/.gitignore b/projects/VC90/fgjs/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/fgjs/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/fgviewer/.gitignore b/projects/VC90/fgviewer/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/fgviewer/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/metar/.gitignore b/projects/VC90/metar/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/metar/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/metar/metar.vcproj b/projects/VC90/metar/metar.vcproj
index a3d11428a09d316a27179af60558662f5a89153d..fc1afafd87046bd234f48929fbac78c705df183d 100644 (file)
--- a/projects/VC90/metar/metar.vcproj
+++ b/projects/VC90/metar/metar.vcproj
@@ -223,7 +223,7 @@
                                Name="VCLinkerTool"
                                AdditionalDependencies="sg.lib ul.lib net.lib ws2_32.lib"
                                LinkIncremental="1"
-                               AdditionalLibraryDirectories="..\..\..\..\plib"
+                               AdditionalLibraryDirectories="..\..\..\..\3rdParty\lib"
                                GenerateDebugInformation="true"
                                SubSystem="1"
                                OptimizeReferences="2"

diff --git a/projects/VC90/terrasync/.gitignore b/projects/VC90/terrasync/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/terrasync/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/xmlgrep/.gitignore b/projects/VC90/xmlgrep/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/xmlgrep/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/projects/VC90/yasim/.gitignore b/projects/VC90/yasim/.gitignore
new file mode 100644 (file)
index 0000000..8a9d35c
--- /dev/null
+++ b/projects/VC90/yasim/.gitignore
@@ -0,0 +1 @@
+*.user

diff --git a/src/AIModel/AIAircraft.cxx b/src/AIModel/AIAircraft.cxx
index 0a8c1d5460ff0f3217ba64ad41208e3678ad0c6b..92f458427fc6c9d4add7ee9dbb764b5b8d03aa9d 100644 (file)
--- a/src/AIModel/AIAircraft.cxx
+++ b/src/AIModel/AIAircraft.cxx
@@ -629,7 +629,12 @@ bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
     //          << dist_to_go << ": Lead distance " 
     //          << lead_dist << " " << curr->name 
     //          << " Ground target speed " << groundTargetSpeed << endl;
-         
+   // if (trafficRef) {
+   //      if (trafficRef->getCallSign() == "Transavia7584") {
+   //           cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " " 
+   //                << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << curr->name << endl; 
+   //      }
+   //  }
     return dist_to_go < lead_dist;
 }
 

diff --git a/src/AIModel/AIBallistic.cxx b/src/AIModel/AIBallistic.cxx
index 5e3b155095f1dc3147a81dbdbd2d80c7570387c3..42e3f22c5f2e58c7560ef845c4fd85057213357b 100644 (file)
--- a/src/AIModel/AIBallistic.cxx
+++ b/src/AIModel/AIBallistic.cxx
@@ -61,10 +61,12 @@ FGAIBallistic::FGAIBallistic(object_type ot) :
     _slave_load_to_ac(false),
     _contents_lb(0),
     _report_collision(false),
+       _report_expiry(false),
     _report_impact(false),
     _external_force(false),
     _impact_report_node(fgGetNode("/ai/models/model-impact", true)),
-    _old_height(0)
+    _old_height(0),
+       _elapsed_time(0)
 
 {
     no_roll = false;
@@ -80,7 +82,8 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
 
     FGAIBase::readFromScenario(scFileNode);
 
-    //setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac"));
+    //setPath(scFileNode->getStringValue("model", "Models/Geometry/rocket.ac")); 
+       setRandom(scFileNode->getBoolValue("random", false));
     setAzimuth(scFileNode->getDoubleValue("azimuth", 0.0));
     setElevation(scFileNode->getDoubleValue("elevation", 0));
     setDragArea(scFileNode->getDoubleValue("eda", 0.007));
@@ -93,10 +96,11 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
     setCd(scFileNode->getDoubleValue("cd", 0.029));
     //setMass(scFileNode->getDoubleValue("mass", 0.007));
     setWeight(scFileNode->getDoubleValue("weight", 0.25));
-    setStabilisation(scFileNode->getBoolValue("aero-stabilized", false));
+    setStabilisation(scFileNode->getBoolValue("aero-stabilised", false));
     setNoRoll(scFileNode->getBoolValue("no-roll", false));
-    setRandom(scFileNode->getBoolValue("random", false));
     setImpact(scFileNode->getBoolValue("impact", false));
+       setExpiry(scFileNode->getBoolValue("expiry", false));
+       setCollision(scFileNode->getBoolValue("collision", false));
     setImpactReportNode(scFileNode->getStringValue("impact-reports"));
     setName(scFileNode->getStringValue("name", "Rocket"));
     setFuseRange(scFileNode->getDoubleValue("fuse-range", 0.0));
@@ -104,7 +108,7 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
     setSubID(scFileNode->getIntValue("SubID", 0));
     setExternalForce(scFileNode->getBoolValue("external-force", false));
     setForcePath(scFileNode->getStringValue("force-path", ""));
-    setForceStabilisation(scFileNode->getBoolValue("force-stabilized", false));
+    setForceStabilisation(scFileNode->getBoolValue("force-stabilised", false));
     setXoffset(scFileNode->getDoubleValue("x-offset", 0.0));
     setYoffset(scFileNode->getDoubleValue("y-offset", 0.0));
     setZoffset(scFileNode->getDoubleValue("z-offset", 0.0));
@@ -116,7 +120,6 @@ void FGAIBallistic::readFromScenario(SGPropertyNode* scFileNode) {
     setSlaved(scFileNode->getBoolValue("slaved", false));
     setSlavedLoad(scFileNode->getBoolValue("slaved-load", false));
     setContentsNode(scFileNode->getStringValue("contents"));
-    setRandom(scFileNode->getBoolValue("random", false));
 }
 
 bool FGAIBallistic::init(bool search_in_AI_path) {
@@ -124,6 +127,16 @@ bool FGAIBallistic::init(bool search_in_AI_path) {
 
     _impact_reported = false;
     _collision_reported = false;
+       _expiry_reported = false;
+
+       _impact_lat = 0;
+    _impact_lon = 0;
+    _impact_elev = 0;
+    _impact_hdg = 0;
+    _impact_pitch = 0;
+    _impact_roll = 0;
+    _impact_speed = 0;
+
     invisible = false;
 
     _elapsed_time += (sg_random() * 100);
@@ -131,6 +144,8 @@ bool FGAIBallistic::init(bool search_in_AI_path) {
     props->setStringValue("material/name", "");
     props->setStringValue("name", _name.c_str());
     props->setStringValue("submodels/path", _submodel.c_str());
+       props->setStringValue("force/path", _force_path.c_str());
+       //props->setStringValue("vector/path", _vector_path.c_str());
 
     // start with high value so that animations don't trigger yet
     _ht_agl_ft = 1e10;
@@ -167,7 +182,7 @@ void FGAIBallistic::bind() {
     if(_external_force){
         props->tie("controls/force_stabilized",
             SGRawValuePointer<bool>(&_force_stabilised));
-        props->tie("position/global-x", 
+        props->tie("position/global-x",
             SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosX, 0));
         props->tie("position/global-y",
             SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getCartPosY, 0));
@@ -181,7 +196,7 @@ void FGAIBallistic::bind() {
             SGRawValuePointer<double>(&hs));
         props->tie("position/altitude-ft",
             SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getAltitude, &FGAIBase::_setAltitude));
-        props->tie("position/latitude-deg", 
+        props->tie("position/latitude-deg",
             SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLatitude, &FGAIBase::_setLatitude));
         props->tie("position/longitude-deg",
             SGRawValueMethods<FGAIBase,double>(*this, &FGAIBase::_getLongitude, &FGAIBase::_setLongitude));
@@ -263,7 +278,13 @@ void FGAIBallistic::update(double dt) {
 }
 
 void FGAIBallistic::setAzimuth(double az) {
-    hdg = _azimuth = az;
+    
+       if (_random)
+               hdg = _azimuth = (az - 5 ) + (10 * sg_random());
+       else 
+               hdg = _azimuth = az;
+
+       //cout << _name << " init hdg " << hdg << " random " << _random << endl;
 }
 
 void FGAIBallistic::setElevation(double el) {
@@ -291,7 +312,12 @@ void FGAIBallistic::setDragArea(double a) {
 }
 
 void FGAIBallistic::setLife(double seconds) {
-    life = seconds;
+
+       if (_random){
+               life = seconds * _randomness + (seconds * (1 -_randomness) * sg_random());
+               //cout << "life " << life << endl;
+       } else
+               life = seconds;
 }
 
 void FGAIBallistic::setBuoyancy(double fpss) {
@@ -321,6 +347,11 @@ void FGAIBallistic::setMass(double m) {
 void FGAIBallistic::setWeight(double w) {
     _weight_lb = w;
 }
+
+void FGAIBallistic::setRandomness(double r) {
+    _randomness = r;
+}
+
 void FGAIBallistic::setRandom(bool r) {
     _random = r;
 }
@@ -333,6 +364,11 @@ void FGAIBallistic::setCollision(bool c) {
     _report_collision = c;
 }
 
+void FGAIBallistic::setExpiry(bool e) {
+    _report_expiry = e;
+       //cout <<  "_report_expiry " << _report_expiry << endl;
+}
+
 void FGAIBallistic::setExternalForce(bool f) {
     _external_force = f;
 }
@@ -391,20 +427,20 @@ void FGAIBallistic::setContentsNode(const string& path) {
 
 bool FGAIBallistic::getSlaved() const {
     return _slave_to_ac;
-}  
+}
 
 double FGAIBallistic::getMass() const {
     return _mass;
 }
 
 double FGAIBallistic::getContents() {
-    if(_contents_node) 
+    if(_contents_node)
         _contents_lb = _contents_node->getChild("level-lbs",0,1)->getDoubleValue();
     return _contents_lb;
 }
 
 void FGAIBallistic::setContents(double c) {
-    if(_contents_node) 
+    if(_contents_node)
         _contents_lb = _contents_node->getChild("level-gal_us",0,1)->setDoubleValue(c);
 }
 
@@ -441,8 +477,8 @@ bool FGAIBallistic::getHtAGL(){
                     props->setStringValue("material/name", names[0].c_str());
                 else
                     props->setStringValue("material/name", "");
-                /*cout << "material " << mat_name 
-                << " solid " << _solid 
+                /*cout << "material " << mat_name
+                << " solid " << _solid
                 << " load " << _load_resistance
                 << " frictionFactor " << frictionFactor
                 << endl;*/
@@ -455,11 +491,11 @@ bool FGAIBallistic::getHtAGL(){
 }
 
 double FGAIBallistic::getRecip(double az){
-    // calculate the reciprocal of the input azimuth 
+    // calculate the reciprocal of the input azimuth
     if(az - 180 < 0){
         return az + 180;
     } else {
-        return az - 180; 
+        return az - 180;
     }
 }
 
@@ -479,17 +515,17 @@ void FGAIBallistic::setHt(double h, double dt, double coeff){
 }
 
 void FGAIBallistic::setHdg(double az, double dt, double coeff){
-    double recip = getRecip(hdg);
-    double c = dt / (coeff + dt);
-    //we need to ensure that we turn the short way to the new hdg
-    if (az < recip && az < hdg && hdg > 180) {
-        hdg = ((az + 360) * c) + (hdg * (1 - c));
-    } else if (az > recip && az > hdg && hdg <= 180){
-        hdg = ((az - 360) * c) + (hdg * (1 - c));
-    } else {
-        hdg = (az * c) + (hdg * (1 - c));
-    }
-    }
+       double recip = getRecip(hdg);
+       double c = dt / (coeff + dt);
+       //we need to ensure that we turn the short way to the new hdg
+       if (az < recip && az < hdg && hdg > 180) {
+               hdg = ((az + 360) * c) + (hdg * (1 - c));
+       } else if (az > recip && az > hdg && hdg <= 180){
+               hdg = ((az - 360) * c) + (hdg * (1 - c));
+       } else {
+               hdg = (az * c) + (hdg * (1 - c));
+       }
+}
 
 double  FGAIBallistic::getTgtXOffset() const {
     return _tgt_x_offset;
@@ -497,7 +533,7 @@ double  FGAIBallistic::getTgtXOffset() const {
 
 double  FGAIBallistic::getTgtYOffset() const {
     return _tgt_y_offset;
-} 
+}
 
 double  FGAIBallistic::getTgtZOffset() const {
     return _tgt_z_offset;
@@ -528,7 +564,7 @@ void FGAIBallistic::slaveToAC(double dt){
     //update the mass (slugs)
     _mass = (_weight_lb + getContents()) / slugs_to_lbs;
 
-    /*cout <<"_mass "<<_mass <<" " << getContents() 
+    /*cout <<"_mass "<<_mass <<" " << getContents()
     <<" " << getContents() / slugs_to_lbs << endl;*/
 }
 
@@ -536,15 +572,22 @@ void FGAIBallistic::Run(double dt) {
     _life_timer += dt;
 
     // if life = -1 the object does not die
-    if (_life_timer > life && life != -1)
-        setDie(true);
+       if (_life_timer > life && life != -1){
+
+               if (_report_expiry && !_expiry_reported){
+                       //cout<<"AIBallistic: expiry"<< endl;
+                       handle_expiry();
+               } else
+                       setDie(true);
+
+       }
 
     //set the contents in the appropriate tank or other property in the parent to zero
     setContents(0);
 
-    //randomise Cd by +- 5%
+    //randomise Cd by +- 10%
     if (_random)
-        _Cd = _Cd * 0.95 + (0.05 * sg_random());
+        _Cd = _Cd * 0.90 + (0.10 * sg_random());
 
     // Adjust Cd by Mach number. The equations are based on curves
     // for a conventional shell/bullet (no boat-tail).
@@ -617,17 +660,18 @@ void FGAIBallistic::Run(double dt) {
     double friction_force_speed_east_deg_sec = 0;
     double force_elevation_deg = 0;
 
-    if (_external_force) {
+       if (_external_force) {
+
         SGPropertyNode *n = fgGetNode(_force_path.c_str(), true);
         double force_lbs            = n->getChild("force-lb", 0, true)->getDoubleValue();
         force_elevation_deg         = n->getChild("force-elevation-deg", 0, true)->getDoubleValue();
         double force_azimuth_deg    = n->getChild("force-azimuth-deg", 0, true)->getDoubleValue();
-
+               
         //resolve force into vertical and horizontal components:
         double v_force_lbs = force_lbs * sin( force_elevation_deg * SG_DEGREES_TO_RADIANS );
         h_force_lbs = force_lbs * cos( force_elevation_deg * SG_DEGREES_TO_RADIANS );
 
-        //ground interaction 
+        //ground interaction
 
         if (getHtAGL()){
             double deadzone = 0.1;
@@ -639,7 +683,7 @@ void FGAIBallistic::Run(double dt) {
                     normal_force_lbs = 0;
 
                 pos.setElevationFt(0 + _ground_offset);
-                if (vs < 0) 
+                if (vs < 0)
                     vs = -vs * 0.5;
 
                 // calculate friction
@@ -648,7 +692,7 @@ void FGAIBallistic::Run(double dt) {
 
                 static_friction_force_lbs = mu * normal_force_lbs * _frictionFactor;
 
-                //adjust horizontal force. We assume that a speed of <= 5 fps is static 
+                //adjust horizontal force. We assume that a speed of <= 5 fps is static
                 if (h_force_lbs <= static_friction_force_lbs && hs <= 5){
                     h_force_lbs = hs = 0;
                     speed_north_fps = speed_east_fps = 0;
@@ -694,9 +738,9 @@ void FGAIBallistic::Run(double dt) {
     double wind_speed_from_east_deg_sec  = _wind_from_east / ft_per_deg_lon;
 
     //recombine the horizontal velocity components
-    hs = sqrt(((speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps) 
+    hs = sqrt(((speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps)
         * (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
-        + ((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps) 
+        + ((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)
         * (speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps)));
 
     if (hs <= 0.00001)
@@ -727,10 +771,10 @@ void FGAIBallistic::Run(double dt) {
         }
     } else {
         pos.setLatitudeDeg( pos.getLatitudeDeg()
-            + (speed_north_deg_sec - wind_speed_from_north_deg_sec 
+            + (speed_north_deg_sec - wind_speed_from_north_deg_sec
             + force_speed_north_deg_sec + friction_force_speed_north_deg_sec) * dt );
         pos.setLongitudeDeg( pos.getLongitudeDeg()
-            + (speed_east_deg_sec - wind_speed_from_east_deg_sec 
+            + (speed_east_deg_sec - wind_speed_from_east_deg_sec
             + force_speed_east_deg_sec + friction_force_speed_east_deg_sec) * dt );
         pos.setElevationFt(pos.getElevationFt() + vs * dt);
     }
@@ -743,7 +787,7 @@ void FGAIBallistic::Run(double dt) {
 
     // recalculate elevation and azimuth (velocity vectors)
     _elevation = atan2( vs, hs ) * SG_RADIANS_TO_DEGREES;
-    _azimuth =  atan2((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps), 
+    _azimuth =  atan2((speed_east_fps + force_speed_east_fps + friction_force_speed_east_fps),
         (speed_north_fps + force_speed_north_fps + friction_force_speed_north_fps))
         * SG_RADIANS_TO_DEGREES;
 
@@ -751,14 +795,19 @@ void FGAIBallistic::Run(double dt) {
     if (_azimuth < 0)
         _azimuth += 360;
 
+       //cout << "_azimuth " << _azimuth << " hdg "<<  hdg << endl;
+
     if (_aero_stabilised) { // we simulate rotational moment of inertia by using a filter
+               //cout<< "_aero_stabilised "<< endl;
         const double coeff = 0.9;
 
         // we assume a symetrical MI about the pitch and yaw axis
         setPch(_elevation, dt, coeff);
         setHdg(_azimuth, dt, coeff);
     } else if (_force_stabilised) { // we simulate rotational moment of inertia by using a filter
-        const double coeff = 0.9;
+        //cout<< "_force_stabilised "<< endl;
+               
+               const double coeff = 0.9;
         double ratio = h_force_lbs/(_mass * slugs_to_lbs);
 
         if (ratio >  1) ratio =  1;
@@ -794,7 +843,7 @@ double FGAIBallistic::_getTime() const {
 void FGAIBallistic::handle_impact() {
 
     // try terrain intersection
-    if(!getHtAGL()) 
+    if(!getHtAGL())
         return;
 
     if (_ht_agl_ft <= 0) {
@@ -809,6 +858,20 @@ void FGAIBallistic::handle_impact() {
     }
 }
 
+void FGAIBallistic::handle_expiry() {
+       
+               SG_LOG(SG_GENERAL, SG_DEBUG, "AIBallistic: handle_expiry " << pos.getElevationM());
+
+        report_impact(pos.getElevationM());
+        _expiry_reported = true;
+
+        //if (life == -1){
+        //    invisible = true;
+        //} else if (_subID == 0)  // kill the AIObject if there is no subsubmodel
+        //    setDie(true);
+   
+}
+
 void FGAIBallistic::handle_collision()
 {
     const FGAIBase *object = manager->calcCollision(pos.getElevationFt(),
@@ -832,10 +895,13 @@ void FGAIBallistic::report_impact(double elevation, const FGAIBase *object)
     _impact_roll   = roll;
 
     SGPropertyNode *n = props->getNode("impact", true);
-    if (object)
+    if (object) {
         n->setStringValue("type", object->getTypeString());
-    else
+        n->setStringValue("callsign", object->_callsign);
+    } else {
         n->setStringValue("type", "terrain");
+        n->setStringValue("callsign", "");
+    }
 
     n->setDoubleValue("longitude-deg", _impact_lon);
     n->setDoubleValue("latitude-deg", _impact_lat);
@@ -857,7 +923,7 @@ SGVec3d FGAIBallistic::getCartHitchPos() const{
 
     // convert geodetic positions to geocentered
     SGVec3d cartuserPos = getCartUserPos();
-    SGVec3d cartPos = getCartPos();
+    //SGVec3d cartPos = getCartPos();
 
     // Transform to the right coordinate frame, configuration is done in
     // the x-forward, y-right, z-up coordinates (feet), computation
@@ -895,7 +961,7 @@ void FGAIBallistic::setHitchPos(){
 }
 
 double FGAIBallistic::getDistanceLoadToHitch() const {
-    //calculate the distance load to hitch 
+    //calculate the distance load to hitch
     SGVec3d carthitchPos = getCartHitchPos();
     SGVec3d cartPos = getCartPos();
 
@@ -967,7 +1033,7 @@ double FGAIBallistic::getBearingLoadToHitch() const {
 }
 
 double FGAIBallistic::getRelBrgHitchToUser() const {
-    //calculate the relative bearing 
+    //calculate the relative bearing
     double az1, az2, distance;
 
     geo_inverse_wgs_84(hitchpos, userpos, &az1, &az2, &distance);
@@ -1019,11 +1085,11 @@ void FGAIBallistic::formateToAC(double dt){
     setHitchPos();
     setHitchVelocity(dt);
 
-    // elapsed time has a random initialisation so that each 
+    // elapsed time has a random initialisation so that each
     // wingman moves differently
     _elapsed_time += dt;
 
-    // we derive a sine based factor to give us smoothly 
+    // we derive a sine based factor to give us smoothly
     // varying error between -1 and 1
     double factor  = sin(SGMiscd::deg2rad(_elapsed_time * 10));
     double r_angle = 5 * factor;

diff --git a/src/AIModel/AIBallistic.hxx b/src/AIModel/AIBallistic.hxx
index 859bcd109896b5f95516ea202d5414e99fe8b69d..09efbd6e12cfccf5e2b1fd9f37fb1c3cc293222a 100644 (file)
--- a/src/AIModel/AIBallistic.hxx
+++ b/src/AIModel/AIBallistic.hxx
@@ -68,8 +68,10 @@ public:
     void setWeight( double w );
     void setNoRoll( bool nr );
     void setRandom( bool r );
+       void setRandomness( double r );
     void setName(const string&);
     void setCollision(bool c);
+       void setExpiry(bool e);
     void setImpact(bool i);
     void setImpactReportNode(const string&);
     void setContentsNode(const string&);
@@ -150,7 +152,8 @@ private:
     bool   _wind;            // if true, local wind will be applied to object
     double _Cd;              // drag coefficient
     double _mass;            // slugs
-    bool   _random;          // modifier for Cd
+    bool   _random;          // modifier for Cd, life, az
+       double _randomness;              // dimension for _random, only applies to life at present
     double _load_resistance; // ground load resistanc N/m^2
     double _frictionFactor;  // dimensionless modifier for Coefficient of Friction
     bool   _solid;           // if true ground is solid for FDMs
@@ -164,6 +167,7 @@ private:
     bool   _report_collision;       // if true a collision point with AI Objects is calculated
     bool   _report_impact;          // if true an impact point on the terrain is calculated
     bool   _external_force;         // if true then apply external force
+       bool   _report_expiry;
 
     SGPropertyNode_ptr _impact_report_node;  // report node for impact and collision
     SGPropertyNode_ptr _contents_node;  // report node for impact and collision
@@ -181,6 +185,7 @@ private:
     const SGMaterial* _material;
 
     void handle_collision();
+       void handle_expiry();
     void handle_impact();
     void report_impact(double elevation, const FGAIBase *target = 0);
     void slaveToAC(double dt);
@@ -192,13 +197,13 @@ private:
     double getDistanceLoadToHitch() const;
     double getElevLoadToHitch() const;
     double getBearingLoadToHitch() const;
+
     double getRecip(double az);
     double getMass() const;
 
     double hs;
     double _ground_offset;
     double _load_offset;
-    double _force;
     double _old_height;
 
     SGVec3d _oldcarthitchPos;

diff --git a/src/AIModel/AIBase.cxx b/src/AIModel/AIBase.cxx
index de107a682bfc8ae356784e42c119304aa80098b3..d143296a18f04b8f931701721924fb4bf5634fd8 100644 (file)
--- a/src/AIModel/AIBase.cxx
+++ b/src/AIModel/AIBase.cxx
@@ -81,6 +81,8 @@ FGAIBase::FGAIBase(object_type ot) :
     delete_me = false;
     _impact_reported = false;
     _collision_reported = false;
+       _expiry_reported = false;
+
     _subID = 0;
 
     _x_offset = 0;
@@ -579,6 +581,10 @@ bool FGAIBase::_getCollisionData() {
     return _collision_reported;
 }
 
+bool FGAIBase::_getExpiryData() {
+    return _expiry_reported;
+}
+
 bool FGAIBase::_getImpactData() {
     return _impact_reported;
 }

diff --git a/src/AIModel/AIBase.hxx b/src/AIModel/AIBase.hxx
index 1ab3a640eacb314cf880051a90950eeba878d9ae..e47f778d0ce20426816b5eecaf75fabb87fa4a62 100644 (file)
--- a/src/AIModel/AIBase.hxx
+++ b/src/AIModel/AIBase.hxx
@@ -40,7 +40,7 @@ class SGMaterial;
 class FGAIManager;
 class FGAIFlightPlan;
 
-class FGAIBase : public osg::Referenced {
+class FGAIBase : public SGReferenced {
 
 public:
     enum object_type { otNull = 0, otAircraft, otShip, otCarrier, otBallistic,
@@ -177,6 +177,7 @@ protected:
 
     bool _impact_reported;
     bool _collision_reported;
+       bool _expiry_reported;
 
     double _impact_lat;
     double _impact_lon;
@@ -246,6 +247,7 @@ public:
     bool   _getImpact();
     bool   _getImpactData();
     bool   _getCollisionData();
+       bool   _getExpiryData();
 
     SGPropertyNode* _getProps() const;
 

diff --git a/src/AIModel/AICarrier.cxx b/src/AIModel/AICarrier.cxx
index ff2a42014afd92b65ba7499bf96015759285240c..b6487519d026c05ea55bc026423f093d30ce9375 100644 (file)
--- a/src/AIModel/AICarrier.cxx
+++ b/src/AIModel/AICarrier.cxx
@@ -57,6 +57,7 @@ void FGAICarrier::readFromScenario(SGPropertyNode* scFileNode) {
   setMaxLong(scFileNode->getDoubleValue("max-long", 0));
   setMinLong(scFileNode->getDoubleValue("min-long", 0));
   setMPControl(scFileNode->getBoolValue("mp-control", false));
+  setAIControl(scFileNode->getBoolValue("ai-control", false));
 
   SGPropertyNode* flols = scFileNode->getChild("flols-pos");
   if (flols) {
@@ -121,6 +122,10 @@ void FGAICarrier::setMPControl(bool c) {
     MPControl = c;
 }
 
+void FGAICarrier::setAIControl(bool c) {
+    AIControl = c;
+}
+
 void FGAICarrier::update(double dt) {
     // Now update the position and heading. This will compute new hdg and
     // roll values required for the rotation speed computation.
@@ -134,8 +139,8 @@ void FGAICarrier::update(double dt) {
             TurnToLaunch();
         } else if(turn_to_recovery_hdg ){
             TurnToRecover();
-        } else if(OutsideBox() || returning ) {// check that the carrier is inside 
-            ReturnToBox();                     // the operating box,  
+        } else if(OutsideBox() || returning ) {// check that the carrier is inside
+            ReturnToBox();                     // the operating box,
         } else {
             TurnToBase();
         }
@@ -168,10 +173,10 @@ void FGAICarrier::update(double dt) {
     eyeWrtCarrier = ec2body.transform(eyeWrtCarrier);
     // the eyepoints vector wrt the flols position
     SGVec3d eyeWrtFlols = eyeWrtCarrier - flols_off;
-    
+
     // the distance from the eyepoint to the flols
     dist = norm(eyeWrtFlols);
-    
+
     // now the angle, positive angles are upwards
     if (fabs(dist) < SGLimits<float>::min()) {
       angle = 0;
@@ -180,7 +185,7 @@ void FGAICarrier::update(double dt) {
       sAngle = SGMiscd::min(1, SGMiscd::max(-1, sAngle));
       angle = SGMiscd::rad2deg(asin(sAngle));
     }
-    
+
     // set the value of source
     if ( angle <= 4.35 && angle > 4.01 )
       source = 1;
@@ -436,12 +441,12 @@ void FGAICarrier::TurnToRecover(){
     if (wind_speed_kts < 3){
         tgt_heading = base_course + 60;
     } else if (rel_wind < -9 && rel_wind >= -180){
-        tgt_heading = wind_from_deg; 
+        tgt_heading = wind_from_deg;
     } else if (rel_wind > -7 && rel_wind < 45){
         tgt_heading = wind_from_deg + 60;
     } else if (rel_wind >=45 && rel_wind < 180){
         tgt_heading = wind_from_deg + 45;
-    } else 
+    } else
         tgt_heading = hdg;
 
     SG_NORMALIZE_RANGE(tgt_heading, 0.0, 360.0);

diff --git a/src/AIModel/AICarrier.hxx b/src/AIModel/AICarrier.hxx
index 9df40db41ebb3f2bd0060f39a7c39eeea5fffd65..da3380502fc44e5e045b7c48b5e9b39071052162 100644 (file)
--- a/src/AIModel/AICarrier.hxx
+++ b/src/AIModel/AICarrier.hxx
@@ -58,6 +58,7 @@ public:
     void setMaxLong( double deg );
     void setMinLong( double deg );
     void setMPControl( bool c );
+    void setAIControl( bool c );
     void TurnToLaunch();
     void TurnToRecover();
     void TurnToBase();

diff --git a/src/AIModel/AIFlightPlan.cxx b/src/AIModel/AIFlightPlan.cxx
index 381f9e94498f0680d44eaab337aa4a08005edf04..60952d799621889b7ced9a87f5578853c5b9ec5b 100644 (file)
--- a/src/AIModel/AIFlightPlan.cxx
+++ b/src/AIModel/AIFlightPlan.cxx
@@ -175,20 +175,12 @@ FGAIFlightPlan::FGAIFlightPlan(FGAIAircraft *ac,
            if (wpt->name == "END") wpt->finished = true;
            else wpt->finished = false;
            waypoints.push_back(wpt);
-         }
-       }
-      catch (const sg_exception &) {
-       SG_LOG(SG_GENERAL, SG_WARN,
-              "Error reading AI flight plan: ");
-       cerr << "Errno = " << errno << endl;
-       if (errno == ENOENT)
-         {
-           SG_LOG(SG_GENERAL, SG_WARN, "Reason: No such file or directory");
-         }
-      }
+         } // of node loop
+       } catch (const sg_exception &e) {
+      SG_LOG(SG_GENERAL, SG_WARN, "Error reading AI flight plan: " << 
+        e.getMessage() << " from " << e.getOrigin());
     }
-  else
-    {
+  } else {
       // cout << path.str() << endl;
       // cout << "Trying to create this plan dynamically" << endl;
       // cout << "Route from " << dep->id << " to " << arr->id << endl;
@@ -405,7 +397,7 @@ void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
         return;
   }
   if (speed < 25) {
-       turn_radius = ((360/30)*15) / (2*M_PI);
+       turn_radius = ((360/30)*fabs(speed)) / (2*M_PI);
   } else 
       turn_radius = 0.1911 * speed * speed; // an estimate for 25 degrees bank
 
@@ -419,9 +411,16 @@ void FGAIFlightPlan::setLeadDistance(double speed, double bearing,
   
   //lead_distance = turn_radius * sin(leadInAngle * SG_DEGREES_TO_RADIANS); 
   lead_distance = turn_radius * tan((leadInAngle * SG_DEGREES_TO_RADIANS)/2);
-  //  if ((errno == EDOM) || (errno == ERANGE) || lead_distance < 1.0)
-  //  {
-  //  }
+  if ((lead_distance > (3*turn_radius)) && (current->on_ground == false)) {
+      // cerr << "Warning: Lead-in distance is large. Inbound = " << inbound
+      //      << ". Outbound = " << outbound << ". Lead in angle = " << leadInAngle  << ". Turn radius = " << turn_radius << endl;
+       lead_distance = 3 * turn_radius;
+       return;
+  }
+  if ((leadInAngle > 90) && (current->on_ground == true)) {
+      lead_distance = turn_radius * tan((90 * SG_DEGREES_TO_RADIANS)/2);
+      return;
+  }
 }
 
 void FGAIFlightPlan::setLeadDistance(double distance_ft){

diff --git a/src/AIModel/AIFlightPlan.hxx b/src/AIModel/AIFlightPlan.hxx
index 2d3b2ef9dc96862b9595ccb807b4773118508be9..c70028dd3e85a3fa37b206eff29a1f19133f2d0f 100644 (file)
--- a/src/AIModel/AIFlightPlan.hxx
+++ b/src/AIModel/AIFlightPlan.hxx
@@ -149,7 +149,7 @@ private:
   void createClimb(FGAIAircraft *, bool, FGAirport *, double, double, const string&);
   void createCruise(FGAIAircraft *, bool, FGAirport*, FGAirport*, double, double, double, double, const string&);
   void createDecent(FGAIAircraft *, FGAirport *, const string&);
-  void createLanding(FGAIAircraft *, FGAirport *);
+  void createLanding(FGAIAircraft *, FGAirport *, const string&);
   void createParking(FGAIAircraft *, FGAirport *, double radius);
   void deleteWaypoints(); 
   void resetWaypoints();

diff --git a/src/AIModel/AIFlightPlanCreate.cxx b/src/AIModel/AIFlightPlanCreate.cxx
index 64df906f5fb51400a9848fd04f6da461a09d8b98..d2cd7a81e386148014fd0b68c56f1fe36f1292be 100644 (file)
--- a/src/AIModel/AIFlightPlanCreate.cxx
+++ b/src/AIModel/AIFlightPlanCreate.cxx
@@ -75,7 +75,7 @@ void FGAIFlightPlan::create(FGAIAircraft *ac, FGAirport *dep, FGAirport *arr, in
       createDecent(ac, arr, fltType);
       break;
     case 7: 
-      createLanding(ac, arr);
+      createLanding(ac, arr, fltType);
       break;
     case 8: 
       createLandingTaxi(ac, arr, radius, fltType, aircraftType, airline);
@@ -366,23 +366,36 @@ void FGAIFlightPlan::createLandingTaxi(FGAIAircraft *ac, FGAirport *apt,
 
 /*******************************************************************
  * CreateTakeOff 
- * initialize the Aircraft at the parking location
+ * A note on units: 
+ *  - Speed -> knots -> nm/hour
+ *  - distance along runway =-> meters 
+ *  - accel / decel -> is given as knots/hour, but this is highly questionable:
+ *  for a jet_transport performance class, a accel / decel rate of 5 / 2 is 
+ *  given respectively. According to performance data.cxx, a value of kts / second seems
+ *  more likely however. 
+ * 
  ******************************************************************/
 void FGAIFlightPlan::createTakeOff(FGAIAircraft *ac, bool firstFlight, FGAirport *apt, double speed, const string &fltType)
 {
     double accel    = ac->getPerformance()->acceleration();
     double vTaxi    = ac->getPerformance()->vTaxi();
     double vRotate  = ac->getPerformance()->vRotate();
-//    double vTakeoff = ac->getPerformance()->vTakeoff();
+    double vTakeoff = ac->getPerformance()->vTakeoff();
     double vClimb   = ac->getPerformance()->vClimb();
+
+    double accelMetric    = (accel * SG_NM_TO_METER) / 3600;
+    double vTaxiMetric    = (vTaxi * SG_NM_TO_METER) / 3600;
+    double vRotateMetric  = (vRotate * SG_NM_TO_METER) / 3600;
+    double vTakeoffMetric = (vTakeoff *  SG_NM_TO_METER) / 3600;
+    double vClimbMetric   = (vClimb *  SG_NM_TO_METER) / 3600;
     // Acceleration = dV / dT
     // Acceleration X dT = dV
     // dT = dT / Acceleration
     //d = (Vf^2 - Vo^2) / (2*a)
-//    double accelTime = (vRotate - vTaxi) / accel;
+    //double accelTime = (vRotate - vTaxi) / accel;
     //cerr << "Using " << accelTime << " as total acceleration time" << endl;
-    double accelDistance = (vRotate*vRotate - vTaxi*vTaxi) / (2*accel);
-    //cerr << "Using " << accelDistance << " " << accel << " " << vRotate << endl;
+    double accelDistance = (vRotateMetric*vRotateMetric - vTaxiMetric*vTaxiMetric) / (2*accelMetric);
+    cerr << "Using " << accelDistance << " " << accelMetric << " " << vRotateMetric << endl;
     waypoint *wpt;
     // Get the current active runway, based on code from David Luff
     // This should actually be unified and extended to include 
@@ -400,14 +413,20 @@ void FGAIFlightPlan::createTakeOff(FGAIAircraft *ac, bool firstFlight, FGAirport
     double airportElev = apt->getElevation();
     // Acceleration point, 105 meters into the runway,
     SGGeod accelPoint = rwy->pointOnCenterline(105.0);
-    wpt = createOnGround(ac, "accel", accelPoint, airportElev, vClimb);
+    wpt = createOnGround(ac, "accel", accelPoint, airportElev, vRotate);
+    waypoints.push_back(wpt);
+
+
+    accelDistance = (vTakeoffMetric*vTakeoffMetric - vTaxiMetric*vTaxiMetric) / (2*accelMetric);
+    cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
+    accelPoint = rwy->pointOnCenterline(105.0+accelDistance);
+    wpt = createOnGround(ac, "rotate", accelPoint, airportElev, vTakeoff);
     waypoints.push_back(wpt);
 
-    //Start Climbing to 3000 ft. Let's do this 
-    // at the center of the runway for now:
-    SGGeod rotate = rwy->pointOnCenterline(105.0+accelDistance);
-    wpt = cloneWithPos(ac, wpt, "SOC", rotate);
-    wpt->altitude  = airportElev+1000;
+    accelDistance = ((vTakeoffMetric*1.1)*(vTakeoffMetric*1.1) - vTaxiMetric*vTaxiMetric) / (2*accelMetric);
+    cerr << "Using " << accelDistance << " " << accelMetric << " " << vTakeoffMetric << endl;
+    accelPoint = rwy->pointOnCenterline(105.0+accelDistance);
+    wpt = createOnGround(ac, "rotate", accelPoint, airportElev+1000, vTakeoff*1.1);
     wpt->on_ground = false;
     waypoints.push_back(wpt);
 
@@ -471,7 +490,7 @@ void FGAIFlightPlan::createDecent(FGAIAircraft *ac, FGAirport *apt, const string
 {
   // Ten thousand ft. Slowing down to 240 kts
   waypoint *wpt;
-double vDecent   = ac->getPerformance()->vDescent();
+  double vDecent   = ac->getPerformance()->vDescent();
   double vApproach = ac->getPerformance()->vApproach();
 
   //Beginning of Decent
@@ -499,13 +518,31 @@ double vDecent   = ac->getPerformance()->vDescent();
  * CreateLanding
  * initialize the Aircraft at the parking location
  ******************************************************************/
-void FGAIFlightPlan::createLanding(FGAIAircraft *ac, FGAirport *apt)
+void FGAIFlightPlan::createLanding(FGAIAircraft *ac, FGAirport *apt, const string &fltType)
 {
   double vTouchdown   = ac->getPerformance()->vTouchdown();
   double vTaxi        = ac->getPerformance()->vTaxi();
 
+  string rwyClass = getRunwayClassFromTrafficType(fltType);
+  double heading = ac->getTrafficRef()->getCourse();
+  apt->getDynamics()->getActiveRunway(rwyClass, 2, activeRunway, heading);
+  rwy = apt->getRunwayByIdent(activeRunway);
+  
+
   waypoint *wpt;
   double aptElev = apt->getElevation();
+
+  SGGeod coord;
+  char buffer[12];
+  for (int i = 1; i < 10; i++) {
+      snprintf(buffer, 12, "wpt%d", i);
+      coord = rwy->pointOnCenterline(rwy->lengthM() * (i/10.0));
+      wpt = createOnGround(ac, buffer, coord, aptElev, (vTouchdown/i));
+      wpt->crossat = apt->getElevation();
+      waypoints.push_back(wpt); 
+  }
+
+  /*
   //Runway Threshold
   wpt = createOnGround(ac, "Threshold", rwy->threshold(), aptElev, vTouchdown);
   wpt->crossat = apt->getElevation();
@@ -519,6 +556,7 @@ void FGAIFlightPlan::createLanding(FGAIAircraft *ac, FGAirport *apt)
   wpt = createOnGround(ac, "Roll Out", rollOut, aptElev, vTaxi);
   wpt->crossat   = apt->getElevation();
   waypoints.push_back(wpt); 
+  */
 }
 
 /*******************************************************************

diff --git a/src/AIModel/AIFlightPlanCreateCruise.cxx b/src/AIModel/AIFlightPlanCreateCruise.cxx
index d20a2134be25c086e7ac21b538d03a0744f5b61f..13df4b6072425b93218866be5b0b6420e5f52fe8 100644 (file)
--- a/src/AIModel/AIFlightPlanCreateCruise.cxx
+++ b/src/AIModel/AIFlightPlanCreateCruise.cxx
@@ -38,7 +38,6 @@
 #include "AIAircraft.hxx"
 #include "performancedata.hxx"
 
-
 using std::iostream;
 
 void FGAIFlightPlan::evaluateRoutePart(double deplat,
@@ -55,28 +54,18 @@ void FGAIFlightPlan::evaluateRoutePart(double deplat,
   SGGeoc arr(SGGeoc::fromDegM(arrlon, arrlat, 100.0));
   
   SGVec3d a = SGVec3d::fromGeoc(dep);
-  SGVec3d b = SGVec3d::fromGeoc(arr);
-  SGVec3d _cross = cross(b, a);
+  SGVec3d nb = normalize(SGVec3d::fromGeoc(arr));
+  SGVec3d na = normalize(a);
+  
+  SGVec3d _cross = cross(nb, na);
 
-  double angle = sgACos(dot(a, b));
+  double angle = acos(dot(na, nb));
+  const double angleStep = 0.05 * SG_DEGREES_TO_RADIANS;
   tmpNode = 0;
-  for (double ang = 0.0; ang < angle; ang += 0.05)
-  {
-      sgdVec3 newPos;
-      sgdMat4 matrix;
-      //cerr << "Angle = " << ang << endl;
-      sgdMakeRotMat4(matrix, ang, _cross.data());
-      for(int j = 0; j < 3; j++)
-      {
-        newPos[j] =0.0;
-        for (int k = 0; k<3; k++)
-        {
-          newPos[j] += matrix[j][k]*a[k];
-        }
-      }
-      
-      //cerr << "1"<< endl;
-      SGGeod geod = SGGeod::fromCart(SGVec3d(newPos[0], newPos[1], newPos[2]));
+  for (double ang = 0.0; ang < angle; ang += angleStep)
+  {  
+      SGQuatd q = SGQuatd::fromAngleAxis(ang, _cross);
+      SGGeod geod = SGGeod::fromCart(q.transform(a));
 
       prevNode = tmpNode;
       tmpNode = globals->get_airwaynet()->findNearestNode(geod);

diff --git a/src/AIModel/AIManager.cxx b/src/AIModel/AIManager.cxx
index ed4f4a5345e5bb53563b12132e2e100316c484b0..315920ab5ce15cb58a8b3a565fcb438d4562cc82 100644 (file)
--- a/src/AIModel/AIManager.cxx
+++ b/src/AIModel/AIManager.cxx
@@ -18,6 +18,8 @@
 // along with this program; if not, write to the Free Software
 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 
+#include <cstring>
+
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/props/props_io.hxx>
 #include <simgear/structure/exception.hxx>
@@ -381,7 +383,7 @@ FGAIManager::getStartPosition(const string& id, const string& pid,
                         std::string pnumber = scEntry->getStringValue("pennant-number");
                         std::string name = scEntry->getStringValue("name");
                         if (type == "carrier" && (pnumber == id || name == id)) {
-                            osg::ref_ptr<FGAICarrier> carrier = new FGAICarrier;
+                            SGSharedPtr<FGAICarrier> carrier = new FGAICarrier;
                             carrier->readFromScenario(scEntry);
 
                             if (carrier->getParkPosition(pid, geodPos, hdng, uvw)) {

diff --git a/src/AIModel/AIManager.hxx b/src/AIModel/AIManager.hxx
index 3f6dd9c2fc5d21c349f9c424ddac1cab6aed026e..8f582801afee5880e9060b7992b3ff7e6ac78929 100644 (file)
--- a/src/AIModel/AIManager.hxx
+++ b/src/AIModel/AIManager.hxx
@@ -46,7 +46,7 @@ class FGAIManager : public SGSubsystem
 public:
 
     // A list of pointers to AI objects
-    typedef list <osg::ref_ptr<FGAIBase> > ai_list_type;
+    typedef list <SGSharedPtr<FGAIBase> > ai_list_type;
     typedef ai_list_type::iterator ai_list_iterator;
     typedef ai_list_type::const_iterator ai_list_const_iterator;
 

diff --git a/src/AIModel/AIMultiplayer.cxx b/src/AIModel/AIMultiplayer.cxx
index ab9cc5c3cf8915a8c1320908fb7eafe034adf908..d2fb505c0dfa1a696d26a26e9ea2c7ec80e1bc97 100644 (file)
--- a/src/AIModel/AIMultiplayer.cxx
+++ b/src/AIModel/AIMultiplayer.cxx
@@ -72,6 +72,9 @@ void FGAIMultiplayer::bind() {
     props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
     props->setBoolValue("tanker",isTanker);
 
+    props->tie("controls/invisible",
+        SGRawValuePointer<bool>(&invisible));
+
 #define AIMPROProp(type, name) \
 SGRawValueMethods<FGAIMultiplayer, type>(*this, &FGAIMultiplayer::get##name)
 
@@ -97,6 +100,7 @@ void FGAIMultiplayer::unbind() {
     //props->untie("callsign");
     props->untie("controls/allow-extrapolation");
     props->untie("controls/lag-adjust-system-speed");
+    props->untie("controls/invisible");
     props->untie("refuel/contact");
 }
 

diff --git a/src/AIModel/AIShip.cxx b/src/AIModel/AIShip.cxx
index b0e0eb65f00f8c5022a607055a7d054ab19575f4..41f09550e010caa143ee71695889c81e17ace689 100644 (file)
--- a/src/AIModel/AIShip.cxx
+++ b/src/AIModel/AIShip.cxx
@@ -52,6 +52,7 @@ _next_run(0),
 _lead_angle(0),
 _xtrack_error(0),
 _tunnel(false),
+_initial_tunnel(false),
 _curr_alt(0),
 _prev_alt(0),
 _until_time(""),

diff --git a/src/AIModel/submodel.cxx b/src/AIModel/submodel.cxx
index 7b946f0b8e4ae01c707f4318dda4242a21248ba7..0958923c1bae9af9dc89a31a24109dcc0f03aa9f 100644 (file)
--- a/src/AIModel/submodel.cxx
+++ b/src/AIModel/submodel.cxx
@@ -37,6 +37,7 @@ FGSubmodelMgr::FGSubmodelMgr()
     string contents_node;
     contrail_altitude = 30000;
     _count = 0;
+       _found_sub = true;
 }
 
 FGSubmodelMgr::~FGSubmodelMgr()
@@ -82,7 +83,9 @@ void FGSubmodelMgr::init()
 void FGSubmodelMgr::postinit() {
     // postinit, so that the AI list is populated
     loadAI();
-    loadSubmodels();
+
+       while (_found_sub)
+               loadSubmodels();
 
     //TODO reload submodels if an MP ac joins
 }
@@ -106,6 +109,7 @@ void FGSubmodelMgr::update(double dt)
 
     _impact = false;
     _hit = false;
+       _expiry = false;
 
     // check if the submodel hit an object or terrain
     sm_list = ai->get_ai_list();
@@ -115,14 +119,18 @@ void FGSubmodelMgr::update(double dt)
     for (; sm_list_itr != end; ++sm_list_itr) {
         _impact = (*sm_list_itr)->_getImpactData();
         _hit = (*sm_list_itr)->_getCollisionData();
+               _expiry = (*sm_list_itr)->_getExpiryData();
         int parent_subID = (*sm_list_itr)->_getSubID();
+
         //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! "
         //        << _hit <<" parent_subID " << parent_subID);
+
         if ( parent_subID == 0) // this entry in the list has no associated submodel
             continue;           // so we can continue
 
-        if (_impact || _hit) {
-            //SG_LOG(SG_GENERAL, SG_DEBUG, "Submodel: Impact " << _impact << " hit! " << _hit );
+        if (_impact || _hit || _expiry) {
+    //        SG_LOG(SG_GENERAL, SG_ALERT, "Submodel: Impact " << _impact << " hit! " << _hit 
+                               //<< " exipiry :-( " << _expiry );
 
             submodel_iterator = submodels.begin();
 
@@ -139,9 +147,11 @@ void FGSubmodelMgr::update(double dt)
                     _parent_roll = (*sm_list_itr)->_getImpactRoll();
                     _parent_speed = (*sm_list_itr)->_getImpactSpeed();
                     (*submodel_iterator)->first_time = true;
+                                       //cout << "Impact: parent SubID = child_ID elev " << _parent_elev << endl;
 
-                    if (release(*submodel_iterator, dt))
+                                       if (release(*submodel_iterator, dt))
                         (*sm_list_itr)->setDie(true);
+
                 }
 
                 ++submodel_iterator;
@@ -169,64 +179,26 @@ void FGSubmodelMgr::update(double dt)
         if ((*submodel_iterator)->trigger_node != 0) {
             _trigger_node = (*submodel_iterator)->trigger_node;
             trigger = _trigger_node->getBoolValue();
-            //cout << "trigger node found " <<  trigger << endl;
+            //cout << (*submodel_iterator)->name << "trigger node found " <<  trigger << endl;
         } else {
             trigger = true;
             //cout << (*submodel_iterator)->name << "trigger node not found " << trigger << endl;
         }
 
-        if (trigger) {
-            int id = (*submodel_iterator)->id;
-            string name = (*submodel_iterator)->name;
-            // don't release submodels from AI Objects if they are
-            // too far away to be seen. id 0 is not an AI model,
-            // so we can skip the whole process
-            sm_list_iterator sm_list_itr = sm_list.begin();
-            sm_list_iterator end = sm_list.end();
-
-            while (sm_list_itr != end) {
-                in_range = true;
-
-                if (id == 0) {
-                    //SG_LOG(SG_GENERAL, SG_DEBUG,
-                    //        "Submodels: continuing: " << id << " name " << name );
-                    ++sm_list_itr;
-                    continue;
-                }
-
-                int parent_id = (*submodel_iterator)->id;
-
-                if (parent_id == id) {
-                    double parent_lat = (*sm_list_itr)->_getLatitude();
-                    double parent_lon = (*sm_list_itr)->_getLongitude();
-                    string parent_name = (*sm_list_itr)->_getName();
-                    double own_lat    = _user_lat_node->getDoubleValue();
-                    double own_lon    = _user_lon_node->getDoubleValue();
-                    double range_nm   = getRange(parent_lat, parent_lon, own_lat, own_lon);
-                    //cout << "parent name " << parent_name << ", "<< parent_id << ", "<< parent_lat << ", " << parent_lon << endl;
-                    //cout << "own name " << own_lat << ", " << own_lon << " range " << range_nm << endl;
-
-                    if (range_nm > 15) {
-                        //SG_LOG(SG_GENERAL, SG_DEBUG,
-                        //    "Submodels: skipping release, out of range: " << id);
-                        in_range = false;
-                    }
-                }
-
-                ++sm_list_itr;
-            } // end while
-
-            /*SG_LOG(SG_GENERAL, SG_DEBUG,
-                    "Submodels end:  " << (*submodel_iterator)->id
-                    << " name " << (*submodel_iterator)->name
-                    << " count " << (*submodel_iterator)->count
-                    << " in range " << in_range);*/
+               if (trigger && (*submodel_iterator)->count != 0) {
 
-            if ((*submodel_iterator)->count != 0 && in_range)
-                release(*submodel_iterator, dt);
+                       int id = (*submodel_iterator)->id;
+                       string name = (*submodel_iterator)->name;
+                       
+                       /*SG_LOG(SG_GENERAL, SG_DEBUG,
+                       "Submodels end:  " << (*submodel_iterator)->id
+                       << " name " << (*submodel_iterator)->name
+                       << " count " << (*submodel_iterator)->count
+                       << " in range " << in_range);*/
 
-        } else
-            (*submodel_iterator)->first_time = true;
+                       release(*submodel_iterator, dt);
+               } else
+                       (*submodel_iterator)->first_time = true;
 
         ++submodel_iterator;
     } // end while
@@ -247,9 +219,11 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
     sm->timer += dt;
 
     if (sm->timer < sm->delay) {
-        //cout << "not yet: timer" << sm->timer << " delay " << sm->delay<< endl;
+        //cout << "not yet: timer " << sm->timer << " delay " << sm->delay << endl;
         return false;
     }
+       
+       //cout << "released timer: " << sm->timer << " delay " << sm->delay << endl;
 
     sm->timer = 0.0;
 
@@ -262,9 +236,12 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
 
     FGAIBallistic* ballist = new FGAIBallistic;
     ballist->setPath(sm->model.c_str());
-    ballist->setLatitude(IC.lat);
-    ballist->setLongitude(IC.lon);
-    ballist->setAltitude(IC.alt);
+    ballist->setName(sm->name);
+       ballist->setRandom(sm->random);
+       ballist->setRandomness(sm->randomness);
+       ballist->setLatitude(offsetpos.getLatitudeDeg());
+       ballist->setLongitude(offsetpos.getLongitudeDeg());
+       ballist->setAltitude(offsetpos.getElevationFt());
     ballist->setAzimuth(IC.azimuth);
     ballist->setElevation(IC.elevation);
     ballist->setRoll(IC.roll);
@@ -279,8 +256,8 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
     ballist->setCd(sm->cd);
     ballist->setStabilisation(sm->aero_stabilised);
     ballist->setNoRoll(sm->no_roll);
-    ballist->setName(sm->name);
     ballist->setCollision(sm->collision);
+       ballist->setExpiry(sm->expiry);
     ballist->setImpact(sm->impact);
     ballist->setImpactReportNode(sm->impact_report);
     ballist->setFuseRange(sm->fuse_range);
@@ -293,7 +270,6 @@ bool FGSubmodelMgr::release(submodel *sm, double dt)
 
     if (sm->count > 0)
         sm->count--;
-
     return true;
 }
 
@@ -338,16 +314,11 @@ void FGSubmodelMgr::transform(submodel *sm)
 
     //cout << " name " << name << " id " << id << " sub id" << sub_id << endl;
 
-    if (_impact || _hit) {
+       // set the Initial Conditions for the types of submodel parent 
+
+    if (_impact || _hit || _expiry) {
         // set the data for a submodel tied to a submodel
         _count++;
-        //cout << "Submodels: release sub sub " << _count<< endl;
-        //cout << " id " << sm->id
-        //    << " lat " << _parent_lat
-        //    << " lon " << _parent_lon
-        //    << " elev " << _parent_elev
-        //    << " name " << sm->name
-        //    << endl;
 
         IC.lat             = _parent_lat;
         IC.lon             = _parent_lon;
@@ -362,10 +333,7 @@ void FGSubmodelMgr::transform(submodel *sm)
 
     } else if (id == 0) {
         //set the data for a submodel tied to the main model
-        /*cout << "Submodels: release main sub " << endl;
-        cout << " name " << sm->name
-        << " id" << sm->id
-        << endl;*/
+
         IC.lat             = _user_lat_node->getDoubleValue();
         IC.lon             = _user_lon_node->getDoubleValue();
         IC.alt             = _user_alt_node->getDoubleValue();
@@ -413,12 +381,22 @@ void FGSubmodelMgr::transform(submodel *sm)
     cout << "speed north " << IC.speed_north_fps << endl ;
     cout << "parent speed fps in" << IC.speed << "sm speed in " << sm->speed << endl ;*/
 
+       // Set the Initial Conditions that are common to all types of parent
     IC.wind_from_east =  _user_wind_from_east_node->getDoubleValue();
     IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
 
-    in[0] = sm->x_offset;
-    in[1] = sm->y_offset;
-    in[2] = sm->z_offset;
+       userpos.setLatitudeDeg(IC.lat);
+       userpos.setLongitudeDeg(IC.lon);
+       userpos.setElevationFt(IC.alt);
+
+    _x_offset = sm->x_offset;
+    _y_offset = sm->y_offset;
+    _z_offset = sm->z_offset;
+
+       setOffsetPos();
+
+       //IC.elevation += sm->pitch_offset;
+       //IC.azimuth   += sm->yaw_offset ;
 
     // pre-process the trig functions
     cosRx = cos(-IC.roll * SG_DEGREES_TO_RADIANS);
@@ -428,43 +406,9 @@ void FGSubmodelMgr::transform(submodel *sm)
     cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
     sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);
 
-    // set up the transform matrix
-    trans[0][0] =  cosRy * cosRz;
-    trans[0][1] =  -1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
-    trans[0][2] =  sinRx * sinRz + cosRx * sinRy * cosRz;
-
-    trans[1][0] =  cosRy * sinRz;
-    trans[1][1] =  cosRx * cosRz + sinRx * sinRy * sinRz;
-    trans[1][2] =  -1 * sinRx * cosRx + cosRx * sinRy * sinRz;
-
-    trans[2][0] =  -1 * sinRy;
-    trans[2][1] =  sinRx * cosRy;
-    trans[2][2] =  cosRx * cosRy;
-
-
-    // multiply the input and transform matrices
-    out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
-    out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
-    out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];
-
-    // convert ft to degrees of latitude
-    out[0] = out[0] / (366468.96 - 3717.12 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
-
-    // convert ft to degrees of longitude
-    out[1] = out[1] / (365228.16 * cos(IC.lat * SG_DEGREES_TO_RADIANS));
-
-    // set submodel initial position
-    IC.lat += out[0];
-    IC.lon += out[1];
-    IC.alt += out[2];
-
-    // get aircraft velocity vector angles in XZ and XY planes
-    //double alpha = _user_alpha_node->getDoubleValue();
-    //double velXZ = IC.elevation - alpha * cosRx;
-    //double velXY = IC.azimuth - (IC.elevation - alpha * sinRx);
 
     // Get submodel initial velocity vector angles in XZ and XY planes.
-    // This needs to be fixed. This vector should be added to aircraft's vector.
+    // This vector should be added to aircraft's vector.
     IC.elevation += (sm->yaw_offset * sinRx) + (sm->pitch_offset * cosRx);
     IC.azimuth   += (sm->yaw_offset * cosRx) - (sm->pitch_offset * sinRx);
 
@@ -487,7 +431,7 @@ void FGSubmodelMgr::transform(submodel *sm)
 
     // if speeds are low this calculation can become unreliable
     if (IC.speed > 1) {
-        IC.azimuth = atan2(IC.total_speed_east , IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
+        //IC.azimuth = atan2(IC.total_speed_east, IC.total_speed_north) * SG_RADIANS_TO_DEGREES;
         //        cout << "azimuth1 " << IC.azimuth<<endl;
 
         // rationalise the output
@@ -539,15 +483,6 @@ void FGSubmodelMgr::loadAI()
 }
 
 
-double FGSubmodelMgr::getRange(double lat, double lon, double lat2, double lon2) const
-{
-    double course, distance, az2;
-
-    //calculate the bearing and range of the second pos from the first
-    geo_inverse_wgs_84(lat, lon, lat2, lon2, &course, &az2, &distance);
-    distance *= SG_METER_TO_NM;
-    return distance;
-}
 
 void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
 {
@@ -595,6 +530,7 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
         sm->collision       = entry_node->getBoolValue("collision", false);
+               sm->expiry                      = entry_node->getBoolValue("expiry", false);
         sm->impact          = entry_node->getBoolValue("impact", false);
         sm->impact_report   = entry_node->getStringValue("impact-reports");
         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
@@ -604,6 +540,10 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
         sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
         sm->ext_force       = entry_node->getBoolValue("external-force", false);
         sm->force_path      = entry_node->getStringValue("force-path", "");
+               sm->random                      = entry_node->getBoolValue("random", false);
+               sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
+
+
         //cout <<  "sm->contents_node " << sm->contents_node << endl;
         if (sm->contents_node != 0)
             sm->contents = sm->contents_node->getDoubleValue();
@@ -626,11 +566,13 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
         sm->sub_id = 0;
 
         sm->prop = fgGetNode("/ai/submodels/submodel", index, true);
+               sm->prop->tie("delay", SGRawValuePointer<double>(&(sm->delay)));
         sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));
         sm->prop->tie("repeat", SGRawValuePointer<bool>(&(sm->repeat)));
         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
+        sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
         string name = sm->name;
         sm->prop->setStringValue("name", name.c_str());
 
@@ -640,7 +582,7 @@ void FGSubmodelMgr::setData(int id, string& path, bool serviceable)
 
         string force_path = sm->force_path;
         sm->prop->setStringValue("force_path", force_path.c_str());
-        //cout << "set force_path " << force_path << endl;
+        //cout << "set force_path Sub " << force_path << endl;
 
         if (sm->contents_node != 0)
             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
@@ -698,14 +640,18 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
         sm->aero_stabilised = entry_node->getBoolValue("aero-stabilised", true);
         sm->no_roll         = entry_node->getBoolValue("no-roll", false);
         sm->collision       = entry_node->getBoolValue("collision", false);
+               sm->expiry                      = entry_node->getBoolValue("expiry", false);
         sm->impact          = entry_node->getBoolValue("impact", false);
         sm->impact_report   = entry_node->getStringValue("impact-reports");
         sm->fuse_range      = entry_node->getDoubleValue("fuse-range", 0.0);
         sm->contents_node   = fgGetNode(entry_node->getStringValue("contents", "none"), false);
         sm->speed_node      = fgGetNode(entry_node->getStringValue("speed-node", "none"), false);
         sm->submodel        = entry_node->getStringValue("submodel-path", "");
+               sm->force_stabilised= entry_node->getBoolValue("force-stabilised", false);
         sm->ext_force       = entry_node->getBoolValue("external-force", false);
         sm->force_path      = entry_node->getStringValue("force-path", "");
+               sm->random                      = entry_node->getBoolValue("random", false);
+               sm->randomness          = entry_node->getDoubleValue("randomness", 0.5);
 
         //cout <<  "sm->contents_node " << sm->contents_node << endl;
         if (sm->contents_node != 0)
@@ -734,16 +680,17 @@ void FGSubmodelMgr::setSubData(int id, string& path, bool serviceable)
         sm->prop->tie("id", SGRawValuePointer<int>(&(sm->id)));
         sm->prop->tie("sub-id", SGRawValuePointer<int>(&(sm->sub_id)));
         sm->prop->tie("serviceable", SGRawValuePointer<bool>(&(sm->serviceable)));
+               sm->prop->tie("random", SGRawValuePointer<bool>(&(sm->random)));
         string name = sm->name;
         sm->prop->setStringValue("name", name.c_str());
 
         string submodel = sm->submodel;
         sm->prop->setStringValue("submodel", submodel.c_str());
-        // cout << " set submodel path " << submodel<< endl;
+        // cout << " set submodel path AI" << submodel<< endl;
 
         string force_path = sm->force_path;
         sm->prop->setStringValue("force_path", force_path.c_str());
-        //cout << "set force_path " << force_path << endl;
+        //cout << "set force_path  AI" << force_path << endl;
 
         if (sm->contents_node != 0)
             sm->prop->tie("contents-lbs", SGRawValuePointer<double>(&(sm->contents)));
@@ -757,31 +704,38 @@ void FGSubmodelMgr::loadSubmodels()
 {
     SG_LOG(SG_GENERAL, SG_DEBUG, "Submodels: Loading sub submodels");
 
-    submodel_iterator = submodels.begin();
+       _found_sub = false;
 
-    while (submodel_iterator != submodels.end()) {
-        string submodel  = (*submodel_iterator)->submodel;
-        if (!submodel.empty()) {
-            //int id = (*submodel_iterator)->id;
-            bool serviceable = true;
-            //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
-            //        << submodel
-            //        << " index " << index
-            //        << "name " << (*submodel_iterator)->name);
-
-            (*submodel_iterator)->sub_id = index;
-            setSubData(index, submodel, serviceable);
-        }
+    submodel_iterator = submodels.begin();
 
-        ++submodel_iterator;
-    }
+       while (submodel_iterator != submodels.end()) {
+               string submodel  = (*submodel_iterator)->submodel;
+               if (!submodel.empty()) {
+                       //int id = (*submodel_iterator)->id;
+                       bool serviceable = true;
+                       //SG_LOG(SG_GENERAL, SG_DEBUG, "found path sub sub "
+                       //        << submodel
+                       //        << " index " << index
+                       //        << "name " << (*submodel_iterator)->name);
+
+                       if ((*submodel_iterator)->sub_id == 0){
+                               (*submodel_iterator)->sub_id = index;
+                               _found_sub = true;
+                               setSubData(index, submodel, serviceable);
+                       }
+               }
+
+               ++submodel_iterator;
+       } // end while
 
     subsubmodel_iterator = subsubmodels.begin();
 
     while (subsubmodel_iterator != subsubmodels.end()) {
         submodels.push_back(*subsubmodel_iterator);
         ++subsubmodel_iterator;
-    }
+    } // end while
+
+       subsubmodels.clear();
 
     //submodel_iterator = submodels.begin();
 
@@ -796,4 +750,44 @@ void FGSubmodelMgr::loadSubmodels()
     //}
 }
 
+SGVec3d FGSubmodelMgr::getCartOffsetPos() const{
+
+    // convert geodetic positions to geocentered
+    SGVec3d cartuserPos = SGVec3d::fromGeod(userpos);
+
+    // Transform to the right coordinate frame, configuration is done in
+    // the x-forward, y-right, z-up coordinates (feet), computation
+    // in the simulation usual body x-forward, y-right, z-down coordinates
+    // (meters) )
+
+       SGVec3d _off(_x_offset * SG_FEET_TO_METER,
+        _y_offset * SG_FEET_TO_METER,
+        -_z_offset * SG_FEET_TO_METER);
+
+    // Transform the user position to the horizontal local coordinate system.
+    SGQuatd hlTrans = SGQuatd::fromLonLat(userpos);
+
+    // and postrotate the orientation of the user model wrt the horizontal
+    // local frame
+    hlTrans *= SGQuatd::fromYawPitchRollDeg(
+       IC.azimuth,            
+       IC.elevation,
+       IC.roll);
+
+    // The offset converted to the usual body fixed coordinate system
+    // rotated to the earth-fixed coordinates axis
+    SGVec3d off = hlTrans.backTransform(_off);
+
+    // Add the position offset of the user model to get the geocentered position
+    SGVec3d offsetPos = cartuserPos + off;
+
+    return offsetPos;
+}
+
+void FGSubmodelMgr::setOffsetPos(){
+    // convert the offset geocentered position to geodetic
+    SGVec3d cartoffsetPos = getCartOffsetPos();
+
+    SGGeodesy::SGCartToGeod(cartoffsetPos, offsetpos);
+}
 // end of submodel.cxx

diff --git a/src/AIModel/submodel.hxx b/src/AIModel/submodel.hxx
index 7ca046f9dc0789f8334c3a572634772d7635ea15..cd645f64e66d4e9333b4518123b06f821eefea24 100644 (file)
--- a/src/AIModel/submodel.hxx
+++ b/src/AIModel/submodel.hxx
@@ -53,6 +53,7 @@ public:
         double             drag_area;
         double             life;
         double             buoyancy;
+               double                     randomness;
         bool               wind;
         bool               first_time;
         double             cd;
@@ -62,7 +63,9 @@ public:
         int                id;
         bool               no_roll;
         bool               serviceable;
+               bool               random;
         bool               collision;
+               bool                       expiry;
         bool               impact;
         string             impact_report;
         double             fuse_range;
@@ -141,6 +144,10 @@ private:
     double _parent_pitch;
     double _parent_roll;
     double _parent_speed;
+       double _x_offset;
+    double _y_offset;
+    double _z_offset;
+
 
     static const double lbs_to_slugs; //conversion factor
 
@@ -148,6 +155,8 @@ private:
 
     bool _impact;
     bool _hit;
+       bool _expiry;
+       bool _found_sub;
 
     SGPropertyNode_ptr _serviceable_node;
     SGPropertyNode_ptr _user_lat_node;
@@ -174,7 +183,7 @@ private:
     IC_struct  IC;
 
     // A list of pointers to AI objects
-    typedef list <osg::ref_ptr<FGAIBase> > sm_list_type;
+    typedef list <SGSharedPtr<FGAIBase> > sm_list_type;
     typedef sm_list_type::iterator sm_list_iterator;
     typedef sm_list_type::const_iterator sm_list_const_iterator;
 
@@ -190,9 +199,13 @@ private:
 
     bool release(submodel *, double dt);
 
-    double getRange(double lat, double lon, double lat2, double lon2) const;
 
     int _count;
+       
+       SGGeod userpos;
+       SGGeod offsetpos;
+       SGVec3d getCartOffsetPos() const;
+       void setOffsetPos();
 
 };
 

diff --git a/src/ATC/Makefile.am b/src/ATC/Makefile.am
index 35756c958bf13f648e844076052b0d53c8a4389b..8748cef1e7fac019c3f64950b083c8831188eefe 100644 (file)
--- a/src/ATC/Makefile.am
+++ b/src/ATC/Makefile.am
@@ -2,6 +2,7 @@ noinst_LIBRARIES = libATC.a
 
 libATC_a_SOURCES = \
        atcutils.cxx atcutils.hxx \
+       atis.cxx atis.hxx \
        trafficcontrol.cxx trafficcontrol.hxx 
 
 INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src

diff --git a/src/ATC/atcutils.cxx b/src/ATC/atcutils.cxx
index 12747c4803a09a4860415c4d78f6890c76dd1202..94e4ec63b8415a07b3af800d939b1daa2cbc8058 100644 (file)
--- a/src/ATC/atcutils.cxx
+++ b/src/ATC/atcutils.cxx
@@ -69,8 +69,8 @@ bool FGCommList::init( const SGPath& path ) {
     LoadComms(temp);
     temp = path;
     temp.append( "ATC/default.approach" );
-    LoadComms(temp);
-    return true;*/
+    LoadComms(temp);*/
+    return true;
 }
     
 
@@ -107,9 +107,8 @@ bool FGCommList::LoadComms(const SGPath& path) {
         fin >> skipcomment;
     }
     
-    fin.close();
+    fin.close();*/
     return true;    
-*/
 }
 
 
@@ -160,13 +159,14 @@ bool FGCommList::FindByFreq(const SGGeod& aPos, double freq,
         return false;
     }
 */
+    return false;
 }
 
 int FGCommList::FindByPos(const SGGeod& aPos, double range, comm_list_type* stations, atc_type tp)
 {
-/*
      // number of relevant stations found within range
      int found = 0;
+/*
      stations->erase(stations->begin(), stations->end());
      
      // get bucket number for plane position
@@ -203,8 +203,8 @@ int FGCommList::FindByPos(const SGGeod& aPos, double range, comm_list_type* stat
              }
          }
      }
-     return found;
 */
+     return found;
 }
 
 
@@ -248,15 +248,15 @@ double FGCommList::FindClosest(const SGGeod& aPos, ATCData& ad, atc_type tp, dou
         }
         range *= 10;
     }
-    return(-9999.0);
 */
+    return(-9999.0);
 }
 
 
 // Find by Airport code.
 // This is basically a wrapper for a call to the airport database to get the airport
 // position followed by a call to FindByPos(...)
-bool FGCommList::FindByCode( const string& ICAO, ATCData& ad, atc_type tp ) {
+bool FGCommList::FindByCode( const std::string& ICAO, ATCData& ad, atc_type tp ) {
 /*
     const FGAirport *a = fgFindAirportID( ICAO);
     if ( a) {
@@ -277,15 +277,15 @@ bool FGCommList::FindByCode( const string& ICAO, ATCData& ad, atc_type tp ) {
             }
         }
     }
-    return false;
 */
+    return false;
 }
 
 // TODO - this function should move somewhere else eventually!
 // Return an appropriate sequence number for an ATIS transmission.
 // Return sequence number + 2600 if sequence is unchanged since 
 // last time.
-int FGCommList::GetAtisSequence( const string& apt_id, 
+int FGCommList::GetAtisSequence( const std::string& apt_id, 
         const double tstamp, const int interval, const int special)
 {
 /*
@@ -312,6 +312,7 @@ int FGCommList::GetAtisSequence( const string& apt_id,
     //      << "  Delta: " << delta << endl;
     return(tran.sequence + (delta ? 0 : LTRS*1000));
 */
+    return 2600;
 }
 /*****************************************************************************
  * FGKln89AlignedProjection 
@@ -369,4 +370,4 @@ SGGeod FGKln89AlignedProjection::ConvertFromLocal(const SGVec3d& pt) {
     return SGGeod::fromRadM(_origin.getLongitudeRad()+delta_lon, _origin.getLatitudeRad()+delta_lat, pt.z());
 }
 
-#endif // #ENABLE_ATCDCL
\ No newline at end of file
+#endif // #ENABLE_ATCDCL

diff --git a/src/ATC/atcutils.hxx b/src/ATC/atcutils.hxx
index e26d204b04480443dc2901a61848da84a27e46db..d2d2366a0271aa08d57ba2dbb6199a4adbaaec93 100644 (file)
--- a/src/ATC/atcutils.hxx
+++ b/src/ATC/atcutils.hxx
@@ -52,7 +52,8 @@
 #if !ENABLE_ATCDCL
 
 class SGPath;
-class ATCData;
+
+
 
 // Possible types of ATC type that the radios may be tuned to.
 // INVALID implies not tuned in to anything.
@@ -67,6 +68,18 @@ enum atc_type {
   INVALID       /* must be last element;  see ATC_NUM_TYPES */
 };
 
+struct ATCData {
+        ATCData() : type(INVALID), cart(0, 0, 0), freq(0), range(0) {}
+       atc_type type;
+       SGGeod geod;
+       SGVec3d cart;
+       unsigned short int freq;
+       unsigned short int range;
+       std::string ident;
+       std::string name;
+};
+
+
 
 // A list of ATC stations
 typedef std::list < ATCData > comm_list_type;

diff --git a/src/ATC/atis.cxx b/src/ATC/atis.cxx
new file mode 100644 (file)
index 0000000..0239416
--- /dev/null
+++ b/src/ATC/atis.cxx
@@ -0,0 +1,46 @@
+/******************************************************************************
+ * atis.cxx
+ * Written by Durk Talsma, started August 1, 2010.
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ *
+ **************************************************************************/
+
+
+#ifdef HAVE_CONFIG_H
+#  include "config.h"
+#endif
+
+#include <iostream>
+
+#include <simgear/math/SGMath.hxx>
+#include "atis.hxx"
+
+FGAtisManager::FGAtisManager() {
+
+}
+
+FGAtisManager::~FGAtisManager() {
+
+}
+
+void FGAtisManager::init() {
+    SGSubsystem::init();
+}
+
+void FGAtisManager::update ( double time ) {
+    //cerr << "ATIS code is running at time: " << time << endl;
+}

diff --git a/src/ATC/atis.hxx b/src/ATC/atis.hxx
new file mode 100644 (file)
index 0000000..12fc4fd
--- /dev/null
+++ b/src/ATC/atis.hxx
@@ -0,0 +1,39 @@
+/* -*- Mode: C++ -*- *****************************************************
+ * atic.hxx
+ * Written by Durk Talsma. Started August 1, 2010; based on earlier work
+ * by David C. Luff
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ *
+ **************************************************************************/
+
+#ifndef _ATIS_HXX_
+#define _ATIS_HXX_
+
+#include <simgear/structure/subsystem_mgr.hxx>
+
+class FGAtisManager : public SGSubsystem
+{
+private:
+  
+public:
+  FGAtisManager();
+  ~FGAtisManager();
+  void init();
+  void update(double time);    
+};
+  
+#endif // _ATIS_HXX_
\ No newline at end of file

diff --git a/src/ATC/trafficcontrol.cxx b/src/ATC/trafficcontrol.cxx
index 98b2ab46e9ab3a1dcb9373ce4b5596ef600571f1..c7d20bdb595fc3f5d5d6f9b8e322375caef0afeb 100644 (file)
--- a/src/ATC/trafficcontrol.cxx
+++ b/src/ATC/trafficcontrol.cxx
@@ -38,15 +38,16 @@ FGTrafficRecord::FGTrafficRecord() :
   id(0), waitsForId(0),
   currentPos(0),
   leg(0),
+  frequencyId(0),
   state(0),
+   allowTransmission(true),
   latitude(0),
   longitude(0), 
    heading(0), 
    speed(0), 
    altitude(0), 
-   radius(0),
-   frequencyId(0),
-   allowTransmission(true) {
+   radius(0)
+{
 }
 
 void FGTrafficRecord::setPositionAndIntentions(int pos, FGAIFlightPlan *route)
@@ -65,7 +66,6 @@ void FGTrafficRecord::setPositionAndIntentions(int pos, FGAIFlightPlan *route)
      }
      intentions.erase(i);
    } else {
-     //int legNr, routeNr;
      //FGAIFlightPlan::waypoint* const wpt= route->getCurrentWaypoint();
      int size = route->getNrOfWayPoints();
      //cerr << "Setting pos" << pos << " ";
@@ -510,7 +510,7 @@ void FGATCController::transmit(FGTrafficRecord *rec, AtcMsgId msgId, AtcMsgDir m
     double onBoardRadioFreq1 = fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
     int onBoardRadioFreqI0 = (int) floor(onBoardRadioFreq0 * 100 + 0.5);
     int onBoardRadioFreqI1 = (int) floor(onBoardRadioFreq1 * 100 + 0.5);
-    //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << endl;
+    //cerr << "Using " << onBoardRadioFreq0 << ", " << onBoardRadioFreq1 << " and " << stationFreq << " for " << text << endl;
 
     // Display ATC message only when one of the radios is tuned
     // the relevant frequency.

diff --git a/src/ATCDCL/AIEntity.cxx b/src/ATCDCL/AIEntity.cxx
deleted file mode 100644 (file)
index 0d3d764..0000000
--- a/src/ATCDCL/AIEntity.cxx
+++ /dev/null
@@ -1,74 +0,0 @@
-// FGAIEntity - abstract base class an artificial intelligence entity
-//
-// Written by David Luff, started March 2002.
-//
-// Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-/*****************************************************************
-*
-* WARNING - Curt has some ideas about AI traffic so anything in here
-* may get rewritten or scrapped.  Contact Curt http://www.flightgear.org/~curt 
-* before spending any time or effort on this code!!!
-*
-******************************************************************/
-
-#ifdef HAVE_CONFIG_H
-#  include <config.h>
-#endif
-
-#include <Main/globals.hxx>
-#include <Scenery/scenery.hxx>
-#include <simgear/constants.h>
-#include <simgear/math/sg_geodesy.hxx>
-#include <simgear/misc/sg_path.hxx>
-#include <string>
-
-#include "AIEntity.hxx"
-
-FGAIEntity::FGAIEntity() :
-    _ground_elevation_m(0)
-{
-}
-
-FGAIEntity::~FGAIEntity() {
-    globals->get_scenery()->get_scene_graph()->removeChild(_aip.getSceneGraph());
-}
-
-void FGAIEntity::SetModel(osg::Node* model) {
-    _aip.init(model);
-    _aip.setVisible(false);
-    globals->get_scenery()->get_scene_graph()->addChild(_aip.getSceneGraph());
-}
-
-void FGAIEntity::Update(double dt) {
-}
-
-const string &FGAIEntity::GetCallsign() {
-    static string s = "";
-    return(s);
-}
-
-void FGAIEntity::RegisterTransmission(int code) {
-}
-
-// Run the internal calculations
-//void FGAIEntity::Update() {
-void FGAIEntity::Transform() {
-    _aip.setPosition(_pos);
-    _aip.setOrientation(_roll, _pitch, _hdg);
-    _aip.update();    
-}

diff --git a/src/ATCDCL/AIEntity.hxx b/src/ATCDCL/AIEntity.hxx
deleted file mode 100644 (file)
index 5254c80..0000000
--- a/src/ATCDCL/AIEntity.hxx
+++ /dev/null
@@ -1,71 +0,0 @@
-// FGAIEntity - abstract base class an artificial intelligence entity
-//
-// Written by David Luff, started March 2002.
-//
-// Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-#ifndef _FG_AIEntity_HXX
-#define _FG_AIEntity_HXX
-
-#include <simgear/math/SGMath.hxx>
-#include <simgear/scene/model/placement.hxx>
-
-/*****************************************************************
-*
-*  FGAIEntity - this class implements the minimum requirement
-*  for any AI entity - a position, an orientation, an associated
-*  3D model, and the ability to be moved.  It does nothing useful
-*  and all AI entities are expected to be derived from it.
-*
-******************************************************************/
-class FGAIEntity {
-
-public:
-
-    FGAIEntity();
-    virtual ~FGAIEntity();
-       
-    // Set the 3D model to use (Must be called)
-    void SetModel(osg::Node* model);
-
-    // Run the internal calculations
-    virtual void Update(double dt)=0;
-    
-    // Send a transmission *TO* the AIEntity.
-    // FIXME int code is a hack - eventually this will receive Alexander's coded messages.
-    virtual void RegisterTransmission(int code)=0;
-    
-    const SGGeod& getPos() const
-    { return _pos; }
-    
-    virtual const string& GetCallsign()=0;
-       
-protected:
-    
-    SGGeod _pos;       // Geodetic position
-    double _hdg;        //True heading in degrees
-    double _roll;      //degrees
-    double _pitch;     //degrees
-
-    SGModelPlacement _aip;
-    double _ground_elevation_m;
-    
-    void Transform();
-};
-
-#endif  // _FG_AIEntity_HXX
-

diff --git a/src/ATCDCL/AIGAVFRTraffic.cxx b/src/ATCDCL/AIGAVFRTraffic.cxx
deleted file mode 100644 (file)
index 93a1f80..0000000
--- a/src/ATCDCL/AIGAVFRTraffic.cxx
+++ /dev/null
@@ -1,465 +0,0 @@
-// FGAILocalTraffic - AIEntity derived class with enough logic to
-// fly and interact with the traffic pattern.
-//
-// Written by David Luff, started March 2002.
-//
-// Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-#ifdef HAVE_CONFIG_H
-#  include <config.h>
-#endif
-
-#include <simgear/math/SGMath.hxx>
-#include <Airports/runways.hxx>
-#include <Main/globals.hxx>
-#include <string>
-#include <math.h>
-
-using std::string;
-
-#include "ATC.hxx"
-#include "ATCmgr.hxx"
-#include "AILocalTraffic.hxx"
-#include "AIGAVFRTraffic.hxx"
-#include "ATCutils.hxx"
-#include "tower.hxx"
-
-// extern from Airports/simple.cxx
-extern SGGeod fgGetAirportPos( const std::string& id );
-
-FGAIGAVFRTraffic::FGAIGAVFRTraffic() {
-       ATC = globals->get_ATC_mgr();
-       _towerContactedIncoming = false;
-       _clearedStraightIn = false;
-       _clearedDownwindEntry = false;
-       _incoming = false;
-       _straightIn = false;
-       _downwindEntry = false;
-       _climbout = false;
-       _local = false;
-       _established = false;
-       _e45 = false;
-       _entering = false;
-       _turning = false;
-       _cruise_climb_ias = 90.0;
-       _cruise_ias = 110.0;
-       patternDirection = -1.0;
-       
-       // TESTING - REMOVE OR COMMENT OUT BEFORE COMMIT!!!
-       //_towerContactPrinted = false;
-}
-
-FGAIGAVFRTraffic::~FGAIGAVFRTraffic() {
-}
-
-// We should never need to Init FGAIGAVFRTraffic in the pattern since that implies arrivel
-// and we can just use an FGAILocalTraffic instance for that instead.
-
-// Init en-route to destID at point pt.
-// TODO - no idea what to do if pt is above planes ceiling due mountains!!
-bool FGAIGAVFRTraffic::Init(const SGGeod& pt, const string& destID, const string& callsign) {
-       FGAILocalTraffic::Init(callsign, destID, EN_ROUTE);
-       // TODO FIXME - to get up and running we're going to ignore elev and get FGAIMgr to 
-       // pass in known good values for the test location.  Need to fix this!!! (or at least canonically decide who has responsibility for setting elev).
-       _enroute = true;
-       _destID = destID;
-       _pos = pt;
-       _destPos = fgGetAirportPos(destID);     // TODO - check if we are within the tower catchment area already.
-       _cruise_alt = (_destPos.getElevationM() + 2500.0) * SG_FEET_TO_METER;   // TODO look at terrain elevation as well
-       _pos.setElevationM(_cruise_alt);
-       // initially set waypoint as airport location
-       _wp = _destPos;
-       // Set the initial track
-       track = GetHeadingFromTo(_pos, _wp);
-       // And set the plane to keep following it.
-       SetTrack(GetHeadingFromTo(_pos, _wp));
-       _roll = 0.0;
-       _pitch = 0.0;
-       slope = 0.0;
-       // TODO - set climbout if altitude is below normal cruising altitude?
-       //Transform();
-       // Assume it's OK to set the plane visible
-       _aip.setVisible(true);
-       //cout << "Setting visible true\n";
-       Transform();
-       return(true);
-}
-
-// Init at srcID to fly to destID
-bool FGAIGAVFRTraffic::Init(const string& srcID, const string& destID, const string& callsign, OperatingState state) {
-       _enroute = false;
-       FGAILocalTraffic::Init(callsign, srcID, PARKED);
-       return(true);
-}
-
-void FGAIGAVFRTraffic::Update(double dt) {
-       if(_enroute) {
-               //cout << "_enroute\n";
-               //cout << "e" << flush;
-               FlyPlane(dt);
-               //cout << "f" << flush;
-               Transform();
-               //cout << "g" << flush;
-               FGAIPlane::Update(dt);
-               //cout << "h" << flush;
-               responseCounter += dt;
-               
-               // we shouldn't really need this since there's a LOD of 10K on the whole plane anyway I think.
-               // There are two _aip.setVisible statements set when _local = true that can be removed if the below is removed.
-               if(dclGetHorizontalSeparation(_pos, SGGeod::fromDegM(fgGetDouble("/position/longitude-deg"), fgGetDouble("/position/latitude-deg"), 0.0)) > 8000) _aip.setVisible(false);
-               else _aip.setVisible(true);
-               
-       } else if(_local) {
-               //cout << "L";
-               //cout << "_local\n";
-               FGAILocalTraffic::Update(dt);
-       }
-}
-
-void FGAIGAVFRTraffic::FlyPlane(double dt) {
-       if(_climbout) {
-               // Check whether to level off
-               if(_pos.getElevationM() >= _cruise_alt) {
-                       slope = 0.0;
-                       _pitch = 0.0;
-                       IAS = _cruise_ias;              // FIXME - use smooth transistion to new speed and attitude.
-                       _climbout = false;
-               } else {
-                       slope = 4.0;
-                       _pitch = 5.0;
-                       IAS = _cruise_climb_ias;
-               }
-       } else {
-               // TESTING
-               /*
-               if(dclGetHorizontalSeparation(_destPos, _pos) / 1600.0 < 8.1) {
-                       if(!_towerContactPrinted) {
-                               if(airportID == "KSQL") {
-                                       cout << "****************************************************************\n";
-                                       cout << "++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n";
-                                       cout << "****************************************************************\n";
-                               }
-                               _towerContactPrinted = true;
-                       }
-               }
-               */
-               
-               // if distance to destination is less than 6 - 9 miles contact tower
-               // and prepare to become _incoming after response.
-               // Possibly check whether to start descent before this?
-               //cout << "." << flush;
-               //cout << "sep = " << dclGetHorizontalSeparation(_destPos, _pos) / 1600.0 << '\n';
-                if(dclGetHorizontalSeparation(_destPos, _pos) / 1600.0 < 8.0) {
-                       //cout << "-" << flush;
-                       if(!_towerContactedIncoming) {
-                               //cout << "_" << flush;
-                               GetAirportDetails(airportID);
-                               //cout << "L" << flush;
-                               if(_controlled) {
-                                       freq = (double)tower->get_freq() / 100.0;
-                                       tuned_station = tower;
-                               } else {
-                                       freq = 122.8;   // TODO - need to get the correct CTAF/Unicom frequency if no tower
-                                       tuned_station = NULL;
-                               }
-                               //cout << "freq = " << freq << endl;
-                               GetRwyDetails(airportID);
-                               //"@AP Tower @CS @MI miles @CD of the airport for full stop with ATIS"
-                               // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
-                               if(rwy.rwyID.size() == 3) {
-                                       patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
-                               }
-                               if(_controlled) {
-                                       pending_transmission = tower->get_name();
-                                       pending_transmission += " Tower ";
-                               } else {
-                                       pending_transmission = "Traffic ";
-                                       // TODO - find some way of getting uncontrolled airport name
-                               }
-                               pending_transmission += plane.callsign;
-                               //char buf[10];
-                               int dist_miles = (int)dclGetHorizontalSeparation(_pos, _destPos) / 1600;
-                               //sprintf(buf, " %i ", dist_miles);
-                               pending_transmission += " ";
-                               pending_transmission += ConvertNumToSpokenDigits(dist_miles);
-                               if(dist_miles > 1) pending_transmission += " miles ";
-                               else pending_transmission += " mile ";
-                               pending_transmission += GetCompassDirection(GetHeadingFromTo(_destPos, _pos));
-                               pending_transmission += " of the airport for full stop with ATIS";
-                               //cout << pending_transmission << endl;
-                               Transmit(14);   // 14 is the callback code, NOT the timeout!
-                               responseCounter = 0;
-                               _towerContactedIncoming = true;
-                       } else {
-                               //cout << "?" << flush;
-                               if(_clearedStraightIn && responseCounter > 5.5) {
-                                       //cout << "5 " << flush;
-                                       _clearedStraightIn = false;
-                                       _straightIn = true;
-                                       _incoming = true;
-                                       _wp = GetPatternApproachPos();
-                                       //_hdg = GetHeadingFromTo(_pos, _wp);   // TODO - turn properly!
-                                       SetTrack(GetHeadingFromTo(_pos, _wp));
-                                       slope = atan((_wp.getElevationM() - _pos.getElevationM()) / dclGetHorizontalSeparation(_wp, _pos)) * DCL_RADIANS_TO_DEGREES;
-                                       double thesh_offset = 0.0;
-                                       SGVec3d opos = ortho.ConvertToLocal(_pos);
-                                       double angToApt = atan((_pos.getElevationM() - fgGetAirportElev(airportID)) / (opos.y() - thesh_offset)) * DCL_RADIANS_TO_DEGREES;
-                                       //cout << "angToApt = " << angToApt << ' ';
-                                       slope = (angToApt > -5.0 ? 0.0 : angToApt);
-                                       //cout << "slope = " << slope << '\n';
-                                       pending_transmission = "Straight-in ";
-                                       pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID);
-                                       pending_transmission += " ";
-                                       pending_transmission += plane.callsign;
-                                       //cout << pending_transmission << '\n';
-                                       ConditionalTransmit(4);
-                               } else if(_clearedDownwindEntry && responseCounter > 5.5) {
-                                       //cout << "6" << flush;
-                                       _clearedDownwindEntry = false;
-                                       _downwindEntry = true;
-                                       _incoming = true;
-                                       _wp = GetPatternApproachPos();
-                                       SetTrack(GetHeadingFromTo(_pos, _wp));
-                                       slope = atan((_wp.getElevationM() - _pos.getElevationM()) / dclGetHorizontalSeparation(_wp, _pos)) * DCL_RADIANS_TO_DEGREES;
-                                       //cout << "slope = " << slope << '\n';
-                                       pending_transmission = "Report ";
-                                       pending_transmission += (patternDirection == 1 ? "right downwind " : "left downwind ");
-                                       pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID);
-                                       pending_transmission += " ";
-                                       pending_transmission += plane.callsign;
-                                       //cout << pending_transmission << '\n';
-                                       ConditionalTransmit(4);
-                               }
-                       }
-                       if(_pos.getElevationM() < (fgGetAirportElev(airportID) + (1000.0 * SG_FEET_TO_METER))) slope = 0.0;     
-               }
-       }
-       if(_incoming) {
-               //cout << "i" << '\n';
-               SGVec3d orthopos = ortho.ConvertToLocal(_pos);
-               // TODO - Check whether to start descent
-               // become _local after the 3 mile report.
-               if(_pos.getElevationM() < (fgGetAirportElev(airportID) + (1000.0 * SG_FEET_TO_METER))) slope = 0.0;     
-               // TODO - work out why I needed to add the above line to stop the plane going underground!!!
-               // (Although it's worth leaving it in as a robustness check anyway).
-               if(_straightIn) {
-                       //cout << "A " << flush;
-                       if(fabs(orthopos.x()) < 10.0 && !_established) {
-                               SetTrack(rwy.hdg);
-                               _established = true;
-                               //cout << "Established at " << orthopos << '\n';
-                       }
-                       double thesh_offset = 30.0;
-                       //cout << "orthopos.y = " << orthopos.y() << " alt = " << _pos.getElevationM() - fgGetAirportElev(airportID) << '\n';
-                       if(_established && (orthopos.y() > -5400.0)) {
-                               slope = atan((_pos.getElevationM() - fgGetAirportElev(airportID)) / (orthopos.y() - thesh_offset)) * DCL_RADIANS_TO_DEGREES;
-                               //cout << "slope0 = " << slope << '\n';
-                       }
-                       //cout << "slope1 = " << slope << '\n';
-                       if(slope > -5.5) slope = 0.0;   // ie we're too low.
-                       //cout << "slope2 = " << slope << '\n';
-                       slope += 0.001;         // To avoid yo-yoing with the above.
-                       //if(_established && (orthopos.y() > -5400.0)) slope = -5.5;
-                       if(_established && (orthopos.y() > -4800.0)) {
-                               pending_transmission = "3 mile final Runway ";
-                               pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID);
-                               pending_transmission += " ";
-                               pending_transmission += plane.callsign;
-                               //cout << pending_transmission << '\n';
-                               ConditionalTransmit(35);
-                               _local = true;
-                               _aip.setVisible(true);  // HACK
-                               _enroute = false;
-                               StraightInEntry(true);
-                       }
-               } else if(_downwindEntry) {
-                       //cout << "B" << flush;
-                       if(_entering) {
-                               //cout << "C" << flush;
-                               if(_turning) {
-                                       if(fabs(_hdg - (rwy.hdg + 180)) < 2.0) {        // TODO - use track instead of _hdg?
-                                               //cout << "Going Local...\n";
-                                               leg = DOWNWIND;
-                                               _local = true;
-                                               _aip.setVisible(true);  // HACK
-                                               _enroute = false;
-                                               _entering = false;
-                                               _turning = false;
-                                               DownwindEntry();
-                                       }
-                               }
-                               if(fabs(orthopos.x() - (patternDirection == 1 ? 1000 : -1000)) < (_e45 ? 175 : 550)) {  // Caution - hardwired turn clearances.
-                                       //cout << "_turning...\n";
-                                       _turning = true;
-                                       SetTrack(rwy.hdg + 180.0);
-                               }       // TODO - need to check for other traffic in the pattern and enter much more integilently than that!!!
-                       } else {
-                               //cout << "D" << flush;
-                               //cout << '\n' << dclGetHorizontalSeparation(_wp, _pos) << '\n';
-                               //cout << ortho.ConvertToLocal(GetPos());
-                               //cout << ortho.ConvertToLocal(_wp);
-                               if(dclGetHorizontalSeparation(_wp, _pos) < 100.0) {
-                                       pending_transmission = "2 miles out for ";
-                                       pending_transmission += (patternDirection == 1 ? "right " : "left ");
-                                       pending_transmission += "downwind Runway ";
-                                       pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID);
-                                       pending_transmission += " ";
-                                       pending_transmission += plane.callsign;
-                                       //cout << pending_transmission << '\n';
-                                       // TODO - are we at pattern altitude??
-                                       slope = 0.0;
-                                       ConditionalTransmit(30);
-                                       if(_e45) {
-                                               SetTrack(patternDirection == 1 ? rwy.hdg - 135.0 : rwy.hdg + 135.0);
-                                       } else {
-                                               SetTrack(patternDirection == 1 ? rwy.hdg + 90.0 : rwy.hdg - 90.0);
-                                       }
-                                       //if(_hdg < 0.0) _hdg += 360.0;
-                                       _entering = true;
-                               } else {
-                                       SetTrack(GetHeadingFromTo(_pos, _wp));
-                               }
-                       }       
-               }
-       } else {
-               // !_incoming
-               slope = 0.0;
-       }
-       // FIXME - lots of hackery in the next six lines!!!!
-       double crab = 0.0;      // This is a placeholder for when we take wind into account.    
-       _hdg = track + crab;
-       double vel = _cruise_ias;
-       double dist = vel * 0.514444 * dt;
-       _pos = dclUpdatePosition(_pos, track, slope, dist);
-}
-
-void FGAIGAVFRTraffic::RegisterTransmission(int code) {
-       switch(code) {
-       case 1: // taxi request cleared
-               FGAILocalTraffic::RegisterTransmission(code);
-               break;
-       case 2: // contact tower
-               FGAILocalTraffic::RegisterTransmission(code);
-               break;
-       case 3: // Cleared to line up
-               FGAILocalTraffic::RegisterTransmission(code);
-               break;
-       case 4: // cleared to take-off
-               FGAILocalTraffic::RegisterTransmission(code);
-               break;
-       case 5: // contact ground
-               FGAILocalTraffic::RegisterTransmission(code);
-               break;
-       case 6: // taxi to the GA parking
-               FGAILocalTraffic::RegisterTransmission(code);
-               break;
-       case 7: // Cleared to land
-               FGAILocalTraffic::RegisterTransmission(code);
-               break;
-       case 13: // Go around!
-               FGAILocalTraffic::RegisterTransmission(code);
-               break;
-       case 14: // VFR approach for straight-in
-               responseCounter = 0;
-               _clearedStraightIn = true;
-               break;
-       case 15: // VFR approach for downwind entry
-               responseCounter = 0;
-               _clearedDownwindEntry = true;
-               break;
-       default:
-               SG_LOG(SG_ATC, SG_WARN, "FGAIGAVFRTraffic::RegisterTransmission(...) called with unknown code " << code);
-               FGAILocalTraffic::RegisterTransmission(code);
-               break;
-       }
-}
-
-// Callback handler
-// TODO - Really should enumerate these coded values.
-void FGAIGAVFRTraffic::ProcessCallback(int code) {
-       // 1 - Request Departure from ground
-       // 2 - Report at hold short
-       // 10 - report crosswind
-       // 11 - report downwind
-       // 12 - report base
-       // 13 - report final
-       // 14 - Contact Tower for VFR arrival
-       // 99 - Remove self
-       if(code < 14) {
-               FGAILocalTraffic::ProcessCallback(code);
-       } else if(code == 14) {
-               if(_controlled) {
-                       tower->VFRArrivalContact(plane, this, FULL_STOP);
-               }
-               // TODO else possibly announce arrival intentions at uncontrolled airport?
-       } else if(code == 99) {
-               // Might handle this different in future - hence separated from the other codes to pass to AILocalTraffic.
-               FGAILocalTraffic::ProcessCallback(code);
-       }
-}
-
-// Return an appropriate altitude to fly at based on the desired altitude and direction
-// whilst respecting the quadrangle rule.
-int FGAIGAVFRTraffic::GetQuadrangleAltitude(int dir, int des_alt) {
-       return(8888);
-       // TODO - implement me!
-}
-
-// Calculates the position needed to set up for either pattern entry or straight in approach.
-// Currently returns one of three positions dependent on initial position wrt threshold of active rwy.
-// 1/ A few miles out on extended centreline for straight-in.
-// 2/ At an appropriate point on circuit side of rwy for a 45deg entry to downwind.
-// 3/ At and appropriate point on non-circuit side of rwy at take-off end for perpendicular entry to circuit overflying end-of-rwy.
-SGGeod FGAIGAVFRTraffic::GetPatternApproachPos() {
-       //cout << "\n\n";
-       //cout << "Calculating pattern approach pos for " << plane.callsign << '\n';
-       SGVec3d orthopos = ortho.ConvertToLocal(_pos);
-       SGVec3d tmp;
-       //cout << "patternDirection = " << patternDirection << '\n';
-       if(orthopos.y() >= -1000.0) {   // Note that this has to be set the same as the calculation in tower.cxx - at the moment approach type is not transmitted properly between the two.
-               //cout << "orthopos.x = " << orthopos.x() << '\n';
-               if((orthopos.x() * patternDirection) > 0.0) {   // 45 deg entry
-                        tmp.x() = 2000 * patternDirection;
-                       tmp.y() = (rwy.end2ortho.y() / 2.0) + 2000;
-                       tmp.z() = (fgGetAirportElev(airportID) + (1000 * SG_FEET_TO_METER));
-                       _e45 = true;
-                       //cout << "45 deg entry... ";
-               } else {
-                        tmp.x() = (1000 * patternDirection * -1);
-                       tmp.y() = (rwy.end2ortho.y());
-                       tmp.z() = (fgGetAirportElev(airportID) + (1000 * SG_FEET_TO_METER));
-                       _e45 = false;
-                       //cout << "90 deg entry... ";
-               }
-       } else {
-               tmp.x() = 0;
-               tmp.y() = -5400;
-               tmp.z() = ((5400.0 / 6.0) + fgGetAirportElev(airportID) + 10.0);
-               //cout << "Straight in... ";
-       }
-       //cout << "Waypoint is " << tmp << '\n';
-       //cout << ortho.ConvertFromLocal(tmp) << '\n';
-       //cout << '\n';
-       //exit(-1);
-       return ortho.ConvertFromLocal(tmp);
-}
-
-//FGAIGAVFRTraffic::
-
-//FGAIGAVFRTraffic::
-
-//FGAIGAVFRTraffic::

diff --git a/src/ATCDCL/AIGAVFRTraffic.hxx b/src/ATCDCL/AIGAVFRTraffic.hxx
deleted file mode 100644 (file)
index fda97cf..0000000
--- a/src/ATCDCL/AIGAVFRTraffic.hxx
+++ /dev/null
@@ -1,124 +0,0 @@
-// FGAILocalTraffic - AIEntity derived class with enough logic to
-// fly and interact with the traffic pattern.
-//
-// Written by David Luff, started March 2002.
-//
-// Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-#ifndef _FG_AIGAVFRTraffic_HXX
-#define _FG_AIGAVFRTraffic_HXX
-
-#include <simgear/math/SGMath.hxx>
-#include <Main/fg_props.hxx>
-
-#include "AILocalTraffic.hxx"
-
-#include <string>
-using std::string;
-
-class FGAIGAVFRTraffic : public FGAILocalTraffic {
-       
-public:
-       
-       FGAIGAVFRTraffic();
-       ~FGAIGAVFRTraffic();
-       
-       // Init en-route to destID at point pt. (lat, lon, elev) (elev in meters, lat and lon in degrees).
-       bool Init(const SGGeod& pt, const string& destID, const string& callsign);
-       // Init at srcID to fly to destID
-       bool Init(const string& srcID, const string& destID, const string& callsign, OperatingState state = PARKED);
-       
-       // Run the internal calculations
-       void Update(double dt);
-       
-       // Return what type of landing we're doing on this circuit
-       //LandingType GetLandingOption();
-       
-       void RegisterTransmission(int code);
-       
-       // Process callbacks sent by base class
-       // (These codes are not related to the codes above)
-       void ProcessCallback(int code);
-       
-protected:
-       
-       // Do what is necessary to land and parkup at home airport
-       void ReturnToBase(double dt);
-       
-       //void GetRwyDetails(string id);
-       
-       
-private:
-       FGATCMgr* ATC;  
-       // This is purely for synactic convienience to avoid writing globals->get_ATC_mgr()-> all through the code!
-
-       // High-level stuff
-       OperatingState operatingState;
-       bool touchAndGo;        //True if circuits should be flown touch and go, false for full stop
-       
-       // Performance characteristics of the plane in knots and ft/min - some of this might get moved out into FGAIPlane
-       double best_rate_of_climb_speed;
-       double best_rate_of_climb;
-       double nominal_climb_speed;
-       double nominal_climb_rate;
-       double nominal_cruise_speed;
-       double nominal_circuit_speed;
-       double nominal_descent_rate;
-       double nominal_approach_speed;
-       double nominal_final_speed;
-       double stall_speed_landing_config;
-       
-       // environment - some of this might get moved into FGAIPlane
-       SGPropertyNode_ptr wind_from_hdg;       //degrees
-       SGPropertyNode_ptr wind_speed_knots;            //knots
-       
-       atc_type changeFreqType;        // the service we need to change to
-
-       void CalculateSoD(double base_leg_pos, double downwind_leg_pos, bool pattern_direction);
-       
-       // GA VFR specific
-       bool _towerContactedIncoming;
-       bool _straightIn;
-       bool _clearedStraightIn;
-       bool _downwindEntry;
-       bool _clearedDownwindEntry;
-       SGGeod _wp;     // Next waypoint (ie. the one we're currently heading for)
-       bool _enroute;
-       string _destID;
-       bool _climbout;
-       double _cruise_alt;
-       double _cruise_ias;
-       double _cruise_climb_ias;
-       SGGeod _destPos;
-       bool _local;
-       bool _incoming;
-       bool _established;
-       bool _e45;
-       bool _entering;
-       bool _turning;
-       
-       int GetQuadrangleAltitude(int dir, int des_alt);
-       
-       SGGeod GetPatternApproachPos();
-       
-       void FlyPlane(double dt);
-       
-       // HACK for testing - remove or comment out before CVS commit!!!
-       //bool _towerContactPrinted;
-};
-
-#endif  // _FG_AILocalTraffic_HXX

diff --git a/src/ATCDCL/AILocalTraffic.cxx b/src/ATCDCL/AILocalTraffic.cxx
deleted file mode 100644 (file)
index 8a66eda..0000000
--- a/src/ATCDCL/AILocalTraffic.cxx
+++ /dev/null
@@ -1,1543 +0,0 @@
-// FGAILocalTraffic - AIEntity derived class with enough logic to
-// fly and interact with the traffic pattern.
-//
-// Written by David Luff, started March 2002.
-//
-// Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-/*==========================================================
-
-TODO list.
-
-Should get pattern direction from tower.
-
-Need to continually monitor and adjust deviation from glideslope
-during descent to avoid occasionally landing short or long.
-
-============================================================*/
-
-#ifdef HAVE_CONFIG_H
-#  include <config.h>
-#endif
-
-#include <Airports/runways.hxx>
-#include <Main/globals.hxx>
-#include <Main/viewer.hxx>
-#include <Scenery/scenery.hxx>
-#include <Scenery/tilemgr.hxx>
-#include <simgear/math/SGMath.hxx>
-#include <simgear/misc/sg_path.hxx>
-#include <string>
-#include <math.h>
-
-using std::string;
-
-#include "ATCmgr.hxx"
-#include "AILocalTraffic.hxx"
-#include "ATCutils.hxx"
-#include "AIMgr.hxx"
-
-FGAILocalTraffic::FGAILocalTraffic() {
-       ATC = globals->get_ATC_mgr();
-       
-       // TODO - unhardwire this
-       plane.type = GA_SINGLE;
-       
-       _roll = 0.0;
-       _pitch = 0.0;
-       _hdg = 270.0;
-       
-       //Hardwire initialisation for now - a lot of this should be read in from config eventually
-       Vr = 70.0;
-       best_rate_of_climb_speed = 70.0;
-       //best_rate_of_climb;
-       //nominal_climb_speed;
-       //nominal_climb_rate;
-       //nominal_circuit_speed;
-       //min_circuit_speed;
-       //max_circuit_speed;
-       nominal_descent_rate = 500.0;
-       nominal_final_speed = 65.0;
-       //nominal_approach_speed;
-       //stall_speed_landing_config;
-       nominalTaxiSpeed = 7.5;
-       taxiTurnRadius = 8.0;
-       wheelOffset = 1.45;     // Warning - hardwired to the C172 - we need to read this in from file.
-       elevInitGood = false;
-       // Init the property nodes
-       wind_from_hdg = fgGetNode("/environment/wind-from-heading-deg", true);
-       wind_speed_knots = fgGetNode("/environment/wind-speed-kt", true);
-       circuitsToFly = 0;
-       liningUp = false;
-       taxiRequestPending = false;
-       taxiRequestCleared = false;
-       holdingShort = false;
-       clearedToLineUp = false;
-       clearedToTakeOff = false;
-       _clearedToLand = false;
-       reportReadyForDeparture = false;
-       contactTower = false;
-       contactGround = false;
-       _taxiToGA = false;
-       _removeSelf = false;
-       
-       descending = false;
-       targetDescentRate = 0.0;
-       goAround = false;
-       goAroundCalled = false;
-       
-       transmitted = false;
-       
-       freeTaxi = false;
-       _savedSlope = 0.0;
-       
-       _controlled = false;
-       
-       _invisible = false;
-}
-
-FGAILocalTraffic::~FGAILocalTraffic() {
-}
-
-void FGAILocalTraffic::GetAirportDetails(const string& id) {
-       AirportATC a;
-       if(ATC->GetAirportATCDetails(airportID, &a)) {
-               if(a.tower_freq) {      // Has a tower - TODO - check the opening hours!!!
-                       tower = (FGTower*)ATC->GetATCPointer(airportID, TOWER);
-                       if(tower == NULL) {
-                               // Something has gone wrong - abort or carry on with un-towered operation?
-                               SG_LOG(SG_ATC, SG_ALERT, "ERROR - can't get a tower pointer from tower control for " << airportID << " in FGAILocalTraffic::GetAirportDetails() :-(");
-                               _controlled = false;
-                       } else {
-                               _controlled = true;
-                       }
-                       if(tower) {
-                               ground = tower->GetGroundPtr();
-                               if(ground == NULL) {
-                                       // Something has gone wrong :-(
-                                       SG_LOG(SG_ATC, SG_ALERT, "ERROR - can't get a ground pointer from tower control in FGAILocalTraffic::GetAirportDetails() :-(");
-                               }
-                       }
-               } else {
-                       _controlled = false;
-                       // TODO - Check CTAF, unicom etc
-               }
-       } else {
-               SG_LOG(SG_ATC, SG_ALERT, "Unable to find airport details in for " << airportID << " in FGAILocalTraffic::GetAirportDetails() :-(");
-               _controlled = false;
-       }
-       // Get the airport elevation
-       aptElev = fgGetAirportElev(airportID.c_str());
-       //cout << "Airport elev in AILocalTraffic = " << aptElev << '\n';
-       // WARNING - we use this elev for the whole airport - some assumptions in the code 
-       // might fall down with very slopey airports.
-}
-
-// Get details of the active runway
-// It is assumed that by the time this is called the tower control and airport code will have been set up.
-void FGAILocalTraffic::GetRwyDetails(const string& id) {
-       //cout << "GetRwyDetails called" << endl;
-       
-  const FGAirport* apt = fgFindAirportID(id);
-  assert(apt);
-  FGRunway* runway(apt->getActiveRunwayForUsage());
-
-  double hdg = runway->headingDeg();
-  double other_way = hdg - 180.0;
-  while(other_way <= 0.0) {
-    other_way += 360.0;
-  }
-  
-       // move to the +l end/center of the runway
-               //cout << "Runway center is at " << runway._lon << ", " << runway._lat << '\n';
-       double tshlon = 0.0, tshlat = 0.0, tshr;
-               double tolon = 0.0, tolat = 0.0, tor;
-               rwy.length = runway->lengthM();
-               rwy.width = runway->widthM();
-       geo_direct_wgs_84 ( aptElev, runway->latitude(), runway->longitude(), other_way, 
-                               rwy.length / 2.0 - 25.0, &tshlat, &tshlon, &tshr );
-       geo_direct_wgs_84 ( aptElev, runway->latitude(), runway->longitude(), hdg, 
-                               rwy.length / 2.0 - 25.0, &tolat, &tolon, &tor );
-               // Note - 25 meters in from the runway end is a bit of a hack to put the plane ahead of the user.
-               // now copy what we need out of runway into rwy
-       rwy.threshold_pos = SGGeod::fromDegM(tshlon, tshlat, aptElev);
-               SGGeod takeoff_end = SGGeod::fromDegM(tolon, tolat, aptElev);
-               //cout << "Threshold position = " << tshlon << ", " << tshlat << ", " << aptElev << '\n';
-               //cout << "Takeoff position = " << tolon << ", " << tolat << ", " << aptElev << '\n';
-               rwy.hdg = hdg;
-               // Set the projection for the local area
-               //cout << "Initing ortho for airport " << id << '\n';
-               ortho.Init(rwy.threshold_pos, rwy.hdg); 
-               rwy.end1ortho = ortho.ConvertToLocal(rwy.threshold_pos);        // should come out as zero
-               rwy.end2ortho = ortho.ConvertToLocal(takeoff_end);
-}
-
-
-/* 
-There are two possible scenarios during initialisation:
-The first is that the user is flying towards the airport, and hence the traffic
-could be initialised anywhere, as long as the AI planes are consistent with
-each other.
-The second is that the user has started the sim at or close to the airport, and
-hence the traffic must be initialised with respect to the user as well as each other.
-To a certain extent it's FGAIMgr that has to worry about this, but we need to provide
-sufficient initialisation functionality within the plane classes to allow the manager
-to initially position them where and how required.
-*/
-bool FGAILocalTraffic::Init(const string& callsign, const string& ICAO, OperatingState initialState, PatternLeg initialLeg) {
-       //cout << "FGAILocalTraffic.Init(...) called" << endl;
-       airportID = ICAO;
-       
-       plane.callsign = callsign;
-       
-       if(initialState == EN_ROUTE) return(true);
-       
-       // Get the ATC pointers and airport elev
-       GetAirportDetails(airportID);
-       
-       // Get the active runway details (and copy them into rwy)
-       GetRwyDetails(airportID);
-       //cout << "Runway is " << rwy.rwyID << '\n';
-       
-       // FIXME TODO - pattern direction is still hardwired
-       patternDirection = -1;          // Left
-       // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
-       if(rwy.rwyID.size() == 3) {
-               patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
-       }
-       
-       if(_controlled) {
-               if((initialState == PARKED) || (initialState == TAXIING)) {
-                       freq = (double)ground->get_freq() / 100.0;
-               } else {
-                       freq = (double)tower->get_freq() / 100.0;
-               }
-       } else {
-               freq = 122.8;
-               // TODO - find the proper freq if CTAF or unicom or after-hours.
-       }
-
-       //cout << "In Init(), initialState = " << initialState << endl;
-       operatingState = initialState;
-       SGVec3d orthopos;
-       switch(operatingState) {
-       case PARKED:
-               tuned_station = ground;
-               ourGate = ground->GetGateNode();
-               if(ourGate == NULL) {
-                       // Implies no available gates - what shall we do?
-                       // For now just vanish the plane - possibly we can make this more elegant in the future
-                       SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst attempting Init at " << airportID << '\n');
-                       return(false);
-               }
-               _pitch = 0.0;
-               _roll = 0.0;
-               vel = 0.0;
-               slope = 0.0;
-               _pos = ourGate->pos;
-               _pos.setElevationM(aptElev);
-               _hdg = ourGate->heading;
-               Transform();
-               
-               // Now we've set the position we can do the ground elev
-               elevInitGood = false;
-               inAir = false;
-               DoGroundElev();
-               
-               break;
-       case TAXIING:
-               //tuned_station = ground;
-               // FIXME - implement this case properly
-               // For now we'll assume that the plane should start at the hold short in this case
-               // and that we're working without ground network elements.  Ie. an airport with no facility file.
-               if(_controlled) {
-                       tuned_station = tower;
-               } else {
-                       tuned_station = NULL;
-               }
-               freeTaxi = true;
-               // Set a position and orientation in an approximate place for hold short.
-               //cout << "rwy.width = " << rwy.width << '\n';
-               orthopos = SGVec3d((rwy.width / 2.0 + 10.0) * -1.0, 0.0, 0.0);
-               // TODO - set the x pos to be +ve if a RH parallel rwy.
-               _pos = ortho.ConvertFromLocal(orthopos);
-               _pos.setElevationM(aptElev);
-               _hdg = rwy.hdg + 90.0;
-               // TODO - reset the heading if RH rwy.
-               _pitch = 0.0;
-               _roll = 0.0;
-               vel = 0.0;
-               slope = 0.0;
-               elevInitGood = false;
-               inAir = false;
-               Transform();
-               DoGroundElev();
-               //Transform();
-               
-               responseCounter = 0.0;
-               contactTower = false;
-               changeFreq = true;
-               holdingShort = true;
-               clearedToLineUp = false;
-               changeFreqType = TOWER;
-               
-               break;
-       case IN_PATTERN:
-               // For now we'll always start the in_pattern case on the threshold ready to take-off
-               // since we've got the implementation for this case already.
-               // TODO - implement proper generic in_pattern startup.
-               
-               // 18/10/03 - adding the ability to start on downwind (mainly to speed testing of the go-around code!!)
-               
-               //cout << "Starting in pattern...\n";
-               
-               if(_controlled) {
-                       tuned_station = tower;
-               } else {
-                       tuned_station = NULL;
-               }
-               
-               circuitsToFly = 0;              // ie just fly this circuit and then stop
-               touchAndGo = false;
-
-               if(initialLeg == DOWNWIND) {
-                        _pos = ortho.ConvertFromLocal(SGVec3d(1000*patternDirection, 800, 0.0));
-                       _pos.setElevationM(rwy.threshold_pos.getElevationM() + 1000 * SG_FEET_TO_METER);
-                       _hdg = rwy.hdg + 180.0;
-                       leg = DOWNWIND;
-                       elevInitGood = false;
-                       inAir = true;
-                       SetTrack(rwy.hdg - (180 * patternDirection));
-                       slope = 0.0;
-                       _pitch = 0.0;
-                       _roll = 0.0;
-                       IAS = 90.0;
-                       descending = false;
-                       _aip.setVisible(true);
-                       if(_controlled) {
-                               tower->RegisterAIPlane(plane, this, CIRCUIT, DOWNWIND);
-                       }
-                       Transform();
-               } else {                        
-                       // Default to initial position on threshold for now
-                        _pos = rwy.threshold_pos;
-                       _hdg = rwy.hdg;
-                       
-                       // Now we've set the position we can do the ground elev
-                       // This might not always be necessary if we implement in-air start
-                       elevInitGood = false;
-                       inAir = false;
-                       
-                       _pitch = 0.0;
-                       _roll = 0.0;
-                       leg = TAKEOFF_ROLL;
-                       vel = 0.0;
-                       slope = 0.0;
-                       
-                       Transform();
-                       DoGroundElev();
-               }
-       
-               operatingState = IN_PATTERN;
-               
-               break;
-       case EN_ROUTE:
-               // This implies we're being init'd by AIGAVFRTraffic - simple return now
-               return(true);
-       default:
-               SG_LOG(SG_ATC, SG_ALERT, "Attempt to set unknown operating state in FGAILocalTraffic.Init(...)\n");
-               return(false);
-       }
-       
-       
-       return(true);
-}
-
-
-// Set up downwind state - this is designed to be called from derived classes who are already tuned to tower
-void FGAILocalTraffic::DownwindEntry() {
-       circuitsToFly = 0;              // ie just fly this circuit and then stop
-       touchAndGo = false;
-       operatingState = IN_PATTERN;
-       leg = DOWNWIND;
-       elevInitGood = false;
-       inAir = true;
-       SetTrack(rwy.hdg - (180 * patternDirection));
-       slope = 0.0;
-       _pitch = 0.0;
-       _roll = 0.0;
-       IAS = 90.0;
-       descending = false;
-}
-
-void FGAILocalTraffic::StraightInEntry(bool des) {
-       //cout << "************ STRAIGHT-IN ********************\n";
-       circuitsToFly = 0;              // ie just fly this circuit and then stop
-       touchAndGo = false;
-       operatingState = IN_PATTERN;
-       leg = FINAL;
-       elevInitGood = false;
-       inAir = true;
-       SetTrack(rwy.hdg);
-       transmitted = true;     // TODO - fix this hack.
-       // TODO - set up the next 5 properly for a descent!
-       slope = -5.5;
-       _pitch = 0.0;
-       _roll = 0.0;
-       IAS = 90.0;
-       descending = des;
-}
-
-
-// Return what type of landing we're doing on this circuit
-LandingType FGAILocalTraffic::GetLandingOption() {
-       //cout << "circuitsToFly = " << circuitsToFly << '\n';
-       if(circuitsToFly) {
-               return(touchAndGo ? TOUCH_AND_GO : STOP_AND_GO);
-       } else {
-               return(FULL_STOP);
-       }
-}
-       
-
-// Commands to do something from higher level logic
-void FGAILocalTraffic::FlyCircuits(int numCircuits, bool tag) {
-       //cout << "FlyCircuits called" << endl;
-       
-       switch(operatingState) {
-       case IN_PATTERN:
-               circuitsToFly += numCircuits;
-               return;
-               break;
-       case TAXIING:
-               // HACK - assume that we're taxiing out for now
-               circuitsToFly += numCircuits;
-               touchAndGo = tag;
-               break;
-       case PARKED:
-               circuitsToFly = numCircuits;    // Note that one too many circuits gets flown because we only test and decrement circuitsToFly after landing
-                                                                               // thus flying one too many circuits.  TODO - Need to sort this out better!
-               touchAndGo = tag;
-               break;
-       case EN_ROUTE:
-               break;
-       }
-}   
-
-// Run the internal calculations
-void FGAILocalTraffic::Update(double dt) {
-       //cout << "U" << flush;
-       
-       // we shouldn't really need this since there's a LOD of 10K on the whole plane anyway I think.
-       // At the moment though I need to to avoid DList overflows - the whole plane LOD obviously isn't getting picked up.
-       if(!_invisible) {
-                if(dclGetHorizontalSeparation(_pos, SGGeod::fromDegM(fgGetDouble("/position/longitude-deg"), fgGetDouble("/position/latitude-deg"), 0.0)) > 8000) _aip.setVisible(false);
-               else _aip.setVisible(true);
-       } else {
-               _aip.setVisible(false);
-       }
-       
-       //double responseTime = 10.0;           // seconds - this should get more sophisticated at some point
-       responseCounter += dt;
-       if((contactTower) && (responseCounter >= 8.0)) {
-               // Acknowledge request before changing frequency so it gets rendered if the user is on the same freq
-               string trns = "Tower ";
-               double f = globals->get_ATC_mgr()->GetFrequency(airportID, TOWER) / 100.0;      
-               char buf[10];
-               sprintf(buf, "%.2f", f);
-               trns += buf;
-               trns += " ";
-               trns += plane.callsign;
-               pending_transmission = trns;
-               ConditionalTransmit(30.0);
-               responseCounter = 0.0;
-               contactTower = false;
-               changeFreq = true;
-               changeFreqType = TOWER;
-       }
-       
-       if((contactGround) && (responseCounter >= 8.0)) {
-               // Acknowledge request before changing frequency so it gets rendered if the user is on the same freq
-               string trns = "Ground ";
-               double f = globals->get_ATC_mgr()->GetFrequency(airportID, GROUND) / 100.0;     
-               char buf[10];
-               sprintf(buf, "%.2f", f);
-               trns += buf;
-               trns += " ";
-               trns += "Good Day";
-               pending_transmission = trns;
-               ConditionalTransmit(5.0);
-               responseCounter = 0.0;
-               contactGround = false;
-               changeFreq = true;
-               changeFreqType = GROUND;
-       }
-       
-       if((_taxiToGA) && (responseCounter >= 8.0)) {
-               // Acknowledge request before changing frequency so it gets rendered if the user is on the same freq
-               string trns = "GA Parking, Thank you and Good Day";
-               //double f = globals->get_ATC_mgr()->GetFrequency(airportID, GROUND) / 100.0;   
-               pending_transmission = trns;
-               ConditionalTransmit(5.0, 99);
-               _taxiToGA = false;
-               if(_controlled) {
-                       tower->DeregisterAIPlane(plane.callsign);
-               }
-               // NOTE - we can't delete this instance yet since then the frequency won't get release when the message display finishes.
-       }
-
-       if((_removeSelf) && (responseCounter >= 8.0)) {
-               _removeSelf = false;
-               // MEGA HACK - check if we are at a simple airport or not first instead of simply hardwiring KEMT as the only non-simple airport.
-               // TODO FIXME TODO FIXME !!!!!!!
-               if(airportID != "KEMT") globals->get_AI_mgr()->ScheduleRemoval(plane.callsign);
-       }
-       
-       if((changeFreq) && (responseCounter > 8.0)) {
-               switch(changeFreqType) {
-               case TOWER:
-                       if(!tower) {
-                               SG_LOG(SG_ATC, SG_ALERT, "ERROR: Trying to change frequency to tower in FGAILocalTraffic, but tower is NULL!!!");
-                               break;
-                       }
-                       tuned_station = tower;
-                       freq = (double)tower->get_freq() / 100.0;
-                       //Transmit("DING!");
-                       // Contact the tower, even if only virtually
-                       pending_transmission = plane.callsign;
-                       pending_transmission += " at hold short for runway ";
-                       pending_transmission += ConvertRwyNumToSpokenString(rwy.rwyID);
-                       pending_transmission += " traffic pattern ";
-                       if(circuitsToFly) {
-                               pending_transmission += ConvertNumToSpokenDigits(circuitsToFly + 1);
-                               pending_transmission += " circuits touch and go";
-                       } else {
-                               pending_transmission += " one circuit to full stop";
-                       }
-                       Transmit(2);
-                       break;
-               case GROUND:
-                       if(!tower) {
-                               SG_LOG(SG_ATC, SG_ALERT, "ERROR: Trying to change frequency to ground in FGAILocalTraffic, but tower is NULL!!!");
-                               break;
-                       }
-                       if(!ground) {
-                               SG_LOG(SG_ATC, SG_ALERT, "ERROR: Trying to change frequency to ground in FGAILocalTraffic, but ground is NULL!!!");
-                               break;
-                       }
-                       tower->DeregisterAIPlane(plane.callsign);
-                       tuned_station = ground;
-                       freq = (double)ground->get_freq() / 100.0;
-                       break;
-               // And to avoid compiler warnings...
-               case APPROACH:  break;
-               case ATIS:      break;
-    case AWOS:      break;
-               case ENROUTE:   break;
-               case DEPARTURE: break;
-               case INVALID:   break;
-               }
-               changeFreq = false;
-       }
-       
-       //cout << "," << flush;
-               
-       switch(operatingState) {
-       case IN_PATTERN:
-               //cout << "In IN_PATTERN\n";
-               if(!inAir) {
-                       DoGroundElev();
-                       if(!elevInitGood) {
-                               if(_ground_elevation_m > -9990.0) {
-                                       _pos.setElevationM(_ground_elevation_m + wheelOffset);
-                                       //cout << "TAKEOFF_ROLL, POS = " << pos.lon() << ", " << pos.lat() << ", " << pos.elev() << '\n';
-                                       //Transform();
-                                       _aip.setVisible(true);
-                                       //cout << "Making plane visible!\n";
-                                       elevInitGood = true;
-                               }
-                       }
-               }
-               FlyTrafficPattern(dt);
-               Transform();
-               break;
-       case TAXIING:
-               //cout << "In TAXIING\n";
-               //cout << "*" << flush;
-               if(!elevInitGood) {
-                       //DoGroundElev();
-                       if(_ground_elevation_m > -9990.0) {
-                               _pos.setElevationM(_ground_elevation_m + wheelOffset);
-                               //Transform();
-                               _aip.setVisible(true);
-                               //Transform();
-                               //cout << "Making plane visible!\n";
-                               elevInitGood = true;
-                       }
-               }
-               DoGroundElev();
-               //cout << "~" << flush;
-               if(!((holdingShort) && (!clearedToLineUp))) {
-                       //cout << "|" << flush;
-                       Taxi(dt);
-               }
-               //cout << ";" << flush;
-               if((clearedToTakeOff) && (responseCounter >= 8.0)) {
-                       // possible assumption that we're at the hold short here - may not always hold
-                       // TODO - sort out the case where we're cleared to line-up first and then cleared to take-off on the rwy.
-                       taxiState = TD_LINING_UP;
-                       //cout << "A" << endl;
-                       path = ground->GetPath(holdShortNode, rwy.rwyID);
-                       //cout << "B" << endl;
-                       if(!path.size()) {      // Assume no facility file so we'll just taxi to a point on the runway near the threshold
-                               //cout << "C" << endl;
-                               node* np = new node;
-                               np->struct_type = NODE;
-                               np->pos = ortho.ConvertFromLocal(SGVec3d(0.0, 10.0, 0.0));
-                               path.push_back(np);
-                       } else {
-                               //cout << "D" << endl;
-                       }
-                       /*
-                       cout << "path returned was:" << endl;
-                       for(unsigned int i=0; i<path.size(); ++i) {
-                               switch(path[i]->struct_type) {
-                                       case NODE:
-                                       cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
-                                       break;
-                                       case ARC:
-                                       cout << "ARC\n";
-                                       break;
-                               }
-                       }
-                       */
-                       clearedToTakeOff = false;       // We *are* still cleared - this simply stops the response recurring!!
-                       holdingShort = false;
-                       string trns = "Cleared for take-off ";
-                       trns += plane.callsign;
-                       pending_transmission = trns;
-                       Transmit();
-                       StartTaxi();
-               }
-               //cout << "^" << flush;
-               Transform();
-               break;
-       case PARKED:
-               //cout << "In PARKED\n";
-               if(!elevInitGood) {
-                       DoGroundElev();
-                       if(_ground_elevation_m > -9990.0) {
-                               _pos.setElevationM(_ground_elevation_m + wheelOffset);
-                               //Transform();
-                               _aip.setVisible(true);
-                               //Transform();
-                               //cout << "Making plane visible!\n";
-                               elevInitGood = true;
-                       }
-               }
-               
-               if(circuitsToFly) {
-                       if((taxiRequestPending) && (taxiRequestCleared)) {
-                               //cout << "&" << flush;
-                               // Get the active runway details (in case they've changed since init)
-                               GetRwyDetails(airportID);
-                               
-                               // Get the takeoff node for the active runway, get a path to it and start taxiing
-                               path = ground->GetPathToHoldShort(ourGate, rwy.rwyID);
-                               if(path.size() < 2) {
-                                       // something has gone wrong
-                                       SG_LOG(SG_ATC, SG_ALERT, "Invalid path from gate to theshold in FGAILocalTraffic::FlyCircuits\n");
-                                       return;
-                               }
-                               /*
-                               cout << "path returned was:\n";
-                               for(unsigned int i=0; i<path.size(); ++i) {
-                                       switch(path[i]->struct_type) {
-                                               case NODE:
-                                               cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
-                                               break;
-                                               case ARC:
-                                               cout << "ARC\n";
-                                               break;
-                                       }
-                               }
-                               */
-                               path.erase(path.begin());       // pop the gate - we're here already!
-                               taxiState = TD_OUTBOUND;
-                               taxiRequestPending = false;
-                               holdShortNode = (node*)(*(path.begin() + path.size()));
-                               StartTaxi();
-                       } else if(!taxiRequestPending) {
-                               //cout << "(" << flush;
-                               // Do some communication
-                               // airport name + tower + airplane callsign + location + request taxi for + operation type + ?
-                               string trns = "";
-                               if(_controlled) {
-                                       trns += tower->get_name();
-                                       trns += " tower ";
-                               } else {
-                                       trns += "Traffic ";
-                                       // TODO - get the airport name somehow if uncontrolled
-                               }
-                               trns += plane.callsign;
-                               trns += " on apron parking request taxi for traffic pattern";
-                               //cout << "trns = " << trns << endl;
-                               pending_transmission = trns;
-                               Transmit(1);
-                               taxiRequestCleared = false;
-                               taxiRequestPending = true;
-                       }
-               }
-               
-               //cout << "!" << flush;
-                               
-               // Maybe the below should be set when we get to the threshold and prepare for TO?
-               // FIXME TODO - pattern direction is still hardwired
-               patternDirection = -1;          // Left
-               // At the bare minimum we ought to make sure it goes the right way at dual parallel rwy airports!
-               if(rwy.rwyID.size() == 3) {
-                       patternDirection = (rwy.rwyID.substr(2,1) == "R" ? 1 : -1);
-               }               
-               // Do nothing
-               Transform();
-               //cout << ")" << flush;
-               break;
-       default:
-               break;
-       }
-       //cout << "I " << flush;
-       
-       //cout << "Update _pos = " << _pos << ", vis = " << _aip.getVisible() << '\n';
-       
-       // Convienience output for AI debugging using the property logger
-       //fgSetDouble("/AI/Local1/ortho-x", (ortho.ConvertToLocal(_pos)).x());
-       //fgSetDouble("/AI/Local1/ortho-y", (ortho.ConvertToLocal(_pos)).y());
-       //fgSetDouble("/AI/Local1/elev", _pos.elev() * SG_METER_TO_FEET);
-       
-       // And finally, call parent.
-       FGAIPlane::Update(dt);
-}
-
-void FGAILocalTraffic::RegisterTransmission(int code) {
-       switch(code) {
-       case 1: // taxi request cleared
-               taxiRequestCleared = true;
-               SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to taxi...");
-               break;
-       case 2: // contact tower
-               responseCounter = 0;
-               contactTower = true;
-               SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " told to contact tower...");
-               break;
-       case 3: // Cleared to line up
-               responseCounter = 0;
-               clearedToLineUp = true;
-               SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to line-up...");
-               break;
-       case 4: // cleared to take-off
-               responseCounter = 0;
-               clearedToTakeOff = true;
-               SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to take-off...");
-               break;
-       case 5: // contact ground
-               responseCounter = 0;
-               contactGround = true;
-               SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " told to contact ground...");
-               break;
-       // case 6 is a temporary mega-hack for controlled airports without separate ground control
-       case 6: // taxi to the GA parking
-               responseCounter = 0;
-               _taxiToGA = true;
-               SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " told to taxi to the GA parking...");
-               break;
-       case 7:  // Cleared to land (also implies cleared for the option
-               _clearedToLand = true;
-               SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " cleared to land...");
-               break;
-       case 13: // Go around!
-               responseCounter = 0;
-               goAround = true;
-               _clearedToLand = false;
-               SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " told to go-around!!");
-               break;
-       default:
-               break;
-       }
-}
-
-// Fly a traffic pattern
-// FIXME - far too much of the mechanics of turning, rolling, accellerating, descending etc is in here.
-//        Move it out to FGAIPlane and have FlyTrafficPattern just specify what to do, not the implementation.
-void FGAILocalTraffic::FlyTrafficPattern(double dt) {
-       // Need to differentiate between in-air (IAS governed) and on-ground (vel governed)
-       // Take-off is an interesting case - we are on the ground but takeoff speed is IAS governed.
-       
-       // WIND
-       // Wind has two effects - a mechanical one in that IAS translates to a different vel, and the hdg != track,
-       // but also a piloting effect, in that the AI must be able to descend at a different rate in order to hit the threshold.
-       
-       //cout << "dt = " << dt << '\n';
-       double dist = 0;
-       // ack - I can't remember how long a rate 1 turn is meant to take.
-       double turn_time = 60.0;        // seconds - TODO - check this guess
-       double turn_circumference;
-       double turn_radius;
-       SGVec3d orthopos = ortho.ConvertToLocal(_pos);  // ortho position of the plane
-       //cout << "runway elev = " << rwy.threshold_pos.getElevationM() << ' ' << rwy.threshold_pos.getElevationM() * SG_METER_TO_FEET << '\n';
-       //cout << "elev = " << _pos.elev() << ' ' << _pos.elev() * SG_METER_TO_FEET << '\n';
-
-       // HACK FOR TESTING - REMOVE
-       //cout << "Calling ExitRunway..." << endl;
-       //ExitRunway(orthopos);
-       //return;
-       // END HACK
-       
-       //wind
-       double wind_from = wind_from_hdg->getDoubleValue();
-       double wind_speed = wind_speed_knots->getDoubleValue();
-
-       double dveldt;
-       
-       switch(leg) {
-       case TAKEOFF_ROLL:
-               //inAir = false;
-               track = rwy.hdg;
-               if(vel < 80.0) {
-                       double dveldt = 5.0;
-                       vel += dveldt * dt;
-               }
-               if(_ground_elevation_m > -9990.0) {
-                       _pos.setElevationM(_ground_elevation_m + wheelOffset);
-               }
-               IAS = vel + (cos((_hdg - wind_from) * DCL_DEGREES_TO_RADIANS) * wind_speed);
-               if(IAS >= 70) {
-                       leg = CLIMBOUT;
-                       SetTrack(rwy.hdg);      // Hands over control of turning to AIPlane
-                       _pitch = 10.0;
-                       IAS = best_rate_of_climb_speed;
-                       //slope = 7.0;  
-                       slope = 6.0;    // Reduced it slightly since it's climbing a lot steeper than I can in the JSBSim C172.
-                       inAir = true;
-               }
-               break;
-       case CLIMBOUT:
-               // Turn to crosswind if above 700ft AND if other traffic allows
-               // (decided in FGTower and accessed through GetCrosswindConstraint(...)).
-               // According to AIM, traffic should climb to within 300ft of pattern altitude before commencing crosswind turn.
-               // TODO - At hot 'n high airports this may be 500ft AGL though - need to make this a variable.
-               if((_pos.getElevationM() - rwy.threshold_pos.getElevationM()) * SG_METER_TO_FEET > 700) {
-                       double cc = 0.0;
-                       if(_controlled && tower->GetCrosswindConstraint(cc)) {
-                               if(orthopos.y() > cc) {
-                                       //cout << "Turning to crosswind, distance from threshold = " << orthopos.y() << '\n'; 
-                                       leg = TURN1;
-                               }
-                       } else if(orthopos.y() > 1500.0) {   // Added this constraint as a hack to prevent turning too early when going around.
-                               // TODO - We should be doing it as a distance from takeoff end, not theshold end though.
-                               //cout << "Turning to crosswind, distance from threshold = " << orthopos.y() << '\n'; 
-                               leg = TURN1;
-                       }
-               }
-               // Need to check for levelling off in case we can't turn crosswind as soon
-               // as we would like due to other traffic.
-               if((_pos.getElevationM() - rwy.threshold_pos.getElevationM()) * SG_METER_TO_FEET > 1000) {
-                       slope = 0.0;
-                       _pitch = 0.0;
-                       IAS = 80.0;             // FIXME - use smooth transistion to new speed and attitude.
-               }
-               if(goAround && !goAroundCalled) {
-                       if(responseCounter > 5.5) {
-                               pending_transmission = plane.callsign;
-                               pending_transmission += " going around";
-                               Transmit();
-                               goAroundCalled = true;
-                       }
-               }               
-               break;
-       case TURN1:
-               SetTrack(rwy.hdg + (90.0 * patternDirection));
-               if((track < (rwy.hdg - 89.0)) || (track > (rwy.hdg + 89.0))) {
-                       leg = CROSSWIND;
-               }
-               break;
-       case CROSSWIND:
-               goAround = false;
-               if((_pos.getElevationM() - rwy.threshold_pos.getElevationM()) * SG_METER_TO_FEET > 1000) {
-                       slope = 0.0;
-                       _pitch = 0.0;
-                       IAS = 80.0;             // FIXME - use smooth transistion to new speed
-               }
-               // turn 1000m out for now, taking other traffic into accout
-               if(fabs(orthopos.x()) > 900) {
-                       double dd = 0.0;
-                       if(_controlled && tower->GetDownwindConstraint(dd)) {
-                               if(fabs(orthopos.x()) > fabs(dd)) {
-                                       //cout << "Turning to downwind, distance from centerline = " << fabs(orthopos.x()) << '\n'; 
-                                       leg = TURN2;
-                               }
-                       } else {
-                               //cout << "Turning to downwind, distance from centerline = " << fabs(orthopos.x()) << '\n'; 
-                               leg = TURN2;
-                       }
-               }
-               break;
-       case TURN2:
-               SetTrack(rwy.hdg - (180 * patternDirection));
-               // just in case we didn't make height on crosswind
-               if((_pos.getElevationM() - rwy.threshold_pos.getElevationM()) * SG_METER_TO_FEET > 1000) {
-                       slope = 0.0;
-                       _pitch = 0.0;
-                       IAS = 80.0;             // FIXME - use smooth transistion to new speed
-               }
-               if((track < (rwy.hdg - 179.0)) || (track > (rwy.hdg + 179.0))) {
-                       leg = DOWNWIND;
-                       transmitted = false;
-               }
-               break;
-       case DOWNWIND:
-               // just in case we didn't make height on crosswind
-               if(((_pos.getElevationM() - rwy.threshold_pos.getElevationM()) * SG_METER_TO_FEET > 995) && ((_pos.getElevationM() - rwy.threshold_pos.getElevationM()) * SG_METER_TO_FEET < 1015)) {
-                       slope = 0.0;
-                       _pitch = 0.0;
-                       IAS = 90.0;             // FIXME - use smooth transistion to new speed
-               }
-               if((_pos.getElevationM() - rwy.threshold_pos.getElevationM()) * SG_METER_TO_FEET >= 1015) {
-                       slope = -1.0;
-                       _pitch = -1.0;
-                       IAS = 90.0;             // FIXME - use smooth transistion to new speed
-               }
-               if((orthopos.y() < 0) && (!transmitted)) {
-                       TransmitPatternPositionReport();
-                       transmitted = true;
-               }
-               if((orthopos.y() < -100) && (!descending)) {
-                       //cout << "DDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDDdddd\n";
-                       // Maybe we should think about when to start descending.
-                       // For now we're assuming that we aim to follow the same glidepath regardless of wind.
-                       double d1;
-                       double d2;
-                       CalculateSoD(((_controlled && tower->GetBaseConstraint(d1)) ? d1 : -1000.0), ((_controlled && tower->GetDownwindConstraint(d2)) ? d2 : 1000.0 * patternDirection), (patternDirection ? true : false));
-                       if(SoD.leg == DOWNWIND) {
-                               descending = (orthopos.y() < SoD.y ? true : false);
-                       }
-
-               }
-               if(descending) {
-                       slope = -5.5;   // FIXME - calculate to descent at 500fpm and hit the desired point on the runway (taking wind into account as well!!)
-                       _pitch = -3.0;
-                       IAS = 85.0;
-               }
-               
-               // Try and arrange to turn nicely onto base
-               turn_circumference = IAS * 0.514444 * turn_time;        
-               //Hmmm - this is an interesting one - ground vs airspeed in relation to turn radius
-               //We'll leave it as a hack with IAS for now but it needs revisiting.            
-               turn_radius = turn_circumference / (2.0 * DCL_PI);
-               if(orthopos.y() < -1000.0 + turn_radius) {
-               //if(orthopos.y() < -980) {
-                       double bb = 0.0;
-                       if(_controlled && tower->GetBaseConstraint(bb)) {
-                               if(fabs(orthopos.y()) > fabs(bb)) {
-                                       //cout << "Turning to base, distance from threshold = " << fabs(orthopos.y()) << '\n'; 
-                                       leg = TURN3;
-                                       transmitted = false;
-                                       IAS = 80.0;
-                               }
-                       } else {
-                               //cout << "Turning to base, distance from threshold = " << fabs(orthopos.y()) << '\n'; 
-                               leg = TURN3;
-                               transmitted = false;
-                               IAS = 80.0;
-                       }
-               }
-               break;
-       case TURN3:
-               SetTrack(rwy.hdg - (90 * patternDirection));
-               if(fabs(rwy.hdg - track) < 91.0) {
-                       leg = BASE;
-               }
-               break;
-       case BASE:
-               if(!transmitted) {
-                       // Base report should only be transmitted at uncontrolled airport - not towered.
-                       if(!_controlled) TransmitPatternPositionReport();
-                       transmitted = true;
-               }
-               
-               if(!descending) {
-                       double d1;
-                       // Make downwind leg position artifically large to avoid any chance of SoD being returned as
-                       // on downwind when we are already on base.
-                       CalculateSoD(((_controlled && tower->GetBaseConstraint(d1)) ? d1 : -1000.0), (10000.0 * patternDirection), (patternDirection ? true : false));
-                       if(SoD.leg == BASE) {
-                               descending = (fabs(orthopos.y()) < fabs(SoD.y) ? true : false);
-                       }
-
-               }
-               if(descending) {
-                       slope = -5.5;   // FIXME - calculate to descent at 500fpm and hit the threshold (taking wind into account as well!!)
-                       _pitch = -4.0;
-                       IAS = 70.0;
-               }
-               
-               // Try and arrange to turn nicely onto final
-               turn_circumference = IAS * 0.514444 * turn_time;        
-               //Hmmm - this is an interesting one - ground vs airspeed in relation to turn radius
-               //We'll leave it as a hack with IAS for now but it needs revisiting.            
-               turn_radius = turn_circumference / (2.0 * DCL_PI);
-               if(fabs(orthopos.x()) < (turn_radius + 50)) {
-                       leg = TURN4;
-                       transmitted = false;
-                       //roll = -20;
-               }
-               break;
-       case TURN4:
-               SetTrack(rwy.hdg);
-               if(fabs(track - rwy.hdg) < 0.6) {
-                       leg = FINAL;
-                       vel = nominal_final_speed;
-               }
-               break;
-       case FINAL:
-               if(goAround && responseCounter > 2.0) {
-                       leg = CLIMBOUT;
-                       _pitch = 8.0;
-                       IAS = best_rate_of_climb_speed;
-                       slope = 5.0;    // A bit less steep than the initial climbout.
-                       inAir = true;
-                       goAroundCalled = false;
-                       descending = false;
-                       break;
-               }
-               LevelWings();
-               if(!transmitted) {
-                       if((!_controlled) || (!_clearedToLand)) TransmitPatternPositionReport();
-                       transmitted = true;
-               }
-               if(!descending) {
-                       // Make base leg position artifically large to avoid any chance of SoD being returned as
-                       // on base or downwind when we are already on final.
-                       CalculateSoD(-10000.0, (1000.0 * patternDirection), (patternDirection ? true : false));
-                       if(SoD.leg == FINAL) {
-                               descending = (fabs(orthopos.y()) < fabs(SoD.y) ? true : false);
-                       }
-
-               }
-               if(descending) {
-                       if(orthopos.y() < -50.0) {
-                               double thesh_offset = 30.0;
-                               slope = atan((_pos.getElevationM() - fgGetAirportElev(airportID)) / (orthopos.y() - thesh_offset)) * DCL_RADIANS_TO_DEGREES;
-                               //cout << "slope = " << slope << ", elev = " << _pos.elev() << ", apt_elev = " << fgGetAirportElev(airportID) << ", op.y = " << orthopos.y() << '\n';
-                               if(slope < -10.0) slope = -10.0;
-                               _savedSlope = slope;
-                               _pitch = -4.0;
-                               IAS = 70.0;
-                       } else {
-                               if(_pos.getElevationM() < (rwy.threshold_pos.getElevationM()+10.0+wheelOffset)) {
-                                       if(_ground_elevation_m > -9990.0) {
-                                               if(_pos.getElevationM() < (_ground_elevation_m + wheelOffset + 1.0)) {
-                                                       slope = -2.0;
-                                                       _pitch = 1.0;
-                                                       IAS = 55.0;
-                                               } else if(_pos.getElevationM() < (_ground_elevation_m + wheelOffset + 5.0)) {
-                                                       slope = -4.0;
-                                                       _pitch = -2.0;
-                                                       IAS = 60.0;
-                                               } else {
-                                                       slope = _savedSlope;
-                                                       _pitch = -3.0;
-                                                       IAS = 65.0;
-                                               }
-                                       } else {
-                                               // Elev not determined
-                                               slope = _savedSlope;
-                                               _pitch = -3.0;
-                                               IAS = 65.0;
-                                       }
-                               } else {
-                                       slope = _savedSlope;
-                                       _pitch = -3.0;
-                                       IAS = 65.0;
-                               }
-                       }
-               }
-               // Try and track the extended centreline
-               SetTrack(rwy.hdg - (0.2 * orthopos.x()));
-               //cout << "orthopos.x() = " << orthopos.x() << " hdg = " << hdg << '\n';
-               if(_pos.getElevationM() < (rwy.threshold_pos.getElevationM()+20.0+wheelOffset)) {
-                       DoGroundElev(); // Need to call it here expicitly on final since it's only called
-                                       // for us in update(...) when the inAir flag is false.
-               }
-               if(_pos.getElevationM() < (rwy.threshold_pos.getElevationM()+10.0+wheelOffset)) {
-                       //slope = -1.0;
-                       //_pitch = 1.0;
-                       if(_ground_elevation_m > -9990.0) {
-                               if((_ground_elevation_m + wheelOffset) > _pos.getElevationM()) {
-                                       slope = 0.0;
-                                       _pitch = 0.0;
-                                       leg = LANDING_ROLL;
-                                       inAir = false;
-                                       LevelWings();
-                                       ClearTrack();   // Take over explicit track handling since AIPlane currently always banks when changing course 
-                               }
-                       }       // else need a fallback position based on arpt elev in case ground elev determination fails?
-               } else {
-                       // TODO
-               }                       
-               break;
-       case LANDING_ROLL:
-               //inAir = false;
-               descending = false;
-               if(_ground_elevation_m > -9990.0) {
-                       _pos.setElevationM(_ground_elevation_m + wheelOffset);
-               }
-               track = rwy.hdg;
-               dveldt = -5.0;
-               vel += dveldt * dt;
-               // FIXME - differentiate between touch and go and full stops
-               if(vel <= 15.0) {
-                       //cout << "Vel <= 15.0, circuitsToFly = " << circuitsToFly << endl;
-                       if(circuitsToFly <= 0) {
-                               //cout << "Calling ExitRunway..." << endl;
-                               ExitRunway(orthopos);
-                               return;
-                       } else {
-                               //cout << "Taking off again..." << endl;
-                               leg = TAKEOFF_ROLL;
-                               --circuitsToFly;
-                       }
-               }
-               break;
-       case LEG_UNKNOWN:
-               break;
-    }
-
-       if(inAir) {
-               // calculate ground speed and crab from the wind triangle
-               double wind_angle = GetAngleDiff_deg(wind_from + 180, track);
-               double wind_side = (wind_angle < 0) ? -1.0 : 1.0;
-
-               double sine_of_crab = wind_speed / IAS * sin(fabs(wind_angle) * DCL_DEGREES_TO_RADIANS);
-               if (sine_of_crab >= 1.0) {
-                       // The crosswind component is greater than the IAS,
-                       // we can't keep the aircraft on track.
-                       // Assume increased IAS such that it cancels lateral speed.
-                       // This is unrealistic, but not sure how the rest of the sim
-                       // would react to the aircraft going off course.
-                       // Should be a rare case anyway.
-                       crab = wind_side * 90.0;
-               } else {
-                       crab = asin(sine_of_crab) * DCL_RADIANS_TO_DEGREES * wind_side;
-               }
-               vel = cos(wind_angle * DCL_DEGREES_TO_RADIANS) * wind_speed
-                       + cos(crab * DCL_DEGREES_TO_RADIANS) * IAS;
-       } else {        // on the ground - crab dosen't apply
-               crab = 0.0;
-       }
-       
-       //cout << "X " << orthopos.x() << "  Y " << orthopos.y() << "  SLOPE " << slope << "  elev " << _pos.elev() * SG_METER_TO_FEET << '\n';
-       
-       _hdg = track + crab;
-       dclBoundHeading(_hdg);
-       dist = vel * 0.514444 * dt;
-       _pos = dclUpdatePosition(_pos, track, slope, dist);
-}
-
-// Pattern direction is true for right, false for left
-void FGAILocalTraffic::CalculateSoD(double base_leg_pos, double downwind_leg_pos, bool pattern_direction) {
-       // For now we'll ignore wind and hardwire the glide angle.
-       double ga = 5.5;        //degrees
-       double pa = 1000.0 * SG_FEET_TO_METER;  // pattern altitude in meters
-       // FIXME - get glideslope angle and pattern altitude agl from airport details if available
-       
-       // For convienience, we'll have +ve versions of the input distances
-       double blp = fabs(base_leg_pos);
-       double dlp = fabs(downwind_leg_pos);
-       
-       //double turn_allowance = 150.0;        // Approximate distance in meters that a 90deg corner is shortened by turned in a light plane.
-       
-       double stod = pa / tan(ga * DCL_DEGREES_TO_RADIANS);    // distance in meters from touchdown point to start descent
-       //cout << "Descent to start = " << stod << " meters out\n";
-       if(stod < blp) {        // Start descending on final
-               SoD.leg = FINAL;
-               SoD.y = stod * -1.0;
-               SoD.x = 0.0;
-       } else if(stod < (blp + dlp)) { // Start descending on base leg
-               SoD.leg = BASE;
-               SoD.y = blp * -1.0;
-               SoD.x = (pattern_direction ? (stod - dlp) : (stod - dlp) * -1.0);
-       } else {        // Start descending on downwind leg
-               SoD.leg = DOWNWIND;
-               SoD.x = (pattern_direction ? dlp : dlp * -1.0);
-               SoD.y = (blp - (stod - (blp + dlp))) * -1.0;
-       }
-}
-
-void FGAILocalTraffic::TransmitPatternPositionReport(void) {
-       // airport name + "traffic" + airplane callsign + pattern direction + pattern leg + rwy + ?
-       string trns;
-       int code = 0;
-       const string& apt_name = _controlled ? tower->get_name() : airportID;
-
-       trns += apt_name;
-       trns += " Traffic ";
-       trns += plane.callsign;
-       if(patternDirection == 1) {
-               trns += " right ";
-       } else {
-               trns += " left ";
-       }
-       
-       // We could probably get rid of this whole switch statement and just pass a string containing the leg from the FlyPattern function.
-       switch(leg) {   // We'll assume that transmissions in turns are intended for next leg - do pilots ever call out that they are in the turn?
-       case TURN1:
-               // Fall through to CROSSWIND
-       case CROSSWIND: // I don't think this case will be used here but it can't hurt to leave it in
-               trns += "crosswind ";
-               break;
-       case TURN2:
-               // Fall through to DOWNWIND
-       case DOWNWIND:
-               trns += "downwind ";
-               code = 11;
-               break;
-       case TURN3:
-               // Fall through to BASE
-       case BASE:
-               trns += "base ";
-               break;
-       case TURN4:
-               // Fall through to FINAL
-       case FINAL:             // maybe this should include long/short final if appropriate?
-               trns += "final ";
-               code = 13;
-               break;
-       default:                // Hopefully this won't be used
-               trns += "pattern ";
-               break;
-       }
-       trns += ConvertRwyNumToSpokenString(rwy.rwyID);
-       
-       trns += ' ';
-       
-       // And add the airport name again
-       trns += apt_name;
-       
-       pending_transmission = trns;
-       ConditionalTransmit(60.0, code);                // Assume a report of this leg will be invalid if we can't transmit within a minute.
-}
-
-// Callback handler
-// TODO - Really should enumerate these coded values.
-void FGAILocalTraffic::ProcessCallback(int code) {
-       // 1 - Request Departure from ground
-       // 2 - Report at hold short
-       // 3 - Report runway vacated
-       // 10 - report crosswind
-       // 11 - report downwind
-       // 12 - report base
-       // 13 - report final
-       if(code == 1) {
-               ground->RequestDeparture(plane, this);
-       } else if(code == 2) {
-               tower->ContactAtHoldShort(plane, this, CIRCUIT);
-       } else if(code == 3) {
-               tower->ReportRunwayVacated(plane.callsign);
-       } else if(code == 11) {
-               tower->ReportDownwind(plane.callsign);
-       } else if(code == 13) {
-               tower->ReportFinal(plane.callsign);
-       } else if(code == 99) { // Flag this instance for deletion
-               responseCounter = 0;
-               _removeSelf = true;
-               SG_LOG(SG_ATC, SG_INFO, "AI local traffic " << plane.callsign << " delete instance callback called.");
-       }
-}
-
-void FGAILocalTraffic::ExitRunway(const SGVec3d& orthopos) {
-       //cout << "In ExitRunway" << endl;
-       //cout << "Runway ID is " << rwy.ID << endl;
-       
-       _clearedToLand = false;
-       
-       node_array_type exitNodes = ground->GetExits(rwy.rwyID);        //I suppose we ought to have some fallback for rwy with no defined exits?
-       /*
-       cout << "Node ID's of exits are ";
-       for(unsigned int i=0; i<exitNodes.size(); ++i) {
-               cout << exitNodes[i]->nodeID << ' ';
-       }
-       cout << endl;
-       */
-       if(exitNodes.size()) {
-               //Find the next exit from orthopos.y
-               double d;
-               double dist = 100000;   //ie. longer than any runway in existance
-               double backdist = 100000;
-               node_array_iterator nItr = exitNodes.begin();
-               node* rwyExit = *(exitNodes.begin());
-               //int gateID;           //This might want to be more persistant at some point
-               while(nItr != exitNodes.end()) {
-                        d = ortho.ConvertToLocal((*nItr)->pos).y() - ortho.ConvertToLocal(_pos).y();   //FIXME - consider making orthopos a class variable
-                       if(d > 0.0) {
-                               if(d < dist) {
-                                       dist = d;
-                                       rwyExit = *nItr;
-                               }
-                       } else {
-                               if(fabs(d) < backdist) {
-                                       backdist = d;
-                                       //TODO - need some logic here that if we don't get a forward exit we turn round and store the backwards one
-                               }
-                       }
-                       ++nItr;
-               }
-               ourGate = ground->GetGateNode();
-               if(ourGate == NULL) {
-                       // Implies no available gates - what shall we do?
-                       // For now just vanish the plane - possibly we can make this more elegant in the future
-                       SG_LOG(SG_ATC, SG_ALERT, "No gate found by FGAILocalTraffic whilst landing at " << airportID << '\n');
-                       //_aip.setVisible(false);
-                       //cout << "Setting visible false\n";
-                       operatingState = PARKED;
-                       return;
-               }
-               path = ground->GetPath(rwyExit, ourGate);
-               /*
-               cout << "path returned was:" << endl;
-               for(unsigned int i=0; i<path.size(); ++i) {
-                       switch(path[i]->struct_type) {
-                       case NODE:
-                               cout << "NODE " << ((node*)(path[i]))->nodeID << endl;
-                               break;
-                       case ARC:
-                               cout << "ARC\n";
-                               break;
-                       }
-               }
-               */
-               taxiState = TD_INBOUND;
-               StartTaxi();
-       } else {
-               // Something must have gone wrong with the ground network file - or there is only a rwy here and no exits defined
-               SG_LOG(SG_ATC, SG_INFO, "No exits found by FGAILocalTraffic from runway " << rwy.rwyID << " at " << airportID << '\n');
-               //if(airportID == "KRHV") cout << "No exits found by " << plane.callsign << " from runway " << rwy.rwyID << " at " << airportID << '\n';
-               // What shall we do - just remove the plane from sight?
-               _aip.setVisible(false);
-               _invisible = true;
-               //cout << "Setting visible false\n";
-               //tower->ReportRunwayVacated(plane.callsign);
-               string trns = "Clear of the runway ";
-               trns += plane.callsign;
-               pending_transmission = trns;
-               Transmit(3);
-               operatingState = PARKED;
-       }
-}
-
-// Set the class variable nextTaxiNode to the next node in the path
-// and update taxiPathPos, the class variable path iterator position
-// TODO - maybe should return error codes to the calling function if we fail here
-void FGAILocalTraffic::GetNextTaxiNode() {
-       //cout << "GetNextTaxiNode called " << endl;
-       //cout << "taxiPathPos = " << taxiPathPos << endl;
-       ground_network_path_iterator pathItr = path.begin() + taxiPathPos;
-       if(pathItr == path.end()) {
-               SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - no more nodes in path\n");
-       } else {
-               if((*pathItr)->struct_type == NODE) {
-                       //cout << "ITS A NODE" << endl;
-                       //*pathItr = new node;
-                       nextTaxiNode = (node*)*pathItr;
-                       ++taxiPathPos;
-                       //delete pathItr;
-               } else {
-                       //cout << "ITS NOT A NODE" << endl;
-                       //The first item in found must have been an arc
-                       //Assume for now that it was straight
-                       pathItr++;
-                       taxiPathPos++;
-                       if(pathItr == path.end()) {
-                               SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - path ended with an arc\n");
-                       } else if((*pathItr)->struct_type == NODE) {
-                               nextTaxiNode = (node*)*pathItr;
-                               ++taxiPathPos;
-                       } else {
-                               //OOPS - two non-nodes in a row - that shouldn't happen ATM
-                               SG_LOG(SG_ATC, SG_ALERT, "ERROR IN AILocalTraffic::GetNextTaxiNode - two non-nodes in sequence\n");
-                       }
-               }
-       }
-}          
-
-// StartTaxi - set up the taxiing state - call only at the start of taxiing
-void FGAILocalTraffic::StartTaxi() {
-       //cout << "StartTaxi called" << endl;
-       operatingState = TAXIING;
-       
-       taxiPathPos = 0;
-       
-       //Set the desired heading
-       //Assume we are aiming for first node on path
-       //Eventually we may need to consider the fact that we might start on a curved arc and
-       //not be able to head directly for the first node.
-       GetNextTaxiNode();      // sets the class variable nextTaxiNode to the next taxi node!
-       desiredTaxiHeading = GetHeadingFromTo(_pos, nextTaxiNode->pos);
-       //cout << "First taxi heading is " << desiredTaxiHeading << endl;
-}
-
-// speed in knots, headings in degrees, radius in meters.
-static double TaxiTurnTowardsHeading(double current_hdg, double desired_hdg, double speed, double radius, double dt) {
-       // wrap heading - this prevents a logic bug where the plane would just go round in circles!!
-       while(current_hdg < 0.0) {
-               current_hdg += 360.0;
-       }
-       while(current_hdg > 360.0) {
-               current_hdg -= 360.0;
-       }
-       if(fabs(current_hdg - desired_hdg) > 0.1) {
-               // Which is the quickest direction to turn onto heading?
-               if(desired_hdg > current_hdg) {
-                       if((desired_hdg - current_hdg) <= 180) {
-                               // turn right
-                               current_hdg += ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
-                               // TODO - check that increments are less than the delta that we check for the right direction
-                               // Probably need to reduce convergence speed as convergence is reached
-                       } else {
-                               current_hdg -= ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;   
-                       }
-               } else {
-                       if((current_hdg - desired_hdg) <= 180) {
-                               // turn left
-                               current_hdg -= ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;
-                               // TODO - check that increments are less than the delta that we check for the right direction
-                               // Probably need to reduce convergence speed as convergence is reached
-                       } else {
-                               current_hdg += ((speed * 0.514444 * dt) / (radius * DCL_PI)) * 180.0;   
-                       }
-               }               
-       }
-       return(current_hdg);
-}
-
-void FGAILocalTraffic::Taxi(double dt) {
-       //cout << "Taxi called" << endl;
-       // Logic - if we are further away from next point than turn radius then head for it
-       // If we have reached turning point then get next point and turn onto that heading
-       // Look out for the finish!!
-
-        desiredTaxiHeading = GetHeadingFromTo(_pos, nextTaxiNode->pos);
-       
-       bool lastNode = (taxiPathPos == path.size() ? true : false);
-       if(lastNode) {
-               //cout << "LAST NODE\n";
-       }
-
-       // HACK ALERT! - for now we will taxi at constant speed for straights and turns
-       
-       // Remember that hdg is always equal to track when taxiing so we don't have to consider them both
-       double dist_to_go = dclGetHorizontalSeparation(_pos, nextTaxiNode->pos);        // we may be able to do this more cheaply using orthopos
-       //cout << "dist_to_go = " << dist_to_go << endl;
-       if((nextTaxiNode->type == GATE) && (dist_to_go <= 0.1)) {
-               // This might be more robust to outward paths starting with a gate if we check for either
-               // last node or TD_INBOUND ?
-               // park up
-               operatingState = PARKED;
-       } else if(((dist_to_go > taxiTurnRadius) || (nextTaxiNode->type == GATE)) && (!liningUp)){
-               // if the turn radius is r, and speed is s, then in a time dt we turn through
-               // ((s.dt)/(PI.r)) x 180 degrees
-               // or alternatively (s.dt)/r radians
-               //cout << "hdg = " << hdg << " desired taxi heading = " << desiredTaxiHeading << '\n';
-               _hdg = TaxiTurnTowardsHeading(_hdg, desiredTaxiHeading, nominalTaxiSpeed, taxiTurnRadius, dt);
-               double vel = nominalTaxiSpeed;
-               //cout << "vel = " << vel << endl;
-               double dist = vel * 0.514444 * dt;
-               //cout << "dist = " << dist << endl;
-               double track = _hdg;
-               //cout << "track = " << track << endl;
-               double slope = 0.0;
-               _pos = dclUpdatePosition(_pos, track, slope, dist);
-               //cout << "Updated position...\n";
-               if(_ground_elevation_m > -9990) {
-                       _pos.setElevationM(_ground_elevation_m + wheelOffset);
-               } // else don't change the elev until we get a valid ground elev again!
-       } else if(lastNode) {
-               if(taxiState == TD_LINING_UP) {
-                       if((!liningUp) && (dist_to_go <= taxiTurnRadius)) {
-                               liningUp = true;
-                       }
-                       if(liningUp) {
-                               _hdg = TaxiTurnTowardsHeading(_hdg, rwy.hdg, nominalTaxiSpeed, taxiTurnRadius, dt);
-                               double vel = nominalTaxiSpeed;
-                               //cout << "vel = " << vel << endl;
-                               double dist = vel * 0.514444 * dt;
-                               //cout << "dist = " << dist << endl;
-                               double track = _hdg;
-                               //cout << "track = " << track << endl;
-                               double slope = 0.0;
-                               _pos = dclUpdatePosition(_pos, track, slope, dist);
-                               //cout << "Updated position...\n";
-                               if(_ground_elevation_m > -9990) {
-                                       _pos.setElevationM(_ground_elevation_m + wheelOffset);
-                               } // else don't change the elev until we get a valid ground elev again!
-                               if(fabs(_hdg - rwy.hdg) <= 1.0) {
-                                       operatingState = IN_PATTERN;
-                                       leg = TAKEOFF_ROLL;
-                                       inAir = false;
-                                       liningUp = false;
-                               }
-                       }
-               } else if(taxiState == TD_OUTBOUND) {
-                       // Pause awaiting further instructions
-                       // and for now assume we've reached the hold-short node
-                       holdingShort = true;
-               } // else at the moment assume TD_INBOUND always ends in a gate in which case we can ignore it
-       } else {
-               // Time to turn (we've already checked it's not the end we're heading for).
-               // set the target node to be the next node which will prompt automatically turning onto
-               // the right heading in the stuff above, with the usual provisos applied.
-               GetNextTaxiNode();
-               // For now why not just recursively call this function?
-               Taxi(dt);
-       }
-}
-
-
-// Warning - ground elev determination is CPU intensive
-// Either this function or the logic of how often it is called
-// will almost certainly change.
-void FGAILocalTraffic::DoGroundElev() {
-       // Only do the proper hitlist stuff if we are within visible range of the viewer.
-       double visibility_meters = fgGetDouble("/environment/visibility-m");
-       FGViewer* vw = globals->get_current_view();
-       if(dclGetHorizontalSeparation(_pos, SGGeod::fromGeodM(vw->getPosition(), 0.0)) > visibility_meters) {
-               _ground_elevation_m = aptElev;
-               return;
-       }
-
-  // FIXME: make shure the pos.lat/pos.lon values are in degrees ...
-  double range = 500.0;
-  if (!globals->get_tile_mgr()->scenery_available(_aip.getPosition(), range)) {
-    // Try to shedule tiles for that position.
-    globals->get_tile_mgr()->update( _aip.getPosition(), range );
-  }
-
-  // FIXME: make shure the pos.lat/pos.lon values are in degrees ...
-  double alt;
-  if (globals->get_scenery()->get_elevation_m(SGGeod::fromGeodM(_aip.getPosition(), 20000), alt, 0, _aip.getSceneGraph()))
-    _ground_elevation_m = alt;
-}
-

diff --git a/src/ATCDCL/AILocalTraffic.hxx b/src/ATCDCL/AILocalTraffic.hxx
deleted file mode 100644 (file)
index c62a945..0000000
--- a/src/ATCDCL/AILocalTraffic.hxx
+++ /dev/null
@@ -1,233 +0,0 @@
-// FGAILocalTraffic - AIEntity derived class with enough logic to
-// fly and interact with the traffic pattern.
-//
-// Written by David Luff, started March 2002.
-//
-// Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-#ifndef _FG_AILocalTraffic_HXX
-#define _FG_AILocalTraffic_HXX
-
-#include <simgear/math/SGMath.hxx>
-#include <Main/fg_props.hxx>
-
-#include "AIPlane.hxx"
-#include "ATCProjection.hxx"
-#include "ground.hxx"
-
-class FGGround;
-class FGTower;
-struct Gate;
-
-#include <string>
-using std::string;
-
-enum TaxiState {
-       TD_INBOUND,
-       TD_OUTBOUND,
-       TD_NONE,
-       TD_LINING_UP
-};
-
-enum OperatingState {
-       IN_PATTERN,
-       TAXIING,
-       PARKED,
-       EN_ROUTE
-};
-
-struct StartOfDescent {
-       PatternLeg leg;
-       double x;       // Runway aligned orthopos
-       double y;       // ditto
-};
-
-class FGAILocalTraffic : public FGAIPlane {
-       
-public:
-       
-       // At the moment we expect the expanded short form callsign - eventually we will just want the reg + type.
-       FGAILocalTraffic();
-       ~FGAILocalTraffic();
-       
-       // Initialise
-       bool Init(const string& callsign, const string& ICAO, OperatingState initialState = PARKED, PatternLeg initialLeg = DOWNWIND);
-       
-       // Run the internal calculations
-       void Update(double dt);
-       
-       // Go out and practice circuits
-       void FlyCircuits(int numCircuits, bool tag);
-       
-       // Return what type of landing we're doing on this circuit
-       LandingType GetLandingOption();
-       
-       // TODO - this will get more complex and moved into the main class
-       // body eventually since the position approved to taxi to will have
-       // to be passed.
-       inline void ApproveTaxiRequest() {taxiRequestCleared = true;}
-       
-       inline void DenyTaxiRequest() {taxiRequestCleared = false;}
-       
-       void RegisterTransmission(int code);
-       
-       // Process callbacks sent by base class
-       // (These codes are not related to the codes above)
-       void ProcessCallback(int code);
-       
-       // This is a hack and will probably go eventually
-       inline bool AtHoldShort() {return holdingShort;}
-       
-protected:
-       
-       // Attempt to enter the traffic pattern in a reasonably intelligent manner
-       void EnterTrafficPattern(double dt);
-       
-       // Set up the internal state to be consistent for a downwind entry.
-       void DownwindEntry();
-       
-       // Ditto for straight-in
-       void StraightInEntry(bool des = false);
-       
-       // Do what is necessary to land and parkup at home airport
-       void ReturnToBase(double dt);
-       
-       // Airport/runway/pattern details
-       string airportID;       // The ICAO code of the airport that we're operating around
-       double aptElev;         // Airport elevation
-       FGGround* ground;       // A pointer to the ground control.
-       FGTower* tower; // A pointer to the tower control.
-       bool _controlled;       // Set true if we find tower control working for the airport, false otherwise.
-       RunwayDetails rwy;
-       double patternDirection;        // 1 for right, -1 for left (This is double because we multiply/divide turn rates
-       // with it to get RH/LH turns - DON'T convert it to int under ANY circumstances!!
-       double glideAngle;              // Assumed to be visual glidepath angle for FGAILocalTraffic - can be found at www.airnav.com
-       // Its conceivable that patternDirection and glidePath could be moved into the RunwayDetails structure.
-       
-       // Its possible that this might be moved out to the ground/airport class at some point.
-       FGATCAlignedProjection ortho;   // Orthogonal mapping of the local area with the threshold at the origin
-       // and the runway aligned with the y axis.
-       
-       void GetAirportDetails(const string& id);
-       
-       void GetRwyDetails(const string& id);
-       
-       double responseCounter;         // timer in seconds to allow response to requests to be a little while after them
-       // Will almost certainly get moved to FGAIPlane.        
-       
-private:
-       FGATCMgr* ATC;  
-       // This is purely for synactic convienience to avoid writing globals->get_ATC_mgr()-> all through the code!
-
-       // High-level stuff
-       OperatingState operatingState;
-       int circuitsToFly;      //Number of circuits still to do in this session NOT INCLUDING THE CURRENT ONE
-       bool touchAndGo;        //True if circuits should be flown touch and go, false for full stop
-       bool transmitted;       // Set true when a position report for the current leg has been transmitted.
-       
-       // Performance characteristics of the plane in knots and ft/min - some of this might get moved out into FGAIPlane
-       double Vr;
-       double best_rate_of_climb_speed;
-       double best_rate_of_climb;
-       double nominal_climb_speed;
-       double nominal_climb_rate;
-       double nominal_circuit_speed;
-       double min_circuit_speed;
-       double max_circuit_speed;
-       double nominal_descent_rate;
-       double nominal_approach_speed;
-       double nominal_final_speed;
-       double stall_speed_landing_config;
-       double nominal_taxi_speed;
-       
-       // Physical/rendering stuff
-       double wheelOffset;             // Height above ground at which we need to render the plane whilst taxiing
-       bool elevInitGood;              // We have had at least one good elev reading
-       bool inAir;                             // True when off the ground 
-       
-       // environment - some of this might get moved into FGAIPlane
-       SGPropertyNode_ptr wind_from_hdg;       //degrees
-       SGPropertyNode_ptr wind_speed_knots;            //knots
-       
-       // Pattern details that (may) change
-       int numInPattern;               // Number of planes in the pattern (this might get more complicated if high performance GA aircraft fly a higher pattern eventually)
-       int numAhead;           // More importantly - how many of them are ahead of us?
-       double distToNext;              // And even more importantly, how near are we getting to the one immediately ahead?
-       //PatternLeg leg;               // Our current position in the pattern - now moved to FGAIPlane
-       StartOfDescent SoD;             // Start of descent calculated wrt wind, pattern size & altitude, glideslope etc
-       bool descending;                // We're in the coming down phase of the pattern
-       double targetDescentRate;       // m/s
-
-       // Taxiing details
-       // At the moment this assumes that all taxiing in is to gates (a loose term that includes
-       // any permitted parking spot) and that all taxiing out is to runways.
-       bool parked;
-       bool taxiing;
-       bool taxiRequestPending;
-       bool taxiRequestCleared;
-       TaxiState taxiState;
-       double desiredTaxiHeading;
-       double taxiTurnRadius;
-       double nominalTaxiSpeed;
-       Gate* ourGate;
-       ground_network_path_type path;  // a path through the ground network for the plane to taxi
-       unsigned int taxiPathPos;       // position of iterator in taxi path when applicable
-       node* nextTaxiNode;     // next node in taxi path
-       node* holdShortNode;
-       //Runway out_dest; //FIXME - implement this
-       bool holdingShort;
-       bool reportReadyForDeparture;   // set true when ATC has requested that the plane report when ready for departure
-       bool clearedToLineUp;
-       bool clearedToTakeOff;
-       bool _clearedToLand;    // also implies cleared for the option.
-       bool liningUp;  // Set true when the turn onto the runway heading is commenced when taxiing out
-       bool goAround;  // Set true if need to go-around
-       bool goAroundCalled;    // Set true during go-around only after we have called our go-around on the radio
-       bool contactTower;      // we have been told to contact tower
-       bool contactGround;     // we have been told to contact ground
-       bool changeFreq;        // true when we need to change frequency
-       bool _taxiToGA;         // Temporary mega-hack indicating we are to taxi to the GA parking and disconnect from tower control.
-       bool _removeSelf;       // Indicates that we wish to remove this instance.  The use of a variable is a hack to allow time for messages to purge before removal, due to the fagility of the current dialog system.
-       atc_type changeFreqType;        // the service we need to change to
-       bool freeTaxi;  // False if the airport has a facilities file with a logical taxi network defined, true if we need to calculate our own taxiing points.
-       
-       // Hack for getting close to the runway when atan can go pear-shaped
-       double _savedSlope;
-
-       void FlyTrafficPattern(double dt);
-
-       // TODO - need to add something to define what option we are flying - Touch and go / Stop and go / Landing properly / others?
-
-       void TransmitPatternPositionReport();
-
-       void CalculateSoD(double base_leg_pos, double downwind_leg_pos, bool pattern_direction);
-
-       void ExitRunway(const SGVec3d& orthopos);
-
-       void StartTaxi();
-
-       void Taxi(double dt);
-
-       void GetNextTaxiNode();
-       
-       void DoGroundElev();
-       
-       // Set when the plane should be invisible *regardless of distance from user*.
-       bool _invisible;
-};
-
-#endif  // _FG_AILocalTraffic_HXX

diff --git a/src/ATCDCL/AIMgr.cxx b/src/ATCDCL/AIMgr.cxx
deleted file mode 100644 (file)
index 8b6c448..0000000
--- a/src/ATCDCL/AIMgr.cxx
+++ /dev/null
@@ -1,604 +0,0 @@
-// AIMgr.cxx - implementation of FGAIMgr 
-// - a global management class for FlightGear generated AI traffic
-//
-// Written by David Luff, started March 2002.
-//
-// Copyright (C) 2002  David C Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-#ifdef HAVE_CONFIG_H
-#  include <config.h>
-#endif
-
-#include <iostream>
-
-#include <Main/fg_props.hxx>
-#include <Main/globals.hxx>
-#include <simgear/misc/sg_path.hxx>
-#include <simgear/math/sg_random.h>
-#include <simgear/scene/model/modellib.hxx>
-#include <list>
-
-#ifdef _MSC_VER
-#  include <io.h>
-#else
-#  include <sys/types.h>       // for directory reading
-#  include <dirent.h>          // for directory reading
-#endif
-
-#include <Environment/environment_mgr.hxx>
-#include <Environment/environment.hxx>
-
-#include "AIMgr.hxx"
-#include "AILocalTraffic.hxx"
-#include "AIGAVFRTraffic.hxx"
-#include "ATCutils.hxx"
-#include "commlist.hxx"
-
-using std::list;
-using std::cout;
-
-using namespace simgear;
-
-// extern from Airports/simple.cxx
-extern SGGeod fgGetAirportPos( const std::string& id );
-
-FGAIMgr::FGAIMgr() {
-       ATC = globals->get_ATC_mgr();
-       initDone = false;
-       ai_callsigns_used["GFS"] = 1;   // so we don't inadvertently use this
-       // TODO - use the proper user callsign when it becomes user settable.
-       removalList.clear();
-       activated.clear();
-       _havePiperModel = true;
-}
-
-FGAIMgr::~FGAIMgr() {
-    for (ai_list_itr = ai_list.begin(); ai_list_itr != ai_list.end(); ai_list_itr++) {
-        delete (*ai_list_itr);
-    }
-}
-
-void FGAIMgr::init() {
-       //cout << "AIMgr::init called..." << endl;
-       
-       // Pointers to user's position
-       lon_node = fgGetNode("/position/longitude-deg", true);
-       lat_node = fgGetNode("/position/latitude-deg", true);
-       elev_node = fgGetNode("/position/altitude-ft", true);
-       
-       // Load up models at the start to avoid pausing later
-       // Hack alert - Hardwired paths!!
-       string planepath = "Aircraft/c172p/Models/c172p.xml";
-       bool _loadedDefaultOK = true;
-       try {
-               _defaultModel = SGModelLib::loadPagedModel(planepath.c_str(), globals->get_props());
-       } catch(sg_exception&) {
-               _loadedDefaultOK = false;
-       }
-       
-       if(!_loadedDefaultOK ) {
-               // Just load the same 3D model as the default user plane - that's *bound* to exist!
-               // TODO - implement robust determination of availability of GA AI aircraft models
-               planepath = "Aircraft/c172p/Models/c172p.ac";
-               _defaultModel = SGModelLib::loadPagedModel(planepath.c_str(), globals->get_props());
-       }
-
-       planepath = "Aircraft/pa28-161/Models/pa28-161.ac";
-       try {
-               _piperModel = SGModelLib::loadPagedModel(planepath.c_str(), globals->get_props());
-       } catch(sg_exception&) {
-               _havePiperModel = false;
-       }
-
-       // go through the $FG_ROOT/ATC directory and find all *.taxi files
-       SGPath path(globals->get_fg_root());
-       path.append("ATC/");
-       string dir = path.dir();
-       string ext;
-       string file, f_ident;
-       int pos;
-       
-       ulDir *d;
-       struct ulDirEnt *de;
-       
-       if ( (d = ulOpenDir( dir.c_str() )) == NULL ) {
-               SG_LOG(SG_ATC, SG_WARN, "cannot open directory " << dir);
-       } else {
-               // load all .taxi files
-               while ( (de = ulReadDir(d)) != NULL ) {
-                       file = de->d_name;
-                       pos = file.find(".");
-                       ext = file.substr(pos + 1);
-                       if(ext == "taxi") {
-                               f_ident = file.substr(0, pos);
-                               const FGAirport *a = fgFindAirportID( f_ident);
-                               if(a){
-                                       SGBucket sgb(a->getLongitude(), a->getLatitude());
-                                       int idx = sgb.gen_index();
-                                       if(facilities.find(idx) != facilities.end()) {
-                                               facilities[idx]->push_back(f_ident);
-                                       } else {
-                                               ID_list_type* apts = new ID_list_type;
-                                               apts->push_back(f_ident);
-                                               facilities[idx] = apts;
-                                       }
-                                       SG_LOG(SG_ATC, SG_BULK, "Mapping " << f_ident << " to bucket " << idx);
-                               }
-                       }
-               }               
-               ulCloseDir(d);
-       }
-
-       // See if are in range at startup and activate if necessary
-       SearchByPos(15.0);
-       
-       initDone = true;
-}
-
-void FGAIMgr::bind() {
-}
-
-void FGAIMgr::unbind() {
-}
-
-void FGAIMgr::update(double dt) {
-       if(!initDone) {
-               init();
-               SG_LOG(SG_ATC, SG_WARN, "Warning - AIMgr::update(...) called before AIMgr::init()");
-       }
-       
-       //cout << activated.size() << '\n';
-       
-  SGGeod userPos = SGGeod::fromDegM(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
-       
-       // TODO - make these class variables!!
-       static int i = 0;
-       static int j = 0;
-
-       // Don't update any planes for first 50 runs through - this avoids some possible initialisation anomalies
-       // Might not need it now we have fade-in though?
-       if(i < 50) {
-               ++i;
-               return;
-       }
-       
-       if(j == 215) {
-               SearchByPos(25.0);
-               j = 0;
-       } else if(j == 200) {
-               // Go through the list of activated airports and remove those out of range
-               //cout << "The following airports have been activated by the AI system:\n";
-               ai_activated_map_iterator apt_itr = activated.begin();
-               while(apt_itr != activated.end()) {
-                       //cout << "FIRST IS " << (*apt_itr).first << '\n';
-                       if(dclGetHorizontalSeparation(userPos, fgGetAirportPos((*apt_itr).first)) > (35.0 * 1600.0)) {
-                               // Then get rid of it and make sure the iterator is left pointing to the next one!
-                               string s = (*apt_itr).first;
-                               if(traffic.find(s) != traffic.end()) {
-                                       //cout << "s = " << s << ", traffic[s].size() = " << traffic[s].size() << '\n';
-                                       if(!traffic[s].empty()) {
-                                               apt_itr++;
-                                       } else {
-                                               //cout << "Erasing " << (*apt_itr).first << " and traffic" << '\n';
-                                               activated.erase(apt_itr);
-                                               apt_itr = activated.upper_bound(s);
-                                               traffic.erase(s);
-                                       }
-                               } else {
-                                               //cout << "Erasing " << (*apt_itr).first << ' ' << (*apt_itr).second << '\n';
-                                               activated.erase(apt_itr);
-                                               apt_itr = activated.upper_bound(s);
-                               }
-                       } else {
-                               apt_itr++;
-                       }
-               }
-       } else if(j == 180) {
-               // Go through the list of activated airports and do the random airplane generation
-               ai_traffic_map_iterator it = traffic.begin();
-               while(it != traffic.end()) {
-                       string s = (*it).first;
-                       //cout << "s = " << s << " size = " << (*it).second.size() << '\n';
-                       // Only generate extra traffic if within a certain distance of the user,
-                       // TODO - maybe take users's tuned freq into account as well.
-                       double d = dclGetHorizontalSeparation(userPos, fgGetAirportPos(s)); 
-                       if(d < (15.0 * 1600.0)) {
-                               double cd = 0.0;
-                               bool gen = false;
-                               //cout << "Size of list is " << (*it).second.size() << " at " << s << '\n';
-                               if((*it).second.size()) {
-                                       FGAIEntity* e = *((*it).second.rbegin());       // Get the last airplane currently scheduled to arrive at this airport.
-                                       cd = dclGetHorizontalSeparation(e->getPos(), fgGetAirportPos(s));
-                                       if(cd < (d < 5000 ? 10000 : d + 5000)) {
-                                               gen = true;
-                                       }
-                               } else {
-                                       gen = true;
-                                       cd = 0.0;
-                               }
-                               if(gen) {
-                                       //cout << "Generating extra traffic at airport " << s << ", at least " << cd << " meters out\n";
-                                       //GenerateSimpleAirportTraffic(s, cd);
-                                       GenerateSimpleAirportTraffic(s, cd + 3000.0);   // The random seems a bit wierd - traffic could get far too bunched without the +3000.
-                                       // TODO - make the anti-random constant variable depending on the ai-traffic level.
-                               }
-                       }
-                       ++it;
-               }
-       }
-       
-       ++j;
-       
-       //cout << "Size of AI list is " << ai_list.size() << '\n';
-       
-       // TODO - need to add a check of if any activated airports have gone out of range
-       
-       string rs;      // plane to be removed, if one.
-       if(removalList.size()) {
-               rs = *(removalList.begin());
-               removalList.pop_front();
-       } else {
-               rs = "";
-       }
-       
-       // Traverse the list of active planes and run all their update methods
-       // TODO - spread the load - not all planes should need updating every frame.
-       // Note that this will require dt to be calculated for each plane though
-       // since they rely on it to calculate distance travelled.
-       ai_list_itr = ai_list.begin();
-       while(ai_list_itr != ai_list.end()) {
-               FGAIEntity *e = *ai_list_itr;
-               if(rs.size() && e->GetCallsign() == rs) {
-                       //cout << "Removing " << rs << " from ai_list\n";
-                       ai_list_itr = ai_list.erase(ai_list_itr);
-                       delete e;
-                       // This is a hack - we should deref this plane from the airport count!
-               } else {
-                       e->Update(dt);
-                       ++ai_list_itr;
-               }
-       }
-
-       //cout << "Size of AI list is " << ai_list.size() << '\n';
-}
-
-void FGAIMgr::ScheduleRemoval(const string& s) {
-       //cout << "Scheduling removal of plane " << s << " from AIMgr\n";
-       removalList.push_back(s);
-}
-
-// Activate AI traffic at an airport
-void FGAIMgr::ActivateAirport(const string& ident) {
-       ATC->AIRegisterAirport(ident);
-       // TODO - need to start the traffic more randomly
-       FGAILocalTraffic* local_traffic = new FGAILocalTraffic;
-       local_traffic->SetModel(_defaultModel.get());   // currently hardwired to cessna.
-       //local_traffic->Init(ident, IN_PATTERN, TAKEOFF_ROLL);
-       local_traffic->Init(GenerateShortForm(GenerateUniqueCallsign()), ident);
-       local_traffic->FlyCircuits(1, true);    // Fly 2 circuits with touch & go in between
-       ai_list.push_back(local_traffic);
-       traffic[ident].push_back(local_traffic);
-       //cout << "******** ACTIVATING AIRPORT, ident = " << ident << '\n';
-       activated[ident] = 1;
-}
-
-// Hack - Generate AI traffic at an airport with no facilities file
-void FGAIMgr::GenerateSimpleAirportTraffic(const string& ident, double min_dist) {
-       // Ugly hack - don't let VFR Cessnas operate at a hardwired list of major airports
-       // This will go eventually once airport .xml files specify the traffic profile
-       if(ident == "KSFO" || ident == "KDFW" || ident == "EGLL" || ident == "KORD" || ident == "KJFK" 
-                          || ident == "KMSP" || ident == "KLAX" || ident == "KBOS" || ident == "KEDW"
-                                          || ident == "KSEA" || ident == "EHAM") {
-               return;
-       }
-       
-       /*
-       // TODO - check for military airports - this should be in the current data.
-       // UGGH - there's no point at the moment - everything is labelled civil in basic.dat!
-       FGAirport a = fgFindAirportID(ident, &a);
-       if(a) {
-               cout << "CODE IS " << a.code << '\n';
-       } else {
-               // UG - can't find the airport!
-               return;
-       }
-       */
-       
-       SGGeod aptpos = fgGetAirportPos(ident);         // TODO - check for elev of -9999
-       //cout << "ident = " << ident << ", elev = " << aptpos.getElevationM() << '\n';
-       
-       // Operate from airports at 3000ft and below only to avoid the default cloud layers and since we don't degrade AI performance with altitude.
-       if(aptpos.getElevationM() > 3000) {
-               //cout << "High alt airports not yet supported - returning\n";
-               return;
-       }
-       
-       // Rough hack for plane type - make 70% of the planes cessnas, the rest pipers.
-       bool cessna = true;
-       
-       // Get the time and only operate VFR in the (approximate) daytime.
-       struct tm *t = globals->get_time_params()->getGmt();
-       int loc_time = t->tm_hour + int(aptpos.getLongitudeDeg() / (360.0 / 24.0));
-       while (loc_time < 0)
-               loc_time += 24;
-       while (loc_time >= 24)
-               loc_time -= 24;
-
-       //cout << "loc_time = " << loc_time << '\n';
-       if(loc_time < 7 || loc_time > 19) return;
-       
-       // Check that the visibility is OK for IFR operation.
-       double visibility;
-       FGEnvironment stationweather =
-            ((FGEnvironmentMgr *)globals->get_subsystem("environment"))
-              ->getEnvironment(aptpos.getLatitudeDeg(), aptpos.getLongitudeDeg(), aptpos.getElevationM());     // TODO - check whether this should take ft or m for elev.
-       visibility = stationweather.get_visibility_m();
-       // Technically we can do VFR down to 1 mile (1600m) but that's pretty murky!
-       //cout << "vis = " << visibility << '\n';
-       if(visibility < 3000) return;
-       
-       ATC->AIRegisterAirport(ident);
-       
-       // Next - get the distance from user to the airport.
-       SGGeod userpos = SGGeod::fromDegM(lon_node->getDoubleValue(), lat_node->getDoubleValue(), elev_node->getDoubleValue());
-       double d = dclGetHorizontalSeparation(userpos, aptpos); // in meters
-       
-       int lev = fgGetInt("/sim/ai-traffic/level");
-       if(lev < 1)
-               return;
-       if (lev > 3)
-               lev = 3;
-       if(visibility < 6000) lev = 1;
-       //cout << "level = " << lev << '\n';
-       
-       // Next - generate any local / circuit traffic
-
-       /*
-       // --------------------------- THIS BLOCK IS JUST FOR TESTING - COMMENT OUT BEFORE RELEASE ---------------
-       // Finally - generate VFR approaching traffic
-       //if(d > 2000) {
-       if(ident == "KPOC") {
-               double ad = 2000.0;
-               double avd = 3000.0;    // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
-               //while(ad < (d < 10000 ? 12000 : d + 2000)) {
-               for(int i=0; i<8; ++i) {
-                       double dd = sg_random() * avd;
-                       // put a minimum spacing in for now since I don't think tower will cope otherwise!
-                       if(dd < 1500) dd = 1500; 
-                       //ad += dd;
-                       ad += dd;
-                       double dir = int(sg_random() * 36);
-                       if(dir == 36) dir--;
-                       dir *= 10;
-                       //dir = 180;
-                       if(sg_random() < 0.3) cessna = false;
-                       else cessna = true;
-                       string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
-                       FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
-                       t->SetModel(cessna ? _defaultModel : _piperModel);
-                       //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
-                       SGGeod tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
-                       if(tpos.getElevationM() > (aptpos.getElevationM() + 3000.0)) tpos.setElevationM(aptpos.getElevationM() + 3000.0);
-                       t->Init(tpos, ident, s);
-                       ai_list.push_back(t);
-               }
-       }
-       activated[ident] = 1;
-       return;
-       //---------------------------------------------------------------------------------------------------
-       */
-       
-       double ad;   // Minimum distance out of first arriving plane in meters.
-       double mind; // Minimum spacing of traffic in meters
-       double avd;  // average spacing of arriving traffic in meters - relate to airport business and AI density setting one day!
-       // Finally - generate VFR approaching traffic
-       //if(d > 2000) {
-       if(1) {
-               if(lev == 3) {
-                       ad = 5000.0;
-                       mind = 2000.0;
-                       avd = 6000.0;
-               } else if(lev == 2) {
-                       ad = 8000.0;
-                       mind = 4000.0;
-                       avd = 10000.0;
-               } else {
-                       ad = 9000.0;    // Start the first aircraft at least 9K out for now.
-                       mind = 6000.0;
-                       avd = 15000.0;
-               }
-               /*
-               // Check if there is already arriving traffic at this airport
-               cout << "BING A " << ident << '\n';
-               if(traffic.find(ident) != traffic.end()) {
-                       cout << "BING B " << ident << '\n';
-                       ai_list_type lst = traffic[ident];
-                       cout << "BING C " << ident << '\n';
-                       if(lst.size()) {
-                               cout << "BING D " << ident << '\n';
-                               double cd = dclGetHorizontalSeparation(aptpos, (*lst.rbegin())->GetPos());
-                               cout << "ident = " << ident << ", cd = " << cd << '\n';
-                               if(cd > ad) ad = cd;
-                       }
-               }
-               */
-               if(min_dist != 0) ad = min_dist;
-               //cout << "ident = " << ident << ", ad = " << ad << '\n';
-               while(ad < (d < 5000 ? 15000 : d + 10000)) {
-                       double dd = mind + (sg_random() * (avd - mind));
-                       ad += dd;
-                       double dir = int(sg_random() * 36);
-                       if(dir == 36) dir--;
-                       dir *= 10;
-                       
-                       if(sg_random() < 0.3) cessna = false;
-                       else cessna = true;
-                       string s = GenerateShortForm(GenerateUniqueCallsign(), (cessna ? "Cessna-" : "Piper-"));
-                       FGAIGAVFRTraffic* t = new FGAIGAVFRTraffic();
-                       t->SetModel(cessna ? _defaultModel.get() : (_havePiperModel ? _piperModel.get() : _defaultModel.get()));
-                       //cout << "Generating VFR traffic " << s << " inbound to " << ident << " " << ad << " meters out from " << dir << " degrees\n";
-                       SGGeod tpos = dclUpdatePosition(aptpos, dir, 6.0, ad);
-                       if(tpos.getElevationM() > (aptpos.getElevationM() + 3000.0)) tpos.setElevationM(aptpos.getElevationM() + 3000.0);       // FEET yuk :-(
-                       t->Init(tpos, ident, s);
-                       ai_list.push_back(t);
-                       traffic[ident].push_back(t);
-               }
-       }       
-}
-
-/*
-// Generate a VFR arrival at airport apt, at least distance d (meters) out.
-void FGAIMgr::GenerateVFRArrival(const string& apt, double d) {
-}
-*/
-
-// Search for valid airports in the vicinity of the user and activate them if necessary
-void FGAIMgr::SearchByPos(double range) {
-       //cout << "In SearchByPos(...)" << endl;
-       
-       // get bucket number for plane position
-  _userAircraftPos = SGGeod::fromDegFt(lon_node->getDoubleValue(),
-      lat_node->getDoubleValue(), elev_node->getDoubleValue());
-       SGBucket buck(_userAircraftPos);
-
-       // get neigboring buckets
-       int bx = (int)( range*SG_NM_TO_METER / buck.get_width_m() / 2);
-       //cout << "bx = " << bx << endl;
-       int by = (int)( range*SG_NM_TO_METER / buck.get_height_m() / 2 );
-       //cout << "by = " << by << endl;
-       
-       // Search for airports with facitities files --------------------------
-       // loop over bucket range 
-       for ( int i=-bx; i<=bx; i++) {
-               //cout << "i loop\n";
-               for ( int j=-by; j<=by; j++) {
-                       //cout << "j loop\n";
-                       buck = sgBucketOffset(_userAircraftPos.getLongitudeDeg(), _userAircraftPos.getLatitudeDeg(), i, j);
-                       long int bucket = buck.gen_index();
-                       //cout << "bucket is " << bucket << endl;
-                       if(facilities.find(bucket) != facilities.end()) {
-                               ID_list_type* apts = facilities[bucket];
-                               ID_list_iterator current = apts->begin();
-                               ID_list_iterator last = apts->end();
-                               
-                               //cout << "Size of apts is " << apts->size() << endl;
-                               
-                               //double rlon = lon * SGD_DEGREES_TO_RADIANS;
-                               //double rlat = lat * SGD_DEGREES_TO_RADIANS;
-                               for(; current != last; ++current) {
-                                       //cout << "Found " << *current << endl;;
-                                       if(activated.find(*current) == activated.end()) {
-                                               //cout << "Activating " << *current << endl;
-                                               //FGAirport a;
-                                               //if(dclFindAirportID(*current, &a)) {
-                                                       //      // We can do something here based on distance from the user if we wish.
-                                               //}
-                                               //string s = *current;
-                                               //cout << "s = " << s << '\n';
-                                               ActivateAirport(*current);
-                                               //ActivateSimpleAirport(*current);      // TODO - put this back to ActivateAirport when that code is done.
-                                               //cout << "Activation done" << endl;
-                                       } else {
-                                               //cout << *current << " already activated" << endl;
-                                       }
-                               }
-                       }
-               }
-       }
-       //-------------------------------------------------------------
-       
-       // Search for any towered airports in the vicinity ------------
-       comm_list_type towered;
-       comm_list_iterator twd_itr;
-       
-       int num_twd = current_commlist->FindByPos(_userAircraftPos, range, &towered, TOWER);
-       if (num_twd != 0) {
-               double closest = 1000000;
-               string s = "";
-               for(twd_itr = towered.begin(); twd_itr != towered.end(); twd_itr++) {
-                       // Only activate the closest airport not already activated each time.
-                       if(activated.find(twd_itr->ident) == activated.end()) {
-                                double sep = dclGetHorizontalSeparation(_userAircraftPos, fgGetAirportPos(twd_itr->ident));
-                               if(sep < closest) {
-                                       closest = sep;
-                                       s = twd_itr->ident;
-                               }
-                               
-                       }
-               }
-               if(s.size()) {
-                       // TODO - find out why empty strings come through here when all in-range airports done.
-                       GenerateSimpleAirportTraffic(s);
-                       //cout << "**************ACTIVATING SIMPLE AIRPORT, ident = " << s << '\n';
-                       activated[s] = 1;
-               }
-       }
-}
-
-string FGAIMgr::GenerateCallsign() {
-       // For now we'll just generate US callsigns until we can regionally identify airports.
-       string s = "N";
-       // Add 3 to 5 numbers and make up to 5 with letters.
-       //sg_srandom_time();
-       double d = sg_random();
-       int n = int(d * 3);
-       if(n == 3) --n;
-       //cout << "First n, n = " << n << '\n';
-       int j = 3 + n;
-       //cout << "j = " << j << '\n';
-       for(int i=0; i<j; ++i) { 
-               int n = int(sg_random() * 10);
-               if(n == 10) --n;
-               s += (char)('0' + n);
-       }
-       for(int i=j; i<5; ++i) {
-               int n = int(sg_random() * 26);
-               if(n == 26) --n;
-               //cout << "Alpha, n = " << n << '\n';
-               s += (char)('A' + n);
-       }
-       //cout << "s = " << s << '\n';
-       return(s);
-}
-
-string FGAIMgr::GenerateUniqueCallsign() {
-       while(1) {
-               string s = GenerateCallsign();
-               if(!ai_callsigns_used[s]) {
-                       ai_callsigns_used[s] = 1;
-                       return(s);
-               }
-       }
-}
-
-// This will be moved somewhere else eventually!!!!
-string FGAIMgr::GenerateShortForm(const string& callsign, const string& plane_str, bool local) {
-       //cout << callsign << '\n';
-       string s;
-       if(local) s = "Trainer-";
-       else s = plane_str;
-       for(int i=3; i>0; --i) {
-               char c = callsign[callsign.size() - i];
-               //cout << c << '\n';
-               string tmp = "";
-               tmp += c;
-               if(isalpha(c)) s += GetPhoneticLetter(c);
-               else s += ConvertNumToSpokenDigits(tmp);
-               if(i > 1) s += '-';
-       }
-       return(s);
-}

diff --git a/src/ATCDCL/AIMgr.hxx b/src/ATCDCL/AIMgr.hxx
deleted file mode 100644 (file)
index 8d87c5c..0000000
--- a/src/ATCDCL/AIMgr.hxx
+++ /dev/null
@@ -1,136 +0,0 @@
-// AIMgr.hxx - definition of FGAIMgr 
-// - a global management class for FlightGear generated AI traffic
-//
-// Written by David Luff, started March 2002.
-//
-// Copyright (C) 2002  David C Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-#ifndef _FG_AIMGR_HXX
-#define _FG_AIMGR_HXX
-
-#include <simgear/structure/subsystem_mgr.hxx>
-
-#include <Main/fg_props.hxx>
-
-#include <list>
-
-#include "ATCmgr.hxx"
-#include "AIEntity.hxx"
-
-using std::list;
-
-
-class FGAIMgr : public SGSubsystem
-{
-
-private:
-       FGATCMgr* ATC;  
-       // This is purely for synactic convienience to avoid writing globals->get_ATC_mgr()-> all through the code!
-
-    // A list of pointers to all currently active AI stuff
-    typedef list <FGAIEntity*> ai_list_type;
-    typedef ai_list_type::iterator ai_list_iterator;
-    typedef ai_list_type::const_iterator ai_list_const_iterator;
-
-    // Everything put in this list should be created dynamically
-    // on the heap and ***DELETED WHEN REMOVED!!!!!***
-    ai_list_type ai_list;
-    ai_list_iterator ai_list_itr;
-    // Any member function of FGATCMgr is permitted to leave this iterator pointing
-    // at any point in or at the end of the list.
-    // Hence any new access must explicitly first check for atc_list.end() before dereferencing.
-       
-       // A list of airport or airplane ID's
-       typedef list < string > ID_list_type;
-       typedef ID_list_type::iterator ID_list_iterator;
-
-       // Temporary storage of ID of planes scheduled for removeal
-       ID_list_type removalList;
-       
-       // A map of airport-IDs that have taxiway network files against bucket number
-       typedef map < int, ID_list_type* > ai_apt_map_type;
-       typedef ai_apt_map_type::iterator ai_apt_map_iterator;
-       ai_apt_map_type facilities;
-       
-       // A map of airport ID's that we've activated AI traffic at
-       typedef map < string, int > ai_activated_map_type;
-       typedef ai_activated_map_type::iterator ai_activated_map_iterator;
-       ai_activated_map_type activated;
-       
-       // AI traffic lists mapped by airport
-       typedef map < string, ai_list_type > ai_traffic_map_type;
-       typedef ai_traffic_map_type::iterator ai_traffic_map_iterator;
-       ai_traffic_map_type traffic;
-       
-       // A map of callsigns that we have used (eg CFGFS or N0546D - the code will generate Cessna-four-six-delta from this later)
-       typedef map < string, int > ai_callsigns_map_type;
-       typedef ai_callsigns_map_type::iterator ai_callsigns_map_iterator;
-       ai_callsigns_map_type ai_callsigns_used;
-
-  SGGeod _userAircraftPos;
-
-  // Pointers to current users position
-  SGPropertyNode_ptr lon_node;
-  SGPropertyNode_ptr lat_node;
-  SGPropertyNode_ptr elev_node;
-public:
-
-    FGAIMgr();
-    ~FGAIMgr();
-
-    void init();
-
-    void bind();
-
-    void unbind();
-
-    void update(double dt);
-       
-       // Signal that it is OK to remove a plane of callsign s
-       // (To be called by the plane itself).
-       void ScheduleRemoval(const string& s);
-
-private:
-       
-        osg::ref_ptr<osg::Node> _defaultModel;  // Cessna 172!
-       osg::ref_ptr<osg::Node> _piperModel;    // pa28-161
-
-       bool initDone;  // Hack - guard against update getting called before init
-
-    // Remove a class from the ai_list and delete it from memory
-    //void RemoveFromList(const char* id, atc_type tp);
-       
-       // Activate AI traffic at an airport
-       void ActivateAirport(const string& ident);
-       
-       // Hack - Generate AI traffic at an airport with no facilities file, with the first plane being at least min_dist out.
-       void GenerateSimpleAirportTraffic(const string& ident, double min_dist = 0.0);
-       
-       // Search for valid airports in the vicinity of the user and activate them if necessary
-       void SearchByPos(double range);
-       
-       string GenerateCallsign();
-       
-       string GenerateUniqueCallsign();
-       
-       string GenerateShortForm(const string& callsign, const string& plane_str = "Cessna-", bool local = false);
-       
-       // TODO - implement a proper robust system for registering and loading AI GA aircraft models
-       bool _havePiperModel;
-};
-
-#endif  // _FG_AIMGR_HXX

diff --git a/src/ATCDCL/AIPlane.cxx b/src/ATCDCL/AIPlane.cxx
deleted file mode 100644 (file)
index 8fd67d1..0000000
--- a/src/ATCDCL/AIPlane.cxx
+++ /dev/null
@@ -1,275 +0,0 @@
-// FGAIPlane - abstract base class for an AI plane
-//
-// Written by David Luff, started 2002.
-//
-// Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-#include <Main/globals.hxx>
-#include <Main/fg_props.hxx>
-#include <simgear/debug/logstream.hxx>
-#include <simgear/sound/soundmgr_openal.hxx>
-#include <math.h>
-#include <string>
-using std::string;
-
-
-#include "AIPlane.hxx"
-
-FGAIPlane::FGAIPlane() {
-       leg = LEG_UNKNOWN;
-       tuned_station = NULL;
-       pending_transmission = "";
-       _timeout = 0;
-       _pending = false;
-       _callback_code = 0;
-       _transmit = false;
-       _transmitting = false;
-       voice = false;
-       playing = false;
-       voiceOK = false;
-       vPtr = NULL;
-       track = 0.0;
-       _tgtTrack = 0.0;
-       _trackSet = false;
-       _tgtRoll = 0.0;
-       _rollSuspended = false;
-
-       if ( !_sgr ) {
-               SGSoundMgr *smgr = globals->get_soundmgr();
-               _sgr = smgr->find("atc", true);
-                _sgr->tie_to_listener();
-       }
-}
-
-FGAIPlane::~FGAIPlane() {
-}
-
-void FGAIPlane::Update(double dt) {
-       if(_pending) {
-               if(tuned_station) {
-                       if(tuned_station->GetFreqClear()) {
-                               //cout << "TUNED STATION FREQ CLEAR\n";
-                               tuned_station->SetFreqInUse();
-                               _pending = false;
-                               _transmit = true;
-                               _transmitting = false;
-                       } else {
-                               if(_timeout > 0.0) {    // allows count down to be avoided by initially setting it to zero
-                                       _timeout -= dt;
-                                       if(_timeout <= 0.0) {
-                                               _timeout = 0.0;
-                                               _pending = false;
-                                               // timed out - don't render.
-                                               if(_callback_code == 99) {
-                                                       // MEGA-HACK - 99 is the remove self callback - currently this *does* need to be run even if the transmission isn't made.
-                                                       ProcessCallback(_callback_code);
-                                               }
-                                       }
-                               }
-                       }
-               } else {
-                       // Not tuned to ATC - Just go ahead and transmit
-                       //cout << "NOT TUNED TO ATC\n";
-                       _pending = false;
-                       _transmit = true;
-                       _transmitting = false;
-               }
-       }
-       
-       // This turns on rendering if on the same freq as the user
-       // TODO - turn it off if user switches to another freq - keep track of where in message we are etc.
-       if(_transmit) {
-               //cout << "transmit\n";
-               double user_freq0 = fgGetDouble("/instrumentation/comm[0]/frequencies/selected-mhz");
-               double user_freq1 = fgGetDouble("/instrumentation/comm[1]/frequencies/selected-mhz");
-               _counter = 0.0;
-               _max_count = 5.0;               // FIXME - hardwired length of message - need to calculate it!
-               
-               //cout << "Transmission = " << pending_transmission << '\n';
-
-               // The radios dialog seems to set slightly imprecise freqs, eg 118.099998
-               // The eplison stuff below is a work-around
-               double eps0 = fabs(freq - user_freq0);
-               double eps1 = fabs(freq - user_freq1);
-               if(eps0 < 0.002 || eps1 < 0.002) {
-                       //cout << "Transmitting..." << endl;
-                       // we are on the same frequency, so check distance to the user plane
-                       if(1) {
-                               // For now assume in range !!!
-                               // TODO - implement range checking
-                               // TODO - at the moment the volume is always set off comm1 
-                               float volume = fgGetFloat("/instrumentation/comm[0]/volume");
-                               Render(plane.callsign, volume, false);
-                       }
-               }
-               // Run the callback regardless of whether on same freq as user or not.
-               if(_callback_code) {
-                       ProcessCallback(_callback_code);
-               }
-               _transmit = false;
-               _transmitting = true;
-       } else if(_transmitting) {
-               if(_counter >= _max_count) {
-                       NoRender(plane.callsign);
-                       _transmitting = false;
-                       // For now we'll let ATC decide whether to respond
-                       //if(tuned_station) tuned_station->SetResponseReqd(plane.callsign);
-                       //if(tuned_station->get_ident() == "KRHV") cout << "Notifying transmission finished" << endl;
-                       if(tuned_station) tuned_station->NotifyTransmissionFinished(plane.callsign);
-               }
-               _counter += dt;
-       }
-       
-       // Fly the plane if necessary
-       if(_trackSet) {
-               while((_tgtTrack - track) > 180.0) track += 360.0;
-               while((track - _tgtTrack) > 180.0) track -= 360.0;
-               double turn_time = 60.0;
-               track += (360.0 / turn_time) * dt * (_tgtTrack > track ? 1.0 : -1.0);
-               // TODO - bank a bit less for small turns.
-               Bank(25.0 * (_tgtTrack > track ? 1.0 : -1.0));
-               if(fabs(track - _tgtTrack) < 2.0) {             // TODO - might need to optimise the delta there - it's on the large (safe) side atm.
-                       track = _tgtTrack;
-                       LevelWings();
-               }
-       }
-       
-       if(!_rollSuspended) {
-               if(fabs(_roll - _tgtRoll) > 0.6) {
-                       // This *should* bank us smoothly to any angle
-                       _roll -= ((_roll - _tgtRoll)/fabs(_roll - _tgtRoll));
-               } else {
-                       _roll = _tgtRoll;
-               }
-       }
-}
-
-void FGAIPlane::Transmit(int callback_code) {
-       SG_LOG(SG_ATC, SG_INFO, "Transmit called for plane " << plane.callsign << ", msg = " << pending_transmission);
-       _pending = true;
-       _callback_code = callback_code;
-       _timeout = 0.0;
-}
-
-void FGAIPlane::ConditionalTransmit(double timeout, int callback_code) {
-       SG_LOG(SG_ATC, SG_INFO, "Timed transmit called for plane " << plane.callsign << ", msg = " << pending_transmission);
-       _pending = true;
-       _callback_code = callback_code;
-       _timeout = timeout;
-}
-
-void FGAIPlane::ImmediateTransmit(int callback_code) {
-       // TODO - at the moment the volume is always set off comm1 
-       float volume = fgGetFloat("/instrumentation/comm[0]/volume");
-
-       Render(plane.callsign, volume, false);
-       if(callback_code) {
-               ProcessCallback(callback_code);
-       }
-}
-
-// Derived classes should override this.
-void FGAIPlane::ProcessCallback(int code) {
-}
-
-// Render a transmission
-// Outputs the transmission either on screen or as audio depending on user preference
-// The refname is a string to identify this sample to the sound manager
-// The repeating flag indicates whether the message should be repeated continuously or played once.
-void FGAIPlane::Render(const string& refname, const float volume, bool repeating) {
-       fgSetString("/sim/messages/ai-plane", pending_transmission.c_str());
-#ifdef ENABLE_AUDIO_SUPPORT
-       voice = (voiceOK && fgGetBool("/sim/sound/voice"));
-       if(voice) {
-            size_t len;
-           void* buf = vPtr->WriteMessage(pending_transmission, &len);
-           if(voice && (volume > 0.05)) {
-               SGSoundSample* simple = new SGSoundSample(&buf, len, 8000 );
-               simple->set_volume(volume);
-               _sgr->add(simple, refname);
-               _sgr->play(refname, repeating);
-           }
-       }
-#endif // ENABLE_AUDIO_SUPPORT
-       if(!voice) {
-               // first rip the underscores and the pause hints out of the string - these are for the convienience of the voice parser
-               for(unsigned int i = 0; i < pending_transmission.length(); ++i) {
-                       if((pending_transmission.substr(i,1) == "_") || (pending_transmission.substr(i,1) == "/")) {
-                               pending_transmission[i] = ' ';
-                       }
-               }
-       }
-       playing = true; 
-}
-
-
-// Cease rendering a transmission.
-void FGAIPlane::NoRender(const string& refname) {
-       if(playing) {
-               if(voice) {
-#ifdef ENABLE_AUDIO_SUPPORT            
-                       _sgr->stop(refname);
-                       _sgr->remove(refname);
-#endif
-               }
-               playing = false;
-       }
-}
-
-/*
-
-*/
-
-void FGAIPlane::RegisterTransmission(int code) {
-}
-
-
-// Return what type of landing we're doing on this circuit
-LandingType FGAIPlane::GetLandingOption() {
-       return(FULL_STOP);
-}
-
-
-ostream& operator << (ostream& os, PatternLeg pl) {
-       switch(pl) {
-       case(TAKEOFF_ROLL):   return(os << "TAKEOFF ROLL");
-       case(CLIMBOUT):       return(os << "CLIMBOUT");
-       case(TURN1):          return(os << "TURN1");
-       case(CROSSWIND):      return(os << "CROSSWIND");
-       case(TURN2):          return(os << "TURN2");
-       case(DOWNWIND):       return(os << "DOWNWIND");
-       case(TURN3):          return(os << "TURN3");
-       case(BASE):           return(os << "BASE");
-       case(TURN4):          return(os << "TURN4");
-       case(FINAL):          return(os << "FINAL");
-       case(LANDING_ROLL):   return(os << "LANDING ROLL");
-       case(LEG_UNKNOWN):    return(os << "UNKNOWN");
-       }
-       return(os << "ERROR - Unknown switch in PatternLeg operator << ");
-}
-
-
-ostream& operator << (ostream& os, LandingType lt) {
-       switch(lt) {
-       case(FULL_STOP):      return(os << "FULL STOP");
-       case(STOP_AND_GO):    return(os << "STOP AND GO");
-       case(TOUCH_AND_GO):   return(os << "TOUCH AND GO");
-       case(AIP_LT_UNKNOWN): return(os << "UNKNOWN");
-       }
-       return(os << "ERROR - Unknown switch in LandingType operator << ");
-}
-

diff --git a/src/ATCDCL/AIPlane.hxx b/src/ATCDCL/AIPlane.hxx
deleted file mode 100644 (file)
index 53158f9..0000000
--- a/src/ATCDCL/AIPlane.hxx
+++ /dev/null
@@ -1,167 +0,0 @@
-// FGAIPlane - abstract base class for an AI plane
-//
-// Written by David Luff, started 2002.
-//
-// Copyright (C) 2002  David C. Luff - david.luff@nottingham.ac.uk
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-
-#ifndef _FG_AI_PLANE_HXX
-#define _FG_AI_PLANE_HXX
-
-#include "AIEntity.hxx"
-#include "ATC.hxx"
-
-class SGSampleGroup;
-
-enum PatternLeg {
-       TAKEOFF_ROLL,
-       CLIMBOUT,
-       TURN1,
-       CROSSWIND,
-       TURN2,
-       DOWNWIND,
-       TURN3,
-       BASE,
-       TURN4,
-       FINAL,
-       LANDING_ROLL,
-       LEG_UNKNOWN
-};
-
-ostream& operator << (ostream& os, PatternLeg pl);
-
-enum LandingType {
-       FULL_STOP,
-       STOP_AND_GO,
-       TOUCH_AND_GO,
-       AIP_LT_UNKNOWN
-};
-
-ostream& operator << (ostream& os, LandingType lt);
-
-/*****************************************************************
-*
-*  FGAIPlane - this class is derived from FGAIEntity and adds the 
-*  practical requirement for an AI plane - the ability to send radio
-*  communication, and simple performance details for the actual AI
-*  implementation to use.  The AI implementation is expected to be
-*  in derived classes - this class does nothing useful on its own.
-*
-******************************************************************/
-class FGAIPlane : public FGAIEntity {
-
-public:
-
-       FGAIPlane();
-    virtual ~FGAIPlane();
-
-    // Run the internal calculations
-       void Update(double dt);
-       
-       // Send a transmission *TO* the AIPlane.
-       // FIXME int code is a hack - eventually this will receive Alexander's coded messages.
-       virtual void RegisterTransmission(int code);
-       
-       // Return the current pattern leg the plane is flying.
-       inline PatternLeg GetLeg() {return leg;}
-       
-       // Return what type of landing we're doing on this circuit
-       virtual LandingType GetLandingOption();
-       
-       // Return the callsign
-       inline const string& GetCallsign() {return plane.callsign;}
-
-protected:
-       PlaneRec plane;
-
-    double mag_hdg;    // degrees - the heading that the physical aircraft is *pointing*
-    double track;      // track that the physical aircraft is *following* - degrees relative to *true* north
-    double crab;       // Difference between heading and track due to wind.
-    double mag_var;    // degrees
-    double IAS;                // Indicated airspeed in knots
-    double vel;                // velocity along track in knots
-    double vel_si;     // velocity along track in m/s
-    double slope;      // Actual slope that the plane is flying (degrees) - +ve is uphill
-    double AoA;                // degrees - difference between slope and pitch
-    // We'll assume that the plane doesn't yaw or slip - the track/heading difference is to allow for wind
-
-    double freq;       // The comm frequency that we're operating on
-
-    // We need some way for this class to display its radio transmissions if on the 
-    // same frequency and in the vicinity of the user's aircraft
-    // This may need to be done independently of ATC eg CTAF
-    // Make radio transmission - this simply sends the transmission for physical rendering if the users
-    // aircraft is on the same frequency and in range.  It is up to the derived classes to let ATC know
-    // what is going on.
-       string pending_transmission;    // derived classes set this string before calling Transmit(...)
-       FGATC* tuned_station;                   // and this if they are tuned to ATC
-       
-       // Transmit a message when channel becomes free of other dialog
-    void Transmit(int callback_code = 0);
-       
-       // Transmit a message if channel becomes free within timeout (seconds). timeout of zero implies no limit
-       void ConditionalTransmit(double timeout, int callback_code = 0);
-       
-       // Transmit regardless of other dialog on the channel eg emergency
-       void ImmediateTransmit(int callback_code = 0);
-       
-       inline void SetTrack(double t) { _tgtTrack = t; _trackSet = true; }
-       inline void ClearTrack() { _trackSet = false; }
-
-    inline void Bank(double r) { _tgtRoll = r; }
-    inline void LevelWings(void) { _tgtRoll = 0.0; }
-       
-       virtual void ProcessCallback(int code);
-       
-       PatternLeg leg;
-       
-private:
-       bool _pending;
-       double _timeout;
-       int _callback_code;     // A callback code to be notified and processed by the derived classes
-                                               // A value of zero indicates no callback required
-       bool _transmit;         // we are to transmit
-       bool _transmitting;     // we are transmitting
-       double _counter;
-       double _max_count;
-       
-       // Render a transmission (in string pending_transmission)
-       // Outputs the transmission either on screen or as audio depending on user preference
-       // The refname is a string to identify this sample to the sound manager
-       // The repeating flag indicates whether the message should be repeated continuously or played once.
-        void Render(const string& refname, const float volume, bool repeating);
-
-       // Cease rendering a transmission.
-       // Requires the sound manager refname if audio, else "".
-       void NoRender(const string& refname);
-       
-       // Rendering related stuff
-       bool voice;                     // Flag - true if we are using voice
-       bool playing;           // Indicates a message in progress      
-       bool voiceOK;           // Flag - true if at least one voice has loaded OK
-       FGATCVoice* vPtr;
-       
-       // Navigation
-       double _tgtTrack;       // Track to be following if _trackSet is true
-       bool _trackSet;         // Set true if tgtTrack is to be followed
-       double _tgtRoll;
-       bool _rollSuspended;    // Set true when a derived class has suspended AIPlane's roll control
-
-        SGSharedPtr<SGSampleGroup> _sgr;
-};
-
-#endif  // _FG_AI_PLANE_HXX
-

diff --git a/src/ATCDCL/ATC.hxx b/src/ATCDCL/ATC.hxx
index e2751460e1cb3e01999850e9a4f67aadcb64ee2d..e5ddcd0a9a97cd4502a6bb00f8859552052e4271 100644 (file)
--- a/src/ATCDCL/ATC.hxx
+++ b/src/ATCDCL/ATC.hxx
@@ -65,6 +65,8 @@ enum plane_type {
 // PlaneRec - a structure holding ATC-centric details of planes under control
 // This might move or change eventually
 struct PlaneRec {
+        PlaneRec() : type(UNKNOWN), squawkcode(0) {}
+        PlaneRec(const std::string& s) : type(UNKNOWN), callsign(s), squawkcode(0) {}
        plane_type type;
        std::string callsign;
        int squawkcode;
@@ -87,6 +89,7 @@ const int ATC_NUM_TYPES = 1 + INVALID;
 
 // DCL - new experimental ATC data store
 struct ATCData {
+        ATCData() : type(INVALID), cart(0, 0, 0), freq(0), range(0) {}
        atc_type type;
        SGGeod geod;
        SGVec3d cart;
@@ -99,6 +102,7 @@ struct ATCData {
 // perhaps we could use an FGRunway instead of this.
 // That wouldn't cache the orthopos though.
 struct RunwayDetails {
+        RunwayDetails() : end1ortho(0, 0, 0), end2ortho(0, 0, 0), hdg(0), length(-1), width(-1) {}
        SGGeod threshold_pos;
        SGVec3d end1ortho;      // ortho projection end1 (the threshold ATM)
        SGVec3d end2ortho;      // ortho projection end2 (the take off end in the current hardwired scheme)

diff --git a/src/ATCDCL/ATCmgr.cxx b/src/ATCDCL/ATCmgr.cxx
index 19053adef5f712342dfc2fd0ce18fdaa15ed441d..fe03750154a908da65201254280750c380735912 100644 (file)
--- a/src/ATCDCL/ATCmgr.cxx
+++ b/src/ATCDCL/ATCmgr.cxx
@@ -178,45 +178,6 @@ unsigned short int FGATCMgr::GetFrequency(const string& ident, const atc_type& t
     return(ok ? test.freq : 0);
 }   
 
-
-// Register the fact that the AI system wants to activate an airport
-// Might need more sophistication in this in the future - eg registration by aircraft call-sign.
-bool FGATCMgr::AIRegisterAirport(const string& ident) {
-    SG_LOG(SG_ATC, SG_BULK, "AI registered airport " << ident << " with the ATC system");
-    //cout << "AI registered airport " << ident << " with the ATC system" << '\n';
-    if(airport_atc_map.find(ident) != airport_atc_map.end()) {
-        airport_atc_map[ident]->set_by_AI = true;
-        airport_atc_map[ident]->numAI++;
-        return(true);
-    } else {
-        const FGAirport *ap = fgFindAirportID(ident);
-        if (ap) {
-            //cout << "ident = " << ident << '\n';
-            AirportATC *a = new AirportATC;
-            // I'm not entirely sure that this AirportATC structure business is actually needed - it just duplicates what we can find out anyway!
-            a->geod = ap->geod();
-            a->atis_freq = GetFrequency(ident, ATIS)
-                    || GetFrequency(ident, AWOS);
-            //cout << "ATIS freq = " << a->atis_freq << '\n';
-            a->atis_active = false;
-            a->tower_freq = GetFrequency(ident, TOWER);
-            //cout << "Tower freq = " << a->tower_freq << '\n';
-            a->tower_active = false;
-            a->ground_freq = GetFrequency(ident, GROUND);
-            //cout << "Ground freq = " << a->ground_freq << '\n';
-            a->ground_active = false;
-            // TODO - some airports will have a tower/ground frequency but be inactive overnight.
-            a->set_by_AI = true;
-            a->numAI = 1;
-            airport_atc_map[ident] = a;
-            return(true);
-        } else {
-            SG_LOG(SG_ATC, SG_ALERT, "ERROR - can't find airport " << ident << " in AIRegisterAirport(...)");
-        }
-    }
-    return(false);
-}
-
 // Register the fact that the comm radio is tuned to an airport
 // Channel is zero based
 bool FGATCMgr::CommRegisterAirport(const string& ident, int chan, const atc_type& tp) {
@@ -273,8 +234,7 @@ typedef map<string,int> MSI;
 
 void FGATCMgr::ZapOtherService(const string ncunit, const string svc_name){
   for (atc_list_iterator svc = atc_list->begin(); svc != atc_list->end(); svc++) {
-    //cout << "Zapping " << navcomm 
-    //  << "[" << unit << "]"  << "  otherthan: " << svc_name << endl;
+   
     if (svc->first != svc_name) {
       MSI &actv = svc->second->active_on;
       // OK, we have found some OTHER service;
@@ -286,7 +246,9 @@ void FGATCMgr::ZapOtherService(const string ncunit, const string svc_name){
         //cout << "Eradicating service: '" << svc->first << "'" << endl;
     svc->second->SetNoDisplay();
     svc->second->Update(0);     // one last update
-    delete svc->second;
+    SG_LOG(SG_GENERAL, SG_INFO, "would have erased ATC service:" << svc->second->get_name()<< "/" 
+      << svc->second->get_ident());
+   // delete svc->second;
     atc_list->erase(svc);
 // ALL pointers into the ATC list are now invalid,
 // so let's reset them:

diff --git a/src/ATCDCL/ATCmgr.hxx b/src/ATCDCL/ATCmgr.hxx
index 13349490db63ed1286f507b0f832347dbd9b0570..c21d0c5f3bacf5a9d3722b58c7bffe9b124536ba 100644 (file)
--- a/src/ATCDCL/ATCmgr.hxx
+++ b/src/ATCDCL/ATCmgr.hxx
@@ -156,9 +156,6 @@ public:
        // Returns zero if not found
        unsigned short int GetFrequency(const string& ident, const atc_type& tp);
        
-       // Register the fact that the AI system wants to activate an airport
-       bool AIRegisterAirport(const string& ident);
-       
        // Register the fact that the comm radio is tuned to an airport
        bool CommRegisterAirport(const string& ident, int chan, const atc_type& tp);
        

diff --git a/src/ATCDCL/Makefile.am b/src/ATCDCL/Makefile.am
index a7c199283665db5332d0d6ee7a550eb05e86eeb9..eecca04f2dfcac8614d0f59ed487930d94054142 100644 (file)
--- a/src/ATCDCL/Makefile.am
+++ b/src/ATCDCL/Makefile.am
@@ -12,11 +12,6 @@ libATCDCL_a_SOURCES = \
        ATCmgr.hxx ATCmgr.cxx \
        ATCutils.hxx ATCutils.cxx \
        ATCProjection.hxx ATCProjection.cxx \
-       AIMgr.hxx AIMgr.cxx \
-       AIEntity.hxx AIEntity.cxx \
-       AIPlane.hxx AIPlane.cxx \
-       AILocalTraffic.hxx AILocalTraffic.cxx \
-       AIGAVFRTraffic.hxx AIGAVFRTraffic.cxx \
        transmission.hxx transmission.cxx \
        transmissionlist.hxx transmissionlist.cxx
 

diff --git a/src/ATCDCL/atis.cxx b/src/ATCDCL/atis.cxx
index 67c108f4bfaba8774a5ed6da6fb35cbc65ddba74..0747903de5b49ca9004bdf3514ec52dcbb11d196 100644 (file)
--- a/src/ATCDCL/atis.cxx
+++ b/src/ATCDCL/atis.cxx
@@ -63,10 +63,9 @@ using boost::ref;
 using boost::tie;
 
 FGATIS::FGATIS() :
-  transmission(""),
-  trans_ident(""),
   old_volume(0),
   atis_failed(false),
+  msg_OK(0),
   attention(0),
   _prev_display(0),
   refname("atis")

diff --git a/src/ATCDCL/ground.cxx b/src/ATCDCL/ground.cxx
index 08a3206133fc8d6aabb3a53b451897f8db604ddb..f345852b06f6e388649e30902339841b364c1097 100644 (file)
--- a/src/ATCDCL/ground.cxx
+++ b/src/ATCDCL/ground.cxx
@@ -36,7 +36,6 @@
 
 #include "ground.hxx"
 #include "ATCutils.hxx"
-#include "AILocalTraffic.hxx"
 #include "ATCmgr.hxx"
 
 using std::ifstream;
@@ -290,64 +289,6 @@ void FGGround::Init() {
 }
 
 void FGGround::Update(double dt) {
-       // Each time step, what do we need to do?
-       // We need to go through the list of outstanding requests and acknowedgements
-       // and process at least one of them.
-       // We need to go through the list of planes under our control and check if
-       // any need to be addressed.
-       // We need to check for planes not under our control coming within our 
-       // control area and address if necessary.
-       
-       // Lets take the example of a plane which has just contacted ground
-       // following landing - presumably requesting where to go?
-       // First we need to establish the position of the plane within the logical network.
-       // Next we need to decide where its going.
-       
-       if(ground_traffic.size()) {
-               if(ground_traffic_itr == ground_traffic.end()) {
-                       ground_traffic_itr = ground_traffic.begin();
-               }
-               
-               //Process(*ground_traffic_itr);
-               GroundRec* g = *ground_traffic_itr;
-               if(g->taxiRequestOutstanding) {
-                       double responseTime = 10.0;             // seconds - this should get more sophisticated at some point
-                       if(g->clearanceCounter > responseTime) {
-                               // DO CLEARANCE
-                               // TODO - move the mechanics of making up the transmission out of the main Update(...) routine.
-                               string trns = "";
-                               trns += g->plane.callsign;
-                               trns += " taxi holding point runway ";  // TODO - add the holding point name
-                               // eg " taxi holding point G2 runway "
-                               trns += ConvertRwyNumToSpokenString(activeRwy);
-                               if(_display) {
-                                       fgSetString("/sim/messages/ground", trns.c_str());
-                               }
-                               g->planePtr->RegisterTransmission(1);   // cleared to taxi
-                               g->clearanceCounter = 0.0;
-                               g->taxiRequestOutstanding = false;
-                       } else {
-                               g->clearanceCounter += (dt * ground_traffic.size());
-                       }
-               } else if(((FGAILocalTraffic*)(g->planePtr))->AtHoldShort()) {          // That's a hack - eventually we should monitor actual position
-                       // HACK ALERT - the automatic cast to AILocalTraffic has to go once we have other sorts working!!!!! FIXME TODO
-                       // NOTE - we don't need to do the contact tower bit unless we have separate tower and ground
-                       string trns = g->plane.callsign;
-                       trns += " contact Tower ";
-                       double f = globals->get_ATC_mgr()->GetFrequency(ident, TOWER) / 100.0;
-                       char buf[10];
-                       sprintf(buf, "%.2f", f);
-                       trns += buf;
-                       if(_display) {
-                               fgSetString("/sim/messages/ground", trns.c_str());
-                       }
-                       g->planePtr->RegisterTransmission(2);   // contact tower
-                       delete *ground_traffic_itr;
-                       ground_traffic.erase(ground_traffic_itr);
-                       ground_traffic_itr = ground_traffic.begin();
-               }                               
-               ++ground_traffic_itr;
-       }
        
        // Call the base class update for the response time handling.
        FGATC::Update(dt);
@@ -362,7 +303,11 @@ void FGGround::DoRwyDetails() {
        //cout << "GetRwyDetails called" << endl;
                
   const FGAirport* apt = fgFindAirportID(ident);
-  assert(apt);
+  if (!apt) {
+    SG_LOG(SG_ATC, SG_WARN, "FGGround::DoRwyDetails: unknown ICAO:" << ident);
+    return;
+  }
+  
        FGRunway* runway = apt->getActiveRunwayForUsage();
 
   activeRwy = runway->ident();
@@ -653,68 +598,3 @@ node_array_type FGGround::GetExits(const string& rwyID) {
        // FIXME - get a 07L or similar in here and we're stuffed!!!
        return(runways[atoi(rwyID.c_str())].exits);
 }
-
-void FGGround::RequestDeparture(const PlaneRec& plane, FGAIEntity* requestee) {
-       // For now we'll just automatically clear all planes to the runway hold.
-       // This communication needs to be delayed 20 sec or so from receiving the request.
-       // Even if display=false we still need to start the timer in case display=true when communication starts.
-       // We also need to bear in mind we also might have other outstanding communications, although for now we'll punt that issue!
-       // FIXME - sort the above!
-       
-       // HACK - assume that anything requesting departure is new for now - FIXME LATER
-       GroundRec* g = new GroundRec;
-       g->plane = plane;
-       g->planePtr = requestee;
-       g->taxiRequestOutstanding = true;
-       g->clearanceCounter = 0;
-       g->cleared = false;
-       g->incoming = false;
-       // TODO - need to handle the next 3 as well
-    //node* destination;
-    //node* last_clearance;
-       
-       ground_traffic.push_back(g);
-}
-
-#if 0
-void FGGround::NewArrival(plane_rec plane) {
-       // What are we going to do here?
-       // We need to start a new ground_rec and add the plane_rec to it
-       // We need to decide what gate we are going to clear it to.
-       // Then we need to add clearing it to that gate to the pending transmissions queue? - or simply transmit?
-       // Probably simply transmit for now and think about a transmission queue later if we need one.
-       // We might need one though in order to add a little delay for response time.
-       ground_rec* g = new ground_rec;
-       g->plane_rec = plane;
-       g->current_pos = ConvertWGS84ToXY(plane.pos);
-       g->node = GetNode(g->current_pos);  // TODO - might need to sort out node/arc here
-       AssignGate(g);
-       g->cleared = false;
-       ground_traffic.push_back(g);
-       NextClearance(g);
-}
-
-void FGGround::NewContact(plane_rec plane) {
-       // This is a bit of a convienience function at the moment and is likely to change.
-       if(at a gate or apron)
-               NewDeparture(plane);
-       else
-               NewArrival(plane);
-}
-
-void FGGround::NextClearance(ground_rec &g) {
-       // Need to work out where we can clear g to.
-       // Assume the pilot doesn't need progressive instructions
-       // We *should* already have a gate or holding point assigned by the time we get here
-       // but it wouldn't do any harm to check.
-       
-       // For now though we will hardwire it to clear to the final destination.
-}
-
-void FGGround::AssignGate(ground_rec &g) {
-       // We'll cheat for now - since we only have the user's aircraft and a couple of airports implemented
-       // we'll hardwire the gate!
-       // In the long run the logic of which gate or area to send the plane to could be somewhat non-trivial.
-}
-#endif //0
-

diff --git a/src/ATCDCL/ground.hxx b/src/ATCDCL/ground.hxx
index 257ffdad86b3a5092266c9d36f441d23e3740dcd..3457874758a72126573bad279f9f529076b4bc96 100644 (file)
--- a/src/ATCDCL/ground.hxx
+++ b/src/ATCDCL/ground.hxx
@@ -34,7 +34,6 @@
 
 #include <string>
 
-class FGAIEntity;
 class FGATCMgr;
 
 //////////////////////////////////////////////////////
@@ -176,9 +175,7 @@ typedef shortest_path_map_type::iterator shortest_path_map_iterator;
 // Planes active within the ground network.
 
 // A more specialist plane rec to include ground information
-struct GroundRec {
-    FGAIEntity* planePtr;      // This might move to the planeRec eventually
-       
+struct GroundRec {     
     PlaneRec plane;
     node* destination;
     node* last_clearance;
@@ -211,19 +208,6 @@ public:
     void Update(double dt);
        
        inline const std::string& get_trans_ident() { return trans_ident; }
-
-    // Contact ground control on arrival, assumed to request any gate
-    //void NewArrival(plane_rec plane);
-
-    // Contact ground control on departure, assumed to request currently active runway.
-    void RequestDeparture(const PlaneRec& plane, FGAIEntity* requestee);
-
-    // Contact ground control when the calling routine doesn't know if arrival
-    // or departure is appropriate.
-    //void NewContact(plane_rec plane);
-
-    // Make a request of ground control.
-    //void Request(ground_request request);
        
        // Randomly fill some of the available gates and GA parking spots with planes
        void PopulateGates();

diff --git a/src/ATCDCL/tower.cxx b/src/ATCDCL/tower.cxx
index fa54b15cf8804d352001b347424c34057df33eb3..f765fa4ee486eabdb9d480d139da001ce911cb1e 100644 (file)
--- a/src/ATCDCL/tower.cxx
+++ b/src/ATCDCL/tower.cxx
@@ -42,11 +42,11 @@
 #include <Airports/runways.hxx>
 
 #include "tower.hxx"
+#include "ground.hxx"
 #include "ATCmgr.hxx"
 #include "ATCutils.hxx"
 #include "ATCDialog.hxx"
 #include "commlist.hxx"
-#include "AILocalTraffic.hxx"
 
 
 using std::cout;
@@ -54,7 +54,6 @@ using std::cout;
 // TowerPlaneRec
 
 TowerPlaneRec::TowerPlaneRec() :
-       planePtr(NULL),
        eta(0),
        dist_out(0),
        clearedToLand(false),
@@ -86,7 +85,6 @@ TowerPlaneRec::TowerPlaneRec() :
 }
 
 TowerPlaneRec::TowerPlaneRec(const PlaneRec& p) :
-       planePtr(NULL),
        eta(0),
        dist_out(0),
        clearedToLand(false),
@@ -118,7 +116,6 @@ TowerPlaneRec::TowerPlaneRec(const PlaneRec& p) :
 }
 
 TowerPlaneRec::TowerPlaneRec(const SGGeod& pt) :
-       planePtr(NULL),
        eta(0),
        dist_out(0),
        clearedToLand(false),
@@ -151,7 +148,6 @@ TowerPlaneRec::TowerPlaneRec(const SGGeod& pt) :
 }
 
 TowerPlaneRec::TowerPlaneRec(const PlaneRec& p, const SGGeod& pt) :
-       planePtr(NULL),
        eta(0),
        dist_out(0),
        clearedToLand(false),
@@ -345,7 +341,6 @@ void FGTower::Init() {
                t->landingType = AIP_LT_UNKNOWN;
                t->leg = TAKEOFF_ROLL;
                t->isUser = true;
-               t->planePtr = NULL;
                t->clearedToTakeOff = false;
                rwyList.push_back(t);
                rwyListItr = rwyList.begin();
@@ -508,8 +503,6 @@ void FGTower::Respond() {
                                t->opType = STRAIGHT_IN;
                                if(t->isUser) {
                                        current_atcdialog->add_entry(ident, "@CS @MI mile final runway @RW@GR", "Report Final", TOWER, (int)USER_REPORT_3_MILE_FINAL);
-                               } else {
-                                       t->planePtr->RegisterTransmission(14);
                                }
                        } else {
                                // For now we'll just request reporting downwind.
@@ -523,8 +516,6 @@ void FGTower::Respond() {
                                // leave it in the app list until it gets into pattern though.
                                if(t->isUser) {
                                        current_atcdialog->add_entry(ident, "@AP Tower, @CS Downwind @RW", "Report Downwind", TOWER, (int)USER_REPORT_DOWNWIND);
-                               } else {
-                                       t->planePtr->RegisterTransmission(15);
                                }
                        }
                        trns += ConvertRwyNumToSpokenString(activeRwy);
@@ -635,8 +626,6 @@ void FGTower::Respond() {
                                        // or put rwy vacated at the top since that'll be more common?
                                        current_atcdialog->add_entry(ident, "@CS Going Around", "Report going around", TOWER, USER_REPORT_GOING_AROUND);
                                        current_atcdialog->add_entry(ident, "@CS Clear of the runway", "Report runway vacated", TOWER, USER_REPORT_RWY_VACATED);
-                               } else {
-                                       t->planePtr->RegisterTransmission(7);
                                }
                        } else if(t->eta < 20) {
                                // Do nothing - we'll be telling it to go around in less than 10 seconds if the
@@ -650,8 +639,6 @@ void FGTower::Respond() {
                                t->opType = CIRCUIT;
                                if(t->isUser) {
                                        current_atcdialog->add_entry(ident, "@AP Tower, @CS Downwind @RW", "Report Downwind", TOWER, (int)USER_REPORT_DOWNWIND);
-                               } else {
-                                       t->planePtr->RegisterTransmission(15);
                                }
                                t->clearedToLand = false;
                        }
@@ -705,7 +692,6 @@ void FGTower::ProcessDownwindReport(TowerPlaneRec* t) {
        if((i == 1) && rwyList.empty() && (t->nextOnRwy) && (!cf)) {    // Unfortunately nextOnRwy currently doesn't handle circuit/straight-in ordering properly at present, hence the cf check below.
                trns += "Cleared to land";      // TODO - clear for the option if appropriate
                t->clearedToLand = true;
-               if(!t->isUser) t->planePtr->RegisterTransmission(7);
        } else if((i+a) > 1) {
                //First set tt to point to the correct preceding plane - final or circuit
                if(tc && tf) {
@@ -728,8 +714,6 @@ void FGTower::ProcessDownwindReport(TowerPlaneRec* t) {
                        PatternLeg leg;
                        if(tt->isUser) {
                                leg = tt->leg;
-                       } else {
-                               leg = tt->planePtr->GetLeg();
                        }
                        if(leg == FINAL) {
                                trns += " on final";
@@ -777,11 +761,9 @@ void FGTower::ProcessRunwayVacatedReport(TowerPlaneRec* t) {
                sprintf(buf, "%.2f", f);
                trns += buf;
                trns += " Good Day";
-               if(!t->isUser) t->planePtr->RegisterTransmission(5);
        } else {
                // Cop-out!!
                trns += " cleared for taxi to general aviation parking";
-               if(!t->isUser) t->planePtr->RegisterTransmission(6);    // TODO - this is a mega-hack!!
        }
        //cout << "trns = " << trns << '\n';
        if(_display) {
@@ -806,7 +788,6 @@ void FGTower::ClearHoldingPlane(TowerPlaneRec* t) {
        //if(timeSinceLastDeparture <= 60.0 && departed == true) {
                trns += " line up runway " + ConvertRwyNumToSpokenString(activeRwy);
                t->clearedToLineUp = true;
-               t->planePtr->RegisterTransmission(3);   // cleared to line-up
        //} else if(arriving plane < some threshold away) {
        } else if(GetTrafficETA(2) < 150.0 && (timeSinceLastDeparture > 60.0 || departed == false)) {   // Hack - hardwired time
                trns += " cleared immediate take-off";
@@ -884,7 +865,6 @@ void FGTower::ClearHoldingPlane(TowerPlaneRec* t) {
                        SG_LOG(SG_ATC, SG_WARN, "Warning: Departing traffic cleared for *immediate* take-off despite no arriving traffic in FGTower");
                }
                t->clearedToTakeOff = true;
-               t->planePtr->RegisterTransmission(4);   // cleared to take-off - TODO differentiate between immediate and normal take-off
                departed = false;
                timeSinceLastDeparture = 0.0;
        } else {
@@ -892,7 +872,6 @@ void FGTower::ClearHoldingPlane(TowerPlaneRec* t) {
                trns += " cleared for take-off";
                // TODO - add traffic is... ?
                t->clearedToTakeOff = true;
-               t->planePtr->RegisterTransmission(4);   // cleared to take-off
                departed = false;
                timeSinceLastDeparture = 0.0;
        }
@@ -968,10 +947,6 @@ void FGTower::CheckCircuitList(double dt) {
                        t->pos.setLatitudeDeg(user_lat_node->getDoubleValue());
                        t->pos.setElevationM(user_elev_node->getDoubleValue());
                        //cout << ident <<  ' ' << circuitList.size() << ' ' << t->plane.callsign << " " << t->leg << " eta " << t->eta << '\n';
-               } else {
-                       t->pos = t->planePtr->getPos();         // We should probably only set the pos's on one walk through the traffic list in the update function, to save a few CPU should we end up duplicating this.
-                       t->landingType = t->planePtr->GetLandingOption();
-                       //cout << "AI plane landing option is " << t->landingType << '\n';
                }
                SGVec3d tortho = ortho.ConvertToLocal(t->pos);
                if(t->isUser) {
@@ -1059,8 +1034,6 @@ void FGTower::CheckCircuitList(double dt) {
                                        t->leg = LANDING_ROLL;
                                }
                        }
-               } else {
-                       t->leg = t->planePtr->GetLeg();
                }
                
                // Set the constraints IF this is the first plane in the circuit
@@ -1151,10 +1124,6 @@ void FGTower::CheckCircuitList(double dt) {
                                        // Assume it complies!!!
                                        t->opType = CIRCUIT;
                                        t->leg = CLIMBOUT;
-                                       if(t->planePtr) {
-                                               //cout << "Registering Go-around transmission with AI plane\n";
-                                               t->planePtr->RegisterTransmission(13);
-                                       }
                                }
                        } else if(!t->clearedToLand) {
                                // The whip through the appList is a hack since currently t->nextOnRwy doesn't always work
@@ -1173,9 +1142,6 @@ void FGTower::CheckCircuitList(double dt) {
                                                Transmit();
                                                //if(t->isUser) cout << "Transmitting cleared to Land!!!\n";
                                                t->clearedToLand = true;
-                                               if(!t->isUser) {
-                                                       t->planePtr->RegisterTransmission(7);
-                                               }
                                        }
                                } else {
                                        //if(t->isUser) cout << "Not next\n";
@@ -1219,8 +1185,6 @@ void FGTower::CheckRunwayList(double dt) {
                                t->pos.setLongitudeDeg(user_lon_node->getDoubleValue());
                                t->pos.setLatitudeDeg(user_lat_node->getDoubleValue());
                                t->pos.setElevationM(user_elev_node->getDoubleValue());
-                       } else {
-                               t->pos = t->planePtr->getPos();         // We should probably only set the pos's on one walk through the traffic list in the update function, to save a few CPU should we end up duplicating this.
                        }
                        bool on_rwy = OnActiveRunway(t->pos);
                        if(!on_rwy) {
@@ -1283,8 +1247,6 @@ void FGTower::CheckApproachList(double dt) {
                        t->pos.setLongitudeDeg(user_lon_node->getDoubleValue());
                        t->pos.setLatitudeDeg(user_lat_node->getDoubleValue());
                        t->pos.setElevationM(user_elev_node->getDoubleValue());
-               } else {
-                       // TODO - set/update the position if it's an AI plane
                }
                doThresholdETACalc();   // We need this here because planes in the lists are not guaranteed to *always* have the correct ETA
                //cout << "eta is " << t->eta << ", rwy is " << (rwyList.size() ? "occupied " : "clear ") << '\n';
@@ -1313,12 +1275,7 @@ void FGTower::CheckApproachList(double dt) {
                                // Assume it complies!!!
                                t->opType = CIRCUIT;
                                t->leg = CLIMBOUT;
-                               if(!t->isUser) {
-                                       if(t->planePtr) {
-                                               //cout << "Registering Go-around transmission with AI plane\n";
-                                               t->planePtr->RegisterTransmission(13);
-                                       }
-                               } else {
+                               if(t->isUser) {
                                        // TODO - add Go-around ack to comm options,
                                        // remove report rwy vacated. (possibly).
                                }
@@ -1358,9 +1315,6 @@ void FGTower::CheckApproachList(double dt) {
                                        Transmit();
                                        //if(t->isUser) cout << "Transmitting cleared to Land!!!\n";
                                        t->clearedToLand = true;
-                                       if(!t->isUser) {
-                                               t->planePtr->RegisterTransmission(7);
-                                       }
                                }
                        } else {
                                //if(t->isUser) cout << "Not next\n";
@@ -1369,15 +1323,7 @@ void FGTower::CheckApproachList(double dt) {
                
                // Check for landing...
                bool landed = false;
-               if(!t->isUser) {
-                       if(t->planePtr) {
-                               if(t->planePtr->GetLeg() == LANDING_ROLL) {
-                                       landed = true;
-                               }
-                       } else {
-                               SG_LOG(SG_ATC, SG_ALERT, "WARNING - not user and null planePtr in CheckApproachList!");
-                       }
-               } else {        // user
+               if(t->isUser) {
                        if(OnActiveRunway(t->pos)) {
                                landed = true;
                        }
@@ -1417,9 +1363,10 @@ void FGTower::CheckDepartureList(double dt) {
                //cout << "Dep list, checking " << t->plane.callsign;
                
                double distout; // meters
-               if(t->isUser) distout = dclGetHorizontalSeparation(_geod, 
-      SGGeod::fromDegM(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), user_elev_node->getDoubleValue()));
-               else distout = dclGetHorizontalSeparation(_geod, t->planePtr->getPos());
+               if(t->isUser) {
+                       distout = dclGetHorizontalSeparation(_geod, 
+                               SGGeod::fromDegM(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), user_elev_node->getDoubleValue()));
+               }
                //cout << " distout = " << distout << '\n';
                if(t->isUser && !(t->clearedToTakeOff)) {       // HACK - we use clearedToTakeOff to check if ATC already contacted with plane (and cleared take-off) or not
                        if(!OnAnyRunway(SGGeod::fromDegM(user_lon_node->getDoubleValue(), user_lat_node->getDoubleValue(), 0.0), false)) {
@@ -1437,9 +1384,6 @@ void FGTower::CheckDepartureList(double dt) {
                                RemoveAllUserDialogOptions();
                                //cout << "ADD A\n";
                                current_atcdialog->add_entry(ident, "@AP Tower, @CS @MI miles @CD of the airport for full stop@AT", "Contact tower for VFR arrival (full stop)", TOWER, (int)USER_REQUEST_VFR_ARRIVAL_FULL_STOP);
-                       } else {
-                               // Send a clear-of-airspace signal
-                               // TODO - implement this once we actually have departing AI traffic (currently all circuits or arrivals).
                        }
                        RemovePlane(t->plane.callsign);
                } else {
@@ -1505,7 +1449,11 @@ void FGTower::DoRwyDetails() {
        // Based on the airport-id and wind get the active runway
        
   const FGAirport* apt = fgFindAirportID(ident);
-  assert(apt);
+  if (!apt) {
+    SG_LOG(SG_ATC, SG_WARN, "FGTower::DoRwyDetails: unknown ICAO:" << ident);
+    return;
+  }
+  
        FGRunway* runway = apt->getActiveRunwayForUsage();
 
   activeRwy = runway->ident();
@@ -1943,16 +1891,12 @@ void FGTower::doThresholdETACalc() {
        // Do the approach list first
        for(twrItr = appList.begin(); twrItr != appList.end(); twrItr++) {
                TowerPlaneRec* tpr = *twrItr;
-               if(!(tpr->isUser)) tpr->pos = tpr->planePtr->getPos();
-               //cout << "APP: ";
                CalcETA(tpr);
        }       
        // Then the circuit list
        //cout << "Circuit list size is " << circuitList.size() << '\n';
        for(twrItr = circuitList.begin(); twrItr != circuitList.end(); twrItr++) {
                TowerPlaneRec* tpr = *twrItr;
-               if(!(tpr->isUser)) tpr->pos = tpr->planePtr->getPos();
-               //cout << "CIRC: ";
                CalcETA(tpr);
        }
        //cout << "Done doThresholdETCCalc" << endl;
@@ -2031,65 +1975,6 @@ double FGTower::GetTrafficETA(unsigned int list_pos, bool printout) {
        //cout << "ETA returned = " << tpr->eta << '\n';
        return(tpr->eta);
 }
-       
-
-void FGTower::ContactAtHoldShort(const PlaneRec& plane, FGAIPlane* requestee, tower_traffic_type operation) {
-       // HACK - assume that anything contacting at hold short is new for now - FIXME LATER
-       TowerPlaneRec* t = new TowerPlaneRec;
-       t->plane = plane;
-       t->planePtr = requestee;
-       t->holdShortReported = true;
-       t->clearedToLineUp = false;
-       t->clearedToTakeOff = false;
-       t->opType = operation;
-       t->pos = requestee->getPos();
-       
-       //cout << "Hold Short reported by " << plane.callsign << '\n';
-       SG_LOG(SG_ATC, SG_BULK, "Hold Short reported by " << plane.callsign);
-
-/*     
-       bool next = AddToTrafficList(t, true);
-       if(next) {
-               double teta = GetTrafficETA(2);
-               if(teta < 150.0) {
-                       t->clearanceCounter = 7.0;      // This reduces the delay before response to 3 secs if an immediate takeoff is reqd
-                       //cout << "Reducing response time to request due imminent traffic\n";
-               }
-       } else {
-       }
-*/
-       // TODO - possibly add the reduced interval to clearance when immediate back in under the new scheme
-
-       holdList.push_back(t);
-       
-       responseReqd = true;
-}
-
-// Register the presence of an AI plane at a point where contact would already have been made in real life
-// CAUTION - currently it is assumed that this plane's callsign is unique - it is up to AIMgr to generate unique callsigns.
-void FGTower::RegisterAIPlane(const PlaneRec& plane, FGAIPlane* ai, const tower_traffic_type& op, const PatternLeg& lg) {
-       // At the moment this is only going to be tested with inserting an AI plane on downwind
-       TowerPlaneRec* t = new TowerPlaneRec;
-       t->plane = plane;
-       t->planePtr = ai;
-       t->opType = op;
-       t->leg = lg;
-       t->pos = ai->getPos();
-       
-       CalcETA(t);
-       
-       if(op == CIRCUIT && lg != LEG_UNKNOWN) {
-               AddToCircuitList(t);
-       } else {
-               // FLAG A WARNING
-       }
-       
-       doThresholdUseOrder();
-}
-
-void FGTower::DeregisterAIPlane(const string& id) {
-       RemovePlane(id);
-}
 
 // Contact tower for VFR approach
 // eg "Cessna Charlie Foxtrot Golf Foxtrot Sierra eight miles South of the airport for full stop with Bravo"
@@ -2147,33 +2032,6 @@ void FGTower::VFRArrivalContact(const string& ID, const LandingType& opt) {
        current_atcdialog->remove_entry(ident, USER_REQUEST_VFR_ARRIVAL_TOUCH_AND_GO, TOWER);
 }
 
-// landingType defaults to AIP_LT_UNKNOWN
-void FGTower::VFRArrivalContact(const PlaneRec& plane, FGAIPlane* requestee, const LandingType& lt) {
-       //cout << "VFRArrivalContact called for plane " << plane.callsign << " at " << ident << '\n';
-       // Possible hack - assume this plane is new for now - TODO - should check really
-       TowerPlaneRec* t = new TowerPlaneRec;
-       t->plane = plane;
-       t->planePtr = requestee;
-       t->landingType = lt;
-       t->pos = requestee->getPos();
-       
-       //cout << "Hold Short reported by " << plane.callsign << '\n';
-       SG_LOG(SG_ATC, SG_BULK, "VFR arrival contact made by " << plane.callsign);
-       //cout << "VFR arrival contact made by " << plane.callsign << '\n';
-
-       // HACK - to get up and running I'm going to assume a staight-in final for now.
-       t->opType = STRAIGHT_IN;
-       
-       t->vfrArrivalReported = true;
-       responseReqd = true;
-       
-       //cout << "Before adding, appList.size = " << appList.size() << " at " << ident << '\n';
-       appList.push_back(t);   // Not necessarily permanent
-       appListItr = appList.begin();
-       //cout << "After adding, appList.size = " << appList.size() << " at " << ident << '\n';
-       AddToTrafficList(t);
-}
-
 void FGTower::RequestDepartureClearance(const string& ID) {
        //cout << "Request Departure Clearance called...\n";
 }
@@ -2384,9 +2242,6 @@ void FGTower::ReportDownwind(const string& ID) {
                        t->pos.setLongitudeDeg(user_lon_node->getDoubleValue());
                        t->pos.setLatitudeDeg(user_lat_node->getDoubleValue());
                        t->pos.setElevationM(user_elev_node->getDoubleValue());
-               } else {
-                       // ASSERT(t->planePtr != NULL);
-                       t->pos = t->planePtr->getPos();
                }
                CalcETA(t);
                AddToCircuitList(t);
@@ -2413,9 +2268,6 @@ void FGTower::ReportGoingAround(const string& ID) {
                        t->pos.setLongitudeDeg(user_lon_node->getDoubleValue());
                        t->pos.setLatitudeDeg(user_lat_node->getDoubleValue());
                        t->pos.setElevationM(user_elev_node->getDoubleValue());
-               } else {
-                       // ASSERT(t->planePtr != NULL);
-                       t->pos = t->planePtr->getPos();
                }
                CalcETA(t);
                AddToCircuitList(t);
@@ -2655,3 +2507,32 @@ ostream& operator << (ostream& os, tower_traffic_type ttt) {
        return(os << "ERROR - Unknown switch in tower_traffic_type operator << ");
 }
 
+ostream& operator << (ostream& os, PatternLeg pl) {
+       switch(pl) {
+       case(TAKEOFF_ROLL):   return(os << "TAKEOFF ROLL");
+       case(CLIMBOUT):       return(os << "CLIMBOUT");
+       case(TURN1):          return(os << "TURN1");
+       case(CROSSWIND):      return(os << "CROSSWIND");
+       case(TURN2):          return(os << "TURN2");
+       case(DOWNWIND):       return(os << "DOWNWIND");
+       case(TURN3):          return(os << "TURN3");
+       case(BASE):           return(os << "BASE");
+       case(TURN4):          return(os << "TURN4");
+       case(FINAL):          return(os << "FINAL");
+       case(LANDING_ROLL):   return(os << "LANDING ROLL");
+       case(LEG_UNKNOWN):    return(os << "UNKNOWN");
+       }
+       return(os << "ERROR - Unknown switch in PatternLeg operator << ");
+}
+
+
+ostream& operator << (ostream& os, LandingType lt) {
+       switch(lt) {
+       case(FULL_STOP):      return(os << "FULL STOP");
+       case(STOP_AND_GO):    return(os << "STOP AND GO");
+       case(TOUCH_AND_GO):   return(os << "TOUCH AND GO");
+       case(AIP_LT_UNKNOWN): return(os << "UNKNOWN");
+       }
+       return(os << "ERROR - Unknown switch in LandingType operator << ");
+}
+

diff --git a/src/ATCDCL/tower.hxx b/src/ATCDCL/tower.hxx
index a09536993f1df57c16ef2b6e6a50ef79da89ed56..fa7115c0ddaefafae25dcdc05a83d0406956bd1a 100644 (file)
--- a/src/ATCDCL/tower.hxx
+++ b/src/ATCDCL/tower.hxx
@@ -31,7 +31,6 @@
 
 #include "ATC.hxx"
 #include "ATCProjection.hxx"
-#include "AIPlane.hxx"
 
 class FGATCMgr;
 class FGGround;
@@ -49,6 +48,32 @@ enum tower_traffic_type {
 
 ostream& operator << (ostream& os, tower_traffic_type ttt);
 
+enum PatternLeg {
+       TAKEOFF_ROLL,
+       CLIMBOUT,
+       TURN1,
+       CROSSWIND,
+       TURN2,
+       DOWNWIND,
+       TURN3,
+       BASE,
+       TURN4,
+       FINAL,
+       LANDING_ROLL,
+       LEG_UNKNOWN
+};
+
+ostream& operator << (ostream& os, PatternLeg pl);
+
+enum LandingType {
+       FULL_STOP,
+       STOP_AND_GO,
+       TOUCH_AND_GO,
+       AIP_LT_UNKNOWN
+};
+
+ostream& operator << (ostream& os, LandingType lt);
+
 enum tower_callback_type {
        USER_REQUEST_VFR_DEPARTURE = 1,
        USER_REQUEST_VFR_ARRIVAL = 2,
@@ -74,7 +99,6 @@ public:
        TowerPlaneRec(const SGGeod& pt);
        TowerPlaneRec(const PlaneRec& p, const SGGeod& pt);
        
-       FGAIPlane* planePtr;    // This might move to the planeRec eventually
        PlaneRec plane;
        
        SGGeod pos;
@@ -136,8 +160,6 @@ public:
        // eg "Cessna Charlie Foxtrot Golf Foxtrot Sierra eight miles South of the airport for full stop with Bravo"
        // This function probably only called via user interaction - AI planes will have an overloaded function taking a planerec.
        void VFRArrivalContact(const std::string& ID, const LandingType& opt = AIP_LT_UNKNOWN);
-       // For the AI planes...
-       void VFRArrivalContact(const PlaneRec& plane, FGAIPlane* requestee, const LandingType& lt = AIP_LT_UNKNOWN);
        
        void RequestDepartureClearance(const std::string& ID);
        void RequestTakeOffClearance(const std::string& ID);
@@ -151,16 +173,6 @@ public:
        void ReportDownwind(const std::string& ID);
        void ReportGoingAround(const std::string& ID);
        
-       // Contact tower when at a hold short for departure - for now we'll assume plane - maybe vehicles might want to cross runway eventually?
-       void ContactAtHoldShort(const PlaneRec& plane, FGAIPlane* requestee, tower_traffic_type operation);
-       
-       // Register the presence of an AI plane at a point where contact would already have been made in real life
-       // CAUTION - currently it is assumed that this plane's callsign is unique - it is up to AIMgr to generate unique callsigns.
-       void RegisterAIPlane(const PlaneRec& plane, FGAIPlane* ai, const tower_traffic_type& op, const PatternLeg& lg = LEG_UNKNOWN);
-       
-       // Deregister and remove an AI plane.
-       void DeregisterAIPlane(const std::string& id);
-       
        // Public interface to the active runway - this will get more complex 
        // in the future and consider multi-runway use, airplane weight etc.
        inline const std::string& GetActiveRunway() const { return activeRwy; }

diff --git a/src/ATCDCL/transmission.cxx b/src/ATCDCL/transmission.cxx
index 9f77af9393fe67359919a8d7a37ac2dbea6fbc8d..5c1d01572229ceed9c3a3d472e766edf3813bb02 100644 (file)
--- a/src/ATCDCL/transmission.cxx
+++ b/src/ATCDCL/transmission.cxx
@@ -25,6 +25,8 @@
 
 #include "transmission.hxx"
 
+#include <cstring>
+
 #include <simgear/debug/logstream.hxx>
 #include <simgear/misc/sg_path.hxx>
 

diff --git a/src/Aircraft/Makefile.am b/src/Aircraft/Makefile.am
index 25dcd510d0e3462a4bd540d1a4bc562a4d590dad..02b586a9f2f514bc75bec386ea90028a3a41f6cc 100644 (file)
--- a/src/Aircraft/Makefile.am
+++ b/src/Aircraft/Makefile.am
@@ -1,7 +1,6 @@
 noinst_LIBRARIES = libAircraft.a
 
 libAircraft_a_SOURCES = \
-       aircraft.cxx aircraft.hxx \
        controls.cxx controls.hxx \
        replay.cxx replay.hxx
 

diff --git a/src/Aircraft/aircraft.cxx b/src/Aircraft/aircraft.cxx
deleted file mode 100644 (file)
index ba760a3..0000000
--- a/src/Aircraft/aircraft.cxx
+++ /dev/null
@@ -1,242 +0,0 @@
-// aircraft.cxx -- various aircraft routines
-//
-// Written by Curtis Olson, started May 1997.
-//
-// 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
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-//
-// $Id$
-
-#ifdef HAVE_CONFIG_H
-#  include "config.h"
-#endif
-
-#include <cstdio>
-#include <cstring>             // strdup
-
-#include <plib/ul.h>
-
-#include <simgear/constants.h>
-#include <simgear/debug/logstream.hxx>
-#include <simgear/misc/sg_path.hxx>
-#include <simgear/structure/commands.hxx>
-#include <simgear/structure/exception.hxx>
-#include <simgear/sound/soundmgr_openal.hxx>
-
-#include <Main/globals.hxx>
-#include <Main/fg_init.hxx>
-#include <Main/fg_props.hxx>
-#include <Main/viewmgr.hxx>
-#include <Cockpit/panel.hxx>
-#include <Cockpit/hud.hxx>
-#include <Cockpit/panel_io.hxx>
-#include <Model/acmodel.hxx>
-
-#include "aircraft.hxx"
-
-
-// This is a record containing all the info for the aircraft currently
-// being operated
-fgAIRCRAFT current_aircraft;
-
-
-// Initialize an Aircraft structure
-void fgAircraftInit( void ) {
-    SG_LOG( SG_AIRCRAFT, SG_INFO, "Initializing Aircraft structure" );
-
-    current_aircraft.fdm_state   = cur_fdm_state;
-    current_aircraft.controls = globals->get_controls();
-}
-
-
-// Display various parameters to stdout
-void fgAircraftOutputCurrent(fgAIRCRAFT *a) {
-    FGInterface *f;
-
-    f = a->fdm_state;
-
-    SG_LOG( SG_FLIGHT, SG_DEBUG,
-            "Pos = ("
-           << (f->get_Longitude() * 3600.0 * SGD_RADIANS_TO_DEGREES) << "," 
-           << (f->get_Latitude()  * 3600.0 * SGD_RADIANS_TO_DEGREES) << ","
-           << f->get_Altitude() 
-           << ")  (Phi,Theta,Psi)=("
-           << f->get_Phi() << "," 
-           << f->get_Theta() << "," 
-           << f->get_Psi() << ")" );
-
-    SG_LOG( SG_FLIGHT, SG_DEBUG,
-           "Kts = " << f->get_V_equiv_kts() 
-           << "  Elev = " << globals->get_controls()->get_elevator() 
-           << "  Aileron = " << globals->get_controls()->get_aileron() 
-           << "  Rudder = " << globals->get_controls()->get_rudder() 
-           << "  Power = " << globals->get_controls()->get_throttle( 0 ) );
-}
-
-
-// Show available aircraft types
-void fgReadAircraft(void) {
-
-   // SGPropertyNode *aircraft_types = fgGetNode("/sim/aircraft-types", true);
-
-   SGPath path( globals->get_fg_root() );
-   path.append("Aircraft");
-
-   ulDirEnt* dire;
-   ulDir *dirp;
-
-   dirp = ulOpenDir(path.c_str());
-   if (dirp == NULL) {
-      SG_LOG( SG_AIRCRAFT, SG_ALERT, "Unable to open aircraft directory." );
-      ulCloseDir(dirp);
-      return;
-   }
-
-   while ((dire = ulReadDir(dirp)) != NULL) {
-      char *ptr;
-
-      if ((ptr = strstr(dire->d_name, "-set.xml")) && strlen(ptr) == 8) {
-
-          *ptr = '\0';
-#if 0
-          SGPath afile = path;
-          afile.append(dire->d_name);
-
-          SGPropertyNode root;
-          try {
-             readProperties(afile.str(), &root);
-          } catch (...) {
-             continue;
-          }
-
-          SGPropertyNode *node = root.getNode("sim");
-          if (node) {
-             SGPropertyNode *desc = node->getNode("description");
-
-             if (desc) {
-                 SGPropertyNode *aircraft =
-                                aircraft_types->getChild(dire->d_name, 0, true);
-
-                aircraft->setStringValue(strdup(desc->getStringValue()));
-             }
-          }
-#endif
-      }
-   }
-
-   ulCloseDir(dirp);
-
-   globals->get_commands()->addCommand("load-aircraft", fgLoadAircraft);
-}
-
-bool
-fgLoadAircraft (const SGPropertyNode * arg)
-{
-    static const SGPropertyNode *master_freeze
-        = fgGetNode("/sim/freeze/master");
-
-    bool freeze = master_freeze->getBoolValue();
-    if ( !freeze ) {
-        fgSetBool("/sim/freeze/master", true);
-    }
-
-    // TODO:
-    //    remove electrical system
-    cur_fdm_state->unbind();
-
-    // Save the selected aircraft model since restoreInitialState
-    // will obverwrite it.
-    //
-    string aircraft = fgGetString("/sim/aircraft", "");
-    globals->restoreInitialState();
-
-    fgSetString("/sim/aircraft", aircraft.c_str());
-    fgSetString("/sim/panel/path", "Aircraft/c172p/Panels/c172-vfr-panel.xml");
-
-    if ( aircraft.size() > 0 ) {
-        SGPath aircraft_path(globals->get_fg_root());
-        aircraft_path.append("Aircraft");
-        aircraft_path.append(aircraft);
-        aircraft_path.concat("-set.xml");
-        SG_LOG(SG_INPUT, SG_INFO, "Reading default aircraft: " << aircraft
-               << " from " << aircraft_path.str());
-        try {
-            readProperties(aircraft_path.str(), globals->get_props());
-        } catch (const sg_exception &e) {
-            string message = "Error reading default aircraft: ";
-            message += e.getFormattedMessage();
-            SG_LOG(SG_INPUT, SG_ALERT, message);
-            exit(2);
-        }
-    } else {
-        SG_LOG(SG_INPUT, SG_ALERT, "No default aircraft specified");
-    }
-
-    // Initialize the (new) 2D panel.
-    //
-    string panel_path = fgGetString("/sim/panel/path",
-                                    "Aircraft/c172p/Panels/c172-vfr-panel.xml");
-
-    FGPanel *panel = fgReadPanel(panel_path);
-    if (panel == 0) {
-        SG_LOG( SG_INPUT, SG_ALERT,
-                "Error reading new panel from " << panel_path );
-    } else {
-        SG_LOG( SG_INPUT, SG_INFO, "Loaded new panel from " << panel_path );
-        globals->get_current_panel()->unbind();
-        delete globals->get_current_panel();
-        globals->set_current_panel( panel );
-        globals->get_current_panel()->init();
-        globals->get_current_panel()->bind();
-        globals->get_current_panel()->update(0);
-    }
-
-    // Load the new 3D model
-    //
-    globals->get_aircraft_model()->unbind();
-    delete globals->get_aircraft_model();
-    globals->set_aircraft_model(new FGAircraftModel);
-    globals->get_aircraft_model()->init();
-    globals->get_aircraft_model()->bind();
-
-    // TODO:
-    //    load new electrical system
-    //
-
-    // update our position based on current presets
-    fgInitPosition();
-
-    // Update the HUD
-    fgHUDInit(&current_aircraft);
-
-    SGTime *t = globals->get_time_params();
-    delete t;
-    t = fgInitTime();
-    globals->set_time_params( t );
-
-    globals->get_viewmgr()->reinit();
-    globals->get_controls()->reset_all();
-    globals->get_aircraft_model()->reinit();
-    globals->get_subsystem("xml-autopilot")->reinit();
-
-    fgReInitSubsystems();
-
-    if ( !freeze ) {
-        fgSetBool("/sim/freeze/master", false);
-    }
-
-    return true;
-}

diff --git a/src/Aircraft/aircraft.hxx b/src/Aircraft/aircraft.hxx
deleted file mode 100644 (file)
index 95763b0..0000000
--- a/src/Aircraft/aircraft.hxx
+++ /dev/null
@@ -1,58 +0,0 @@
-//*************************************************************************
-// aircraft.hxx -- define shared aircraft parameters
-//
-// Written by Curtis Olson, started May 1997.
-//
-// 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
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-//
-// $Id$
-//*************************************************************************/
-
-
-#ifndef _AIRCRAFT_HXX
-#define _AIRCRAFT_HXX
-                                 
-class FGInterface;
-class FGControls;
-class SGPropertyNode;
-
-// Define a structure containing all the parameters for an aircraft
-typedef struct{
-    FGInterface *fdm_state;
-    FGControls *controls;
-} fgAIRCRAFT ;
-
-
-// current_aircraft contains all the parameters of the aircraft
-// currently being operated.
-extern fgAIRCRAFT current_aircraft;
-
-
-// Initialize an Aircraft structure
-void fgAircraftInit( void );
-
-
-// Display various parameters to stdout
-void fgAircraftOutputCurrent(fgAIRCRAFT *a);
-
-
-// Read the list of available aircraft into to property tree
-void fgReadAircraft(void);
-bool fgLoadAircraft (const SGPropertyNode * arg);
-
-#endif // _AIRCRAFT_HXX
-

diff --git a/src/Aircraft/replay.cxx b/src/Aircraft/replay.cxx
index 21c4a1d44bfd524b0af273b0f22ba67fef0e3bcd..aa976adcbf4c3d280c737377aae5124e5fab19fa 100644 (file)
--- a/src/Aircraft/replay.cxx
+++ b/src/Aircraft/replay.cxx
@@ -26,7 +26,6 @@
 
 #include <simgear/constants.h>
 
-#include <FDM/flight.hxx>
 #include <Main/fg_props.hxx>
 #include <Network/native_ctrls.hxx>
 #include <Network/native_fdm.hxx>
@@ -164,9 +163,10 @@ void FGReplay::update( double dt ) {
     //FGProps2NetFDM( &f, false );
 
     // sanity check, don't collect data if FDM data isn't good
-    if ( !cur_fdm_state->get_inited() ) {
+    if (!fgGetBool("/sim/fdm-initialized", false)) {
         return;
     }
+    
     //FGNetCtrls c;
     //FGProps2NetCtrls( &c, false, false );
     //stamp("point_04ba");

diff --git a/src/Airports/.gitignore b/src/Airports/.gitignore
new file mode 100644 (file)
index 0000000..a11fbd2
--- /dev/null
+++ b/src/Airports/.gitignore
@@ -0,0 +1 @@
+calc_loc

diff --git a/src/Airports/dynamics.cxx b/src/Airports/dynamics.cxx
index a323d809c97e4d5abd7b4d63c40db02da914c9fe..f45341e5e8f1fbc1dcb99e9e106f4987f10255e4 100644 (file)
--- a/src/Airports/dynamics.cxx
+++ b/src/Airports/dynamics.cxx
@@ -432,6 +432,12 @@ string FGAirportDynamics::chooseRwyByHeading(stringVec rwys,
     double rwyHeading, headingError;
     string runway;
     for (stringVecIterator i = rwys.begin(); i != rwys.end(); i++) {
+        if (!_ap->hasRunwayWithIdent(*i)) {
+          SG_LOG(SG_ATC, SG_WARN, "chooseRwyByHeading: runway " << *i <<
+            " not found at " << _ap->ident());
+          continue;
+        }
+        
         FGRunway *rwy = _ap->getRunwayByIdent((*i));
         rwyHeading = rwy->headingDeg();
         headingError = fabs(heading - rwyHeading);

diff --git a/src/Airports/pavement.cxx b/src/Airports/pavement.cxx
index 7e5f607636e4bfbfa0a2cae52a08a03f4231e777..4f06a9a1dc7a5db89cda431b3715888137e4fb8e 100755 (executable)
--- a/src/Airports/pavement.cxx
+++ b/src/Airports/pavement.cxx
@@ -25,8 +25,9 @@
 #include "pavement.hxx"
 
 FGPavement::FGPavement(const std::string& aIdent, const SGGeod& aPos) :
-  FGPositioned(PAVEMENT, aIdent, aPos, false)
+  FGPositioned(PAVEMENT, aIdent, aPos)
 {
+  init(false); // FGPositioned::init
 }
 
 void FGPavement::addNode(const SGGeod &aPos, bool aClose)

diff --git a/src/Airports/runwaybase.cxx b/src/Airports/runwaybase.cxx
index fd82406ad9a0696258a5a034d9551b9d2db783a9..1131e22a0c932db85168a7f43415ff7da76271b8 100644 (file)
--- a/src/Airports/runwaybase.cxx
+++ b/src/Airports/runwaybase.cxx
@@ -51,12 +51,14 @@ FGRunwayBase::FGRunwayBase(Type aTy, const string& aIdent,
                         const double width,
                         const int surface_code,
                         bool index) :
-  FGPositioned(aTy, aIdent, aGeod, index)
+  FGPositioned(aTy, aIdent, aGeod)
 {
   _heading = heading;
   _length = length;
   _width = width;
   _surface_code = surface_code;
+  
+  init(index);
 }
 
 SGGeod FGRunwayBase::pointOnCenterline(double aOffset) const

diff --git a/src/Airports/runwayprefs.cxx b/src/Airports/runwayprefs.cxx
index 8337d31f9fad3e60c7c8ea5430536fa4fe8bed47..b47c6bc778b12914206b7a575cf302c2559b9536 100644 (file)
--- a/src/Airports/runwayprefs.cxx
+++ b/src/Airports/runwayprefs.cxx
@@ -26,6 +26,7 @@
 #endif
 
 #include <math.h>
+#include <cstring>
 
 #include <simgear/compiler.h>
 

diff --git a/src/Airports/runways.cxx b/src/Airports/runways.cxx
index 3eb853823e4d39f0927fcba599c71f3d08750217..27caa4f6d009be8918894f03dbf8e917bc238673 100644 (file)
--- a/src/Airports/runways.cxx
+++ b/src/Airports/runways.cxx
@@ -27,6 +27,7 @@
 
 #include <cstdio>              // sprintf()
 #include <cstdlib>             // atoi()
+#include <cassert>
 
 #include <simgear/compiler.h>
 

diff --git a/src/Airports/simple.cxx b/src/Airports/simple.cxx
index af16923b3469507a8b5e0487aaab7e595e8f136e..a418bd4144f1a81472f67e3d005953693949c4ae 100644 (file)
--- a/src/Airports/simple.cxx
+++ b/src/Airports/simple.cxx
@@ -30,6 +30,8 @@
 
 #include "simple.hxx"
 
+#include <cassert>
+
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/props/props.hxx>
 #include <simgear/props/props_io.hxx>
@@ -61,6 +63,7 @@ FGAirport::FGAirport(const string &id, const SGGeod& location, const SGGeod& tow
     mRunwaysLoaded(false),
     mTaxiwaysLoaded(true)
 {
+  init(true); // init FGPositioned
 }
 
 

diff --git a/src/Autopilot/Makefile.am b/src/Autopilot/Makefile.am
index 7ba3b5bb6b4687ccacd5e58c2ddee6610ede6c3c..fdd591884fcbc8d878bf0530fb12ffdf64d374d6 100644 (file)
--- a/src/Autopilot/Makefile.am
+++ b/src/Autopilot/Makefile.am
@@ -2,7 +2,17 @@ noinst_LIBRARIES = libAutopilot.a
 
 libAutopilot_a_SOURCES = \
        route_mgr.cxx route_mgr.hxx \
-       xmlauto.cxx xmlauto.hxx \
-       autobrake.cxx autobrake.hxx
+       autopilotgroup.cxx autopilotgroup.hxx \
+       autopilot.cxx autopilot.hxx \
+       inputvalue.cxx inputvalue.hxx \
+       component.cxx component.hxx \
+       analogcomponent.cxx analogcomponent.hxx \
+       pidcontroller.cxx pidcontroller.hxx \
+       pisimplecontroller.cxx pisimplecontroller.hxx \
+       predictor.cxx predictor.hxx \
+       digitalfilter.cxx digitalfilter.hxx \
+       digitalcomponent.cxx digitalcomponent.hxx \
+       logic.cxx logic.hxx \
+       flipflop.cxx flipflop.hxx
 
 INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src

diff --git a/src/Autopilot/analogcomponent.cxx b/src/Autopilot/analogcomponent.cxx
new file mode 100644 (file)
index 0000000..d32717d
--- /dev/null
+++ b/src/Autopilot/analogcomponent.cxx
@@ -0,0 +1,113 @@
+// analogcomponent.cxx - Base class for analog autopilot components
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#include "analogcomponent.hxx"
+#include <Main/fg_props.hxx>
+
+using namespace FGXMLAutopilot;
+
+AnalogComponent::AnalogComponent() :
+  Component(),
+  _feedback_if_disabled(false),
+  _passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) )
+{
+}
+
+double AnalogComponent::clamp( double value ) const
+{
+    //If this is a periodical value, normalize it into our domain 
+    // before clamping
+    if( _periodical )
+      value = _periodical->normalize( value );
+
+    // clamp, if either min or max is defined
+    if( _minInput.size() + _maxInput.size() > 0 ) {
+        double d = _maxInput.get_value();
+        if( value > d ) value = d;
+        d = _minInput.get_value();
+        if( value < d ) value = d;
+    }
+    return value;
+}
+
+bool AnalogComponent::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "AnalogComponent::configure(" << nodeName << ")" << endl );
+  if( Component::configure( nodeName, configNode ) )
+    return true;
+
+  if ( nodeName == "feedback-if-disabled" ) {
+    _feedback_if_disabled = configNode->getBoolValue();
+    return true;
+  } 
+
+  if ( nodeName == "output" ) {
+    // grab all <prop> and <property> childs
+    int found = 0;
+    // backwards compatibility: allow <prop> elements
+    SGPropertyNode_ptr prop;
+    for( int i = 0; (prop = configNode->getChild("prop", i)) != NULL; i++ ) { 
+      SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
+      _output_list.push_back( tmp );
+      found++;
+    }
+    for( int i = 0; (prop = configNode->getChild("property", i)) != NULL; i++ ) { 
+      SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
+      _output_list.push_back( tmp );
+      found++;
+    }
+
+    // no <prop> elements, text node of <output> is property name
+    if( found == 0 )
+      _output_list.push_back( fgGetNode(configNode->getStringValue(), true ) );
+
+    return true;
+  }
+
+  if( nodeName == "input" ) {
+    _valueInput.push_back( new InputValue( configNode ) );
+    return true;
+  }
+
+  if( nodeName == "reference" ) {
+    _referenceInput.push_back( new InputValue( configNode ) );
+    return true;
+  }
+
+  if( nodeName == "min" || nodeName == "u_min" ) {
+    _minInput.push_back( new InputValue( configNode ) );
+    return true;
+  }
+
+  if( nodeName == "max" || nodeName == "u_max" ) {
+    _maxInput.push_back( new InputValue( configNode ) );
+    return true;
+  }
+
+  if( nodeName == "period" ) {
+    _periodical = new PeriodicalValue( configNode );
+    return true;
+  }
+
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "AnalogComponent::configure(" << nodeName << ") [unhandled]" << endl );
+  return false;
+}

diff --git a/src/Autopilot/analogcomponent.hxx b/src/Autopilot/analogcomponent.hxx
new file mode 100644 (file)
index 0000000..ccbd099
--- /dev/null
+++ b/src/Autopilot/analogcomponent.hxx
@@ -0,0 +1,148 @@
+// analogcomponent.hxx - Base class for analog autopilot components
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __ANALOGCOMPONENT_HXX
+#define __ANALOGCOMPONENT_HXX 1
+
+#include "inputvalue.hxx"
+#include "component.hxx"
+
+namespace FGXMLAutopilot {
+
+/**
+ * @brief Base class for analog autopilot components
+ *
+ * Each analog component has
+ * <ul>
+ *   <li>one value input</li>
+ *   <li>one reference input</li>
+ *   <li>one minimum clamp input</li>
+ *   <li>one maximum clamp input</li>
+ *   <li>an optional periodical definition</li>
+ * </ul>
+ */
+class AnalogComponent : public Component {
+
+private:
+    /**
+     * @brief a flag signalling that the output property value shall be fed back
+     *        to the active input property if this component is disabled. This flag
+     *        reflects the &lt;feedback-if-disabled&gt; boolean property.
+     */
+    bool _feedback_if_disabled;
+
+protected:
+    /**
+     * @brief the value input
+     */
+    InputValueList _valueInput;
+
+    /**
+     * @brief the reference input
+     */
+    InputValueList _referenceInput;
+
+    /**
+     * @brief the minimum output clamp input
+     */
+    InputValueList _minInput;
+
+    /**
+     * @brief the maximum output clamp input
+     */
+    InputValueList _maxInput;
+
+    /**
+     * @brief the configuration for periodical outputs
+     */
+    PeriodicalValue_ptr _periodical;
+
+    /**
+     * @brief A constructor for an analog component. Call configure() to 
+     * configure this component from a property node
+     */
+    AnalogComponent();
+
+    /**
+     * @brief This method configures this analog component from a property node. Gets
+     *        called multiple times from the base class configure method for every 
+              config node.
+     * @param nodeName the name of the configuration node provided in configNode
+     * @param configNode the configuration node itself
+     * @return true if the node was handled, false otherwise.
+     */
+    virtual bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+
+    /**
+     * @brief clamp the given value if &lt;min&gt; and/or &lt;max&gt; inputs were given
+     * @param the value to clamp
+     * @return the clamped value
+     */
+    double clamp( double value ) const;
+
+   /**
+    * @brief overideable method being called from the update() method if this component
+    *        is disabled. Analog components feed back it's output value to the active 
+             input value if disabled and feedback-if-disabled is true 
+    */
+    virtual void disabled( double dt );
+
+    /**
+     * @brief return the current double value of the output property
+     * @return the current value of the output property
+     * If no output property is configured, a value of zero will be returned.
+     * If more than one output property is configured, the value of the first output property
+     * is returned. The current value of the output property will be clamped to the configured
+     * values of &lt;min&gt; and/or &lt;max&gt;. 
+     */
+    inline double get_output_value() const {
+      return _output_list.size() == 0 ? 0.0 : clamp(_output_list[0]->getDoubleValue());
+    }
+
+    simgear::PropertyList _output_list;
+    SGPropertyNode_ptr _passive_mode;
+
+    inline void set_output_value( double value ) {
+        // passive_ignore == true means that we go through all the
+        // motions, but drive the outputs.  This is analogous to
+        // running the autopilot with the "servos" off.  This is
+        // helpful for things like flight directors which position
+        // their vbars from the autopilot computations.
+        if ( _honor_passive && _passive_mode->getBoolValue() ) return;
+        value = clamp( value );
+        for( simgear::PropertyList::iterator it = _output_list.begin();
+             it != _output_list.end(); ++it)
+          (*it)->setDoubleValue( value );
+    }
+};
+
+inline void AnalogComponent::disabled( double dt )
+{
+  if( _feedback_if_disabled && _output_list.size() > 0 ) {    
+    InputValue * input;
+    if( (input = _valueInput.get_active() ) != NULL )
+      input->set_value( _output_list[0]->getDoubleValue() );
+  }
+}
+
+}
+#endif // ANALOGCOMPONENT_HXX

diff --git a/src/Autopilot/autobrake.cxx b/src/Autopilot/autobrake.cxx
deleted file mode 100644 (file)
index ec1fcfc..0000000
--- a/src/Autopilot/autobrake.cxx
+++ /dev/null
@@ -1,349 +0,0 @@
-// autobrake.cxx - generic, configurable autobrake system
-//
-// Written by James Turner, started September 2009.
-//
-// Copyright (C) 2009  Curtis L. Olson
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-//
-// $Id$
-
-#include "autobrake.hxx"
-
-#include <Main/fg_props.hxx>
-
-FGAutoBrake::FGAutoBrake() :
-  _lastGroundspeedKts(0.0),
-  _step(0),
-  _rto(false),
-  _armed(false),
-  _rtoArmed(false),
-  _engaged(false),
-  _targetDecel(0.0),
-  _fcsBrakeControl(0.0),
-  _leftBrakeOutput(0.0),
-  _rightBrakeOutput(0.0)
-{
-  // default config, close to Boeing 747-400 / 777 values
-  _configNumSteps = 4;
-  _configRTOStep = -1;
-  _configDisengageStep = 0;
-  _configMaxDecel = 11; // ft-sec-sec
-  _configRTODecel = 11; // ft-sec-sec
-  _configRTOSpeed = 85; // kts
-}
-
-FGAutoBrake::~FGAutoBrake()
-{
-}
-
-void FGAutoBrake::init()
-{
-  _root = fgGetNode("/autopilot/autobrake", true);
-  
-  _root->tie("armed", SGRawValueMethods<FGAutoBrake, bool>
-    (*this, &FGAutoBrake::getArmed, &FGAutoBrake::setArmed));
-  
-  _root->tie("step", SGRawValueMethods<FGAutoBrake, int>
-    (*this, &FGAutoBrake::getStep, &FGAutoBrake::setStep));
-    
-  _root->tie("rto", SGRawValueMethods<FGAutoBrake, bool>
-    (*this, &FGAutoBrake::getRTO, &FGAutoBrake::setRTO));
-      
-  _engineControlsNode = fgGetNode("/controls/engines");
-  
-  // brake position nodes
-  _brakeInputs[0] = fgGetNode("/controls/gear/brake-left");
-  _brakeInputs[1] = fgGetNode("/controls/gear/brake-right");
-  _brakeInputs[2] = fgGetNode("/controls/gear/copilot-brake-left");
-  _brakeInputs[3] = fgGetNode("/controls/gear/copilot-brake-right");
-  
-    // config
-  SGPropertyNode_ptr config = _root->getChild("config", 0, true);
-  config->tie("num-steps", SGRawValuePointer<int>(&_configNumSteps));
-  config->tie("rto-step", SGRawValuePointer<int>(&_configRTOStep));
-  config->tie("disengage-step", SGRawValuePointer<int>(&_configDisengageStep));
-  config->tie("rto-decel-fts-sec", SGRawValuePointer<double>(&_configRTODecel));
-  config->tie("max-decel-fts-sec", SGRawValuePointer<double>(&_configMaxDecel));
-  config->tie("rto-engage-kts", SGRawValuePointer<double>(&_configRTOSpeed));
-  
-  
-  // outputs
-  _root->tie("target-decel-fts-sec", 
-    SGRawValueMethods<FGAutoBrake,double>(*this, &FGAutoBrake::getTargetDecel));
-  _root->tie("actual-decel-fts-sec", 
-    SGRawValueMethods<FGAutoBrake,double>(*this, &FGAutoBrake::getActualDecel));
-  _root->tie("fcs-brake", SGRawValuePointer<double>(&_fcsBrakeControl));
-  _root->tie("brake-left-output", SGRawValuePointer<double>(&_leftBrakeOutput));
-  _root->tie("brake-right-output", SGRawValuePointer<double>(&_rightBrakeOutput));
-  
-  _root->tie("engaged", SGRawValueMethods<FGAutoBrake, bool>(*this, &FGAutoBrake::getEngaged)); 
-}
-
-void FGAutoBrake::postinit()
-{  
-  _weightOnWheelsNode = fgGetNode("/gear/gear/wow");
-  _groundspeedNode = fgGetNode("/velocities/groundspeed-kt");
-  if (!_weightOnWheelsNode) {
-    return; // don't crash if we're using an acft (UFO, ATC, with no WoW flag)
-  }
-  
-  _lastWoW = _weightOnWheelsNode->getBoolValue();
-}
-
-
-void FGAutoBrake::bind()
-{
-}
-
-void FGAutoBrake::unbind()
-{
-}
-
-void FGAutoBrake::update(double dt)
-{
-  _leftBrakeInput = SGMiscd::max(_brakeInputs[0]->getDoubleValue(), 
-      _brakeInputs[2]->getDoubleValue());
-  _rightBrakeInput = SGMiscd::max(_brakeInputs[1]->getDoubleValue(), 
-      _brakeInputs[3]->getDoubleValue());
-
-  // various FDMs don't supply sufficent information for us to work,
-  // so just be passive in those cases.
-  if (!_weightOnWheelsNode || !_groundspeedNode || !_engineControlsNode) {
-    // pass the values straight through
-    _leftBrakeOutput = _leftBrakeInput; 
-    _rightBrakeOutput = _rightBrakeInput; 
-    return;
-  }
-
-  if (dt <= 0.0) {
-    return; // paused
-  }
-  
-  double gs = _groundspeedNode->getDoubleValue();
-  _actualDecel = (_lastGroundspeedKts - gs) / dt;
-  _lastGroundspeedKts = gs;
-  
-  if (!_armed || (_step == 0)) {
-    // even if we're off or disarmed, the physical valve system must pass
-    // pilot control values through.
-    _leftBrakeOutput = _leftBrakeInput; 
-    _rightBrakeOutput = _rightBrakeInput; 
-    return;
-  }
-  
-  if (_engaged) {
-    updateEngaged(dt);
-  } else {
-    bool e = shouldEngage();
-    if (e) {
-      engage();
-      updateEngaged(dt);
-    }
-  }
-  
-  // sum pilot inpiuts with auto-brake FCS input
-  _leftBrakeOutput = SGMiscd::max(_leftBrakeInput, _fcsBrakeControl);
-  _rightBrakeOutput = SGMiscd::max(_rightBrakeInput, _fcsBrakeControl);
-
-  _lastWoW = _weightOnWheelsNode->getBoolValue();
-}
-
-void FGAutoBrake::engage()
-{
-  SG_LOG(SG_AUTOPILOT, SG_INFO, "FGAutoBrake: engaging");
-  _engaged = true;
-}
-
-void FGAutoBrake::updateEngaged(double dt)
-{
-  // check for pilot braking input cancelling engage
-  const double BRAKE_INPUT_THRESHOLD = 0.02; // 2% application triggers
-  if ((_leftBrakeInput > BRAKE_INPUT_THRESHOLD) || (_rightBrakeInput > BRAKE_INPUT_THRESHOLD)) {
-    SG_LOG(SG_AUTOPILOT, SG_INFO, "auto-brake, detected pilot brake input, disengaing");
-    disengage();
-    return;
-  }
-
-  if (!throttlesAtIdle()) {
-    SG_LOG(SG_AUTOPILOT, SG_INFO, "auto-brake, throttles not at idle, disengaing");
-    disengage();
-    return;
-  }
-
-  // update the target deceleration; note step can be changed while engaged
-  if (_rto) {
-    _targetDecel = _configRTODecel;
-  } else {
-    double f = (double) _step / _configNumSteps;
-    _targetDecel = _configMaxDecel * f;
-  }
-}
-
-bool FGAutoBrake::shouldEngage()
-{
-  if (_rto) {
-    return shouldEngageRTO();
-  }
-
-  if (_lastWoW || !_weightOnWheelsNode->getBoolValue()) {
-    return false;
-  }
-
-
-  if (!throttlesAtIdle()) {
-    return false;
-  }
-  
-  SG_LOG(SG_AUTOPILOT, SG_INFO, "Autobrake, should enage");
-  return true;
-}
-
-bool FGAutoBrake::shouldEngageRTO()
-{
-  double speed = _groundspeedNode->getDoubleValue();
-
-  if (_rtoArmed) {
-    if (speed < _configRTOSpeed) {
-      SG_LOG(SG_AUTOPILOT, SG_INFO, "FGAutoBrake: RTO armed, but speed is now below arming speed");
-      _rtoArmed = false;
-      return false;
-    }
-    
-    if (!_weightOnWheelsNode->getBoolValue()) {
-      if (airborne()) {
-        SG_LOG(SG_AUTOPILOT, SG_INFO, "FGAutoBrake: RTO, airbone, disengaging");
-        _rtoArmed = false;
-        _armed = false;
-        _step = _configDisengageStep;
-      }
-            
-      return false;
-    }
-    
-    if (throttlesAtIdle()) {
-      SG_LOG(SG_AUTOPILOT, SG_INFO, "FGAutoBrake: RTO, throttles at idle, will engage");
-      return true;
-    } else {
-      return false;
-    }
-  } else {
-    // RTO arming case
-    if (speed > _configRTOSpeed) {
-      SG_LOG(SG_AUTOPILOT, SG_INFO, "Autobrake RTO: passed " << _configRTOSpeed << " knots, arming RTO mode");
-      _rtoArmed = true;
-    }
-  }
-  
-  return false;
-}
-
-void FGAutoBrake::disengage()
-{
-  if (!_engaged) {
-    return;
-  }
-  
-  SG_LOG(SG_AUTOPILOT, SG_INFO, "FGAutoBrake: disengage");
-  _engaged = false;
-  _fcsBrakeControl = 0.0;
-  _armed = false;
-  _rtoArmed = false;
-  _targetDecel = 0.0;
-  _step = _configDisengageStep;
-}
-
-bool FGAutoBrake::airborne() const
-{
-  return !_weightOnWheelsNode->getBoolValue();
-}
-
-bool FGAutoBrake::throttlesAtIdle() const
-{
-  SGPropertyNode_ptr e;
-  const double IDLE_THROTTLE = 0.05; // 5% margin for idle setting
-  
-  for (int index=0; (e = _engineControlsNode->getChild("engine", index)) != NULL; ++index) {
-    if ((e->getDoubleValue("throttle") > IDLE_THROTTLE) && !e->getBoolValue("reverser")) {
-      return false;
-    }
-  } // of engines iteration
-  
-  return true;
-}
-
-void FGAutoBrake::setArmed(bool aArmed)
-{
-  if (aArmed == _armed) {
-    return;
-  }
-    
-  disengage();
-  _armed = aArmed;
-}
-
-void FGAutoBrake::setRTO(bool aRTO)
-{
-  if (aRTO) {
-    // ensure we meet RTO selection criteria: 
-    if (!_weightOnWheelsNode->getBoolValue()) {
-      // some systems combine RTO with a standard step, selecting RTO if on
-      // the ground. Handle that case by setting _rto = false, and letting
-      // setStep() do the rest of the work as normal.
-      if ((_configRTOStep > 0) && (_configRTOStep <= _configNumSteps)) {
-        // RTO is combined with a normal step, select that
-      } else {
-        SG_LOG(SG_AUTOPILOT, SG_WARN, "auto-brake: cannot select RTO mode, no weight on wheels");
-      }
-      
-      _rto = false;
-      return;
-    }
-    
-    _rtoArmed = false;
-    _rto = true;
-    _step = _configRTOStep;
-    setArmed(true);
-    SG_LOG(SG_AUTOPILOT, SG_INFO, "RTO mode set");
-  } else {
-    _rto = false;
-    _rtoArmed = false;
-    // and if we're enaged?
-    disengage(); 
-  }
-}
-
-void FGAutoBrake::setStep(int aStep)
-{
-  if (aStep == _step) {
-    return;
-  }
-  
-  SG_LOG(SG_AUTOPILOT, SG_INFO, "Autobrake step now=" << aStep);
-  _step = aStep;
-  bool validStep = false;
-  
-  if (aStep == _configRTOStep) {
-    setRTO(true);
-    validStep = true;
-  } else {
-    _rto = false;
-    validStep = (_step > 0) && (_step <= _configNumSteps);
-  }
-  
-  setArmed(validStep); // selecting a valid step arms the system
-}
-
-

diff --git a/src/Autopilot/autobrake.hxx b/src/Autopilot/autobrake.hxx
deleted file mode 100644 (file)
index 2a6845c..0000000
--- a/src/Autopilot/autobrake.hxx
+++ /dev/null
@@ -1,108 +0,0 @@
-// autobrake.hxx - generic, configurable autobrake system
-//
-// Written by James Turner, started September 2009.
-//
-// Copyright (C) 2009  Curtis L. Olson
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-//
-// $Id$
-
-#ifndef FG_INSTR_AUTOBRAKE_HXX
-#define FG_INSTR_AUTOBRAKE_HXX
-
-#include <simgear/props/props.hxx>
-#include <simgear/structure/subsystem_mgr.hxx>
-
-// forward decls
-
-class FGAutoBrake : public SGSubsystem
-{
-public:
-  FGAutoBrake();
-  virtual ~FGAutoBrake();
-
-  virtual void init ();
-  virtual void postinit ();
-  virtual void bind ();
-  virtual void unbind ();
-  virtual void update (double dt);
-    
-private:
-  
-  void engage();
-  void disengage();
-  
-  void updateEngaged(double dt);
-  
-  bool shouldEngage();
-  bool shouldEngageRTO();
-  
-  /**
-   * Helper to determine if all throttles are at idle
-   * (or have reverse thrust engaged)
-   */
-  bool throttlesAtIdle() const;
-  
-  /**
-   * Helper to determine if we're airbone, i.e weight off all wheels
-   */
-  bool airborne() const;
-  
-// accessors, mostly for SGRawValueMethods use
-  void setArmed(bool aArmed);
-  bool getArmed() const { return _armed; }
-  
-  void setRTO(bool aRTO);
-  bool getRTO() const { return _rto; }
-  
-  void setStep(int aStep);
-  int getStep() const { return _step; }
-  
-  bool getEngaged() const { return _engaged;}
-  double getTargetDecel() const { return _targetDecel; }
-  double getActualDecel() const { return _actualDecel; }
-
-// members
-  double _lastGroundspeedKts;
-  int _step;
-  bool _rto; // true if in Rejected TakeOff mode
-  bool _armed;
-  bool _rtoArmed; ///< true if we have met arming criteria for RTO mode
-  bool _engaged; ///< true if auto-braking is currently active
-  double _targetDecel; // target deceleration ft-sec^2
-  double _actualDecel; // measured current deceleration in ft-sec^2
-  double _fcsBrakeControl;
-  bool _lastWoW;
-  double _leftBrakeInput; // summed pilot and co-pilot left brake input
-  double _rightBrakeInput; // summed pilot and co-pilot right brake input
-  double _leftBrakeOutput;
-  double _rightBrakeOutput;
-    
-  SGPropertyNode_ptr _root;
-  SGPropertyNode_ptr _brakeInputs[4];
-  SGPropertyNode_ptr _weightOnWheelsNode;
-  SGPropertyNode_ptr _engineControlsNode;
-  SGPropertyNode_ptr _groundspeedNode;
-  
-  int _configNumSteps;
-  int _configRTOStep;
-  int _configDisengageStep;
-  double _configMaxDecel; ///< deceleration (in ft-sec^2) corresponding to step=numSteps
-  double _configRTODecel; ///< deceleration (in ft-sec^2) to use in RTO mode
-  double _configRTOSpeed; ///< speed (in kts) for RTO mode to arm
-};
-
-#endif // of FG_INSTR_AUTOBRAKE_HXX

diff --git a/src/Autopilot/autopilot.cxx b/src/Autopilot/autopilot.cxx
new file mode 100644 (file)
index 0000000..e8bb91b
--- /dev/null
+++ b/src/Autopilot/autopilot.cxx
@@ -0,0 +1,114 @@
+// autopilot.cxx - an even more flexible, generic way to build autopilots
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include "functor.hxx"
+#include "predictor.hxx"
+#include "digitalfilter.hxx"
+#include "pisimplecontroller.hxx"
+#include "pidcontroller.hxx"
+#include "autopilot.hxx"
+#include "logic.hxx"
+#include "flipflop.hxx"
+
+#include "Main/fg_props.hxx"
+
+using namespace FGXMLAutopilot;
+
+Autopilot::Autopilot( SGPropertyNode_ptr rootNode, SGPropertyNode_ptr configNode ) :
+  _name("unnamed autopilot"),
+  _serviceable(true),
+  _rootNode(rootNode)
+{
+  map<string,FunctorBase<Component> *> componentForge;
+  componentForge["pid-controller"]       = new CreateAndConfigureFunctor<PIDController,Component>();
+  componentForge["pi-simple-controller"] = new CreateAndConfigureFunctor<PISimpleController,Component>();
+  componentForge["predict-simple"]       = new CreateAndConfigureFunctor<Predictor,Component>();
+  componentForge["filter"]               = new CreateAndConfigureFunctor<DigitalFilter,Component>();
+  componentForge["logic"]                = new CreateAndConfigureFunctor<Logic,Component>();
+  componentForge["flipflop"]             = new CreateAndConfigureFunctor<FlipFlop,Component>();
+
+  if( configNode == NULL ) configNode = rootNode;
+
+  int count = configNode->nChildren();
+  for ( int i = 0; i < count; ++i ) {
+    SGPropertyNode_ptr node = configNode->getChild(i);
+    string childName = node->getName();
+    if( componentForge.count(childName) == 0 ) {
+      SG_LOG( SG_AUTOPILOT, SG_BULK, "unhandled element <" << childName << ">" << endl );
+      continue;
+    }
+
+    Component * component = (*componentForge[childName])(node);
+    if( component->get_name().length() == 0 ) {
+      ostringstream buf;
+      buf <<  "unnamed_component_" << i;
+      component->set_name( buf.str() );
+    }
+
+    SG_LOG( SG_AUTOPILOT, SG_INFO, "adding  autopilot component \"" << childName << "\" as \"" << component->get_name() << "\"" );
+    add_component(component);
+  }
+}
+
+Autopilot::~Autopilot() 
+{
+}
+
+void Autopilot::bind() 
+{
+  fgTie( _rootNode->getNode("serviceable", true)->getPath().c_str(), this, 
+    &Autopilot::is_serviceable, &Autopilot::set_serviceable );
+}
+
+void Autopilot::unbind() 
+{
+  _rootNode->untie( "serviceable" );
+}
+
+void Autopilot::add_component( Component * component )
+{
+  if( component == NULL ) return;
+
+  // check for duplicate name
+  std::string name = component->get_name();
+  for( unsigned i = 0; get_subsystem( name.c_str() ) != NULL; i++ ) {
+      ostringstream buf;
+      buf <<  component->get_name() << "_" << i;
+      name = buf.str();
+  }
+  if( name != component->get_name() )
+    SG_LOG( SG_ALL, SG_WARN, "Duplicate autopilot component " << component->get_name() << ", renamed to " << name );
+
+  set_subsystem( name.c_str(), component );
+}
+
+void Autopilot::update( double dt ) 
+{
+  if( !_serviceable || dt <= SGLimitsd::min() )
+    return;
+  SGSubsystemGroup::update( dt );
+}

diff --git a/src/Autopilot/autopilot.hxx b/src/Autopilot/autopilot.hxx
new file mode 100644 (file)
index 0000000..56bb6c3
--- /dev/null
+++ b/src/Autopilot/autopilot.hxx
@@ -0,0 +1,69 @@
+// autopilot.hxx - an even more flexible, generic way to build autopilots
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __AUTOPILOT_HXX
+#define __AUTOPILOT_HXX 1
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include "component.hxx"
+
+#include <simgear/props/props.hxx>
+#include <simgear/structure/subsystem_mgr.hxx>
+
+namespace FGXMLAutopilot {
+
+/**
+ * @brief A SGSubsystemGroup implementation to serve as a collection
+ * of Components
+ */
+class Autopilot : public SGSubsystemGroup
+{
+public:
+    Autopilot( SGPropertyNode_ptr rootNode, SGPropertyNode_ptr configNode = NULL );
+    ~Autopilot();
+
+    void bind();
+    void unbind();
+    void update( double dt );
+
+    void set_serviceable( bool value ) { _serviceable = value; }
+    bool is_serviceable() const { return _serviceable; }
+
+    std::string get_name() const { return _name; }
+    void set_name( std::string & name ) { _name = name; }
+
+    void add_component( Component * component );
+
+protected:
+
+private:
+    std::string _name;
+    bool _serviceable;
+    SGPropertyNode_ptr _rootNode;
+};
+
+}
+
+#endif // __AUTOPILOT_HXX 1

diff --git a/src/Autopilot/autopilotgroup.cxx b/src/Autopilot/autopilotgroup.cxx
new file mode 100644 (file)
index 0000000..347a39e
--- /dev/null
+++ b/src/Autopilot/autopilotgroup.cxx
@@ -0,0 +1,146 @@
+// autopilotgroup.cxx - an even more flexible, generic way to build autopilots
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include "autopilot.hxx"
+#include "autopilotgroup.hxx"
+
+#include <string>
+#include <vector>
+
+#include <simgear/structure/subsystem_mgr.hxx>
+#include <simgear/structure/exception.hxx>
+#include <Main/fg_props.hxx>
+
+
+using simgear::PropertyList;
+
+class FGXMLAutopilotGroupImplementation : public FGXMLAutopilotGroup
+{
+public:
+    void init();
+    void reinit();
+    void update( double dt );
+private:
+    void initFrom( SGPropertyNode_ptr rootNode, const char * childName );
+    vector<string> _autopilotNames;
+
+};
+
+void FGXMLAutopilotGroupImplementation::update( double dt )
+{
+    // update all configured autopilots
+    SGSubsystemGroup::update( dt );
+}
+
+void FGXMLAutopilotGroupImplementation::reinit()
+{
+    SGSubsystemGroup::unbind();
+
+    for( vector<string>::size_type i = 0; i < _autopilotNames.size(); i++ ) {
+      FGXMLAutopilot::Autopilot * ap = (FGXMLAutopilot::Autopilot*)get_subsystem( _autopilotNames[i] );
+      if( ap == NULL ) continue; // ?
+      remove_subsystem( _autopilotNames[i] );
+      delete ap;
+    }
+    _autopilotNames.clear();
+    init();
+}
+
+void FGXMLAutopilotGroupImplementation::init()
+{
+    static const char * nodeNames[] = {
+        "autopilot",
+        "property-rule"
+    };
+    for( unsigned i = 0; i < sizeof(nodeNames)/sizeof(nodeNames[0]); i++ )
+        initFrom( fgGetNode( "/sim/systems" ), nodeNames[i] );
+
+    SGSubsystemGroup::bind();
+    SGSubsystemGroup::init();
+}
+
+void FGXMLAutopilotGroupImplementation::initFrom( SGPropertyNode_ptr rootNode, const char * childName )
+{
+    if( rootNode == NULL )
+        return;
+
+    PropertyList autopilotNodes = rootNode->getChildren(childName);
+    for( PropertyList::size_type i = 0; i < autopilotNodes.size(); i++ ) {
+        SGPropertyNode_ptr pathNode = autopilotNodes[i]->getNode( "path" );
+        if( pathNode == NULL ) {
+            SG_LOG( SG_ALL, SG_WARN, "No configuration file specified for this property-rule!");
+            continue;
+        }
+
+        string apName;
+        SGPropertyNode_ptr nameNode = autopilotNodes[i]->getNode( "name" );
+        if( nameNode != NULL ) {
+            apName = nameNode->getStringValue();
+        } else {
+          std::ostringstream buf;
+          buf <<  "unnamed_autopilot_" << i;
+          apName = buf.str();
+        }
+
+        {
+          // check for duplicate names
+          string name = apName;
+          for( unsigned i = 0; get_subsystem( apName.c_str() ) != NULL; i++ ) {
+              ostringstream buf;
+              buf <<  name << "_" << i;
+              apName = buf.str();
+          }
+          if( apName != name )
+            SG_LOG( SG_ALL, SG_WARN, "Duplicate property-rule configuration name " << name << ", renamed to " << apName );
+        }
+
+        SGPath config = globals->resolve_maybe_aircraft_path(pathNode->getStringValue());
+
+        SG_LOG( SG_ALL, SG_INFO, "Reading property-rule configuration from " << config.str() );
+
+        try {
+            SGPropertyNode_ptr root = new SGPropertyNode();
+            readProperties( config.str(), root );
+
+            SG_LOG( SG_AUTOPILOT, SG_INFO, "adding  property-rule subsystem " << apName );
+            FGXMLAutopilot::Autopilot * ap = new FGXMLAutopilot::Autopilot( autopilotNodes[i], root );
+            ap->set_name( apName );
+            set_subsystem( apName, ap );
+            _autopilotNames.push_back( apName );
+
+        } catch (const sg_exception& e) {
+            SG_LOG( SG_AUTOPILOT, SG_ALERT, "Failed to load property-rule configuration: "
+                    << config.str() << ":" << e.getMessage() );
+            continue;
+        }
+    }
+}
+
+FGXMLAutopilotGroup * FGXMLAutopilotGroup::createInstance()
+{
+    return new FGXMLAutopilotGroupImplementation();
+}

diff --git a/src/Autopilot/autopilotgroup.hxx b/src/Autopilot/autopilotgroup.hxx
new file mode 100644 (file)
index 0000000..1ccb0be
--- /dev/null
+++ b/src/Autopilot/autopilotgroup.hxx
@@ -0,0 +1,41 @@
+// autopilotgroup.hxx - an even more flexible, generic way to build autopilots
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef _XMLAUTO_HXX
+#define _XMLAUTO_HXX 1
+
+
+/**
+ * @brief Model an autopilot system by implementing a SGSubsystemGroup
+ * 
+ */
+class FGXMLAutopilotGroup : public SGSubsystemGroup
+{
+public:
+    static FGXMLAutopilotGroup * createInstance();
+protected:
+    FGXMLAutopilotGroup() : SGSubsystemGroup() {}
+
+};
+
+#endif // _XMLAUTO_HXX

diff --git a/src/Autopilot/component.cxx b/src/Autopilot/component.cxx
new file mode 100644 (file)
index 0000000..bdf6ecc
--- /dev/null
+++ b/src/Autopilot/component.cxx
@@ -0,0 +1,130 @@
+// component.cxx - Base class for autopilot components
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#include "component.hxx"
+#include <Main/fg_props.hxx>
+#include <simgear/structure/exception.hxx>
+
+using namespace FGXMLAutopilot;
+
+Component::Component() :
+  _enable_value(NULL),
+  _enabled(false),
+  _debug(false),
+  _honor_passive(false)
+{
+}
+
+Component::~Component()
+{
+  delete _enable_value;
+}
+
+bool Component::configure( SGPropertyNode_ptr configNode )
+{
+  for (int i = 0; i < configNode->nChildren(); ++i ) {
+    SGPropertyNode_ptr prop;
+
+    SGPropertyNode_ptr child = configNode->getChild(i);
+    string cname(child->getName());
+
+    if( configure( cname, child ) )
+      continue;
+
+  } // for configNode->nChildren()
+
+  return true;
+}
+
+bool Component::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "Component::configure(" << nodeName << ")" << endl );
+
+  if ( nodeName == "name" ) {
+    _name = configNode->getStringValue();
+    return true;
+  } 
+
+  if ( nodeName == "debug" ) {
+    _debug = configNode->getBoolValue();
+    return true;
+  }
+
+  if ( nodeName == "enable" ) {
+    SGPropertyNode_ptr prop;
+
+    if( (prop = configNode->getChild("condition")) != NULL ) {
+      _condition = sgReadCondition(fgGetNode("/"), prop);
+      return true;
+    } 
+    if ( (prop = configNode->getChild( "property" )) != NULL ) {
+      _enable_prop = fgGetNode( prop->getStringValue(), true );
+    }
+       
+    if ( (prop = configNode->getChild( "prop" )) != NULL ) {
+      _enable_prop = fgGetNode( prop->getStringValue(), true );
+    }
+
+    if ( (prop = configNode->getChild( "value" )) != NULL ) {
+      delete _enable_value;
+      _enable_value = new string(prop->getStringValue());
+    }
+
+    if ( (prop = configNode->getChild( "honor-passive" )) != NULL ) {
+      _honor_passive = prop->getBoolValue();
+    }
+
+    return true;
+  } // enable
+
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "Component::configure(" << nodeName << ") [unhandled]" << endl );
+  return false;
+}
+
+bool Component::isPropertyEnabled()
+{
+    if( _condition )
+        return _condition->test();
+
+    if( _enable_prop ) {
+        if( _enable_value ) {
+            return *_enable_value == _enable_prop->getStringValue();
+        } else {
+            return _enable_prop->getBoolValue();
+        }
+    }
+    return true;
+}
+
+void Component::update( double dt )
+{
+  bool firstTime = false;
+  if( isPropertyEnabled() ) {
+    firstTime = !_enabled;
+    _enabled = true;
+  } else {
+    _enabled = false;
+  }
+
+  if( _enabled ) update( firstTime, dt );
+  else disabled( dt );
+}

diff --git a/src/Autopilot/component.hxx b/src/Autopilot/component.hxx
new file mode 100644 (file)
index 0000000..3f8d603
--- /dev/null
+++ b/src/Autopilot/component.hxx
@@ -0,0 +1,140 @@
+// component.hxx - Base class for autopilot components
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __COMPONENT_HXX
+#define __COMPONENT_HXX 1
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include <simgear/structure/subsystem_mgr.hxx>
+#include <simgear/props/condition.hxx>
+
+namespace FGXMLAutopilot {
+
+/**
+ * @brief Base class for other autopilot components
+ */
+class Component : public SGSubsystem {
+
+private:
+
+    SGSharedPtr<const SGCondition> _condition;
+    SGPropertyNode_ptr _enable_prop;
+    std::string * _enable_value;
+    std::string _name;
+    bool _enabled;
+
+protected:
+
+    virtual bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+
+    
+   /**
+    * @brief the implementation of the update() method of the SGSubsystem
+    */
+    virtual void update( double dt );
+
+   /** 
+    * @brief pure virtual function to be implemented by the derived classes. Gets called from
+    * the update method if it's not disabled with the firstTime parameter set to true if this
+    * is the first call after being enabled 
+    * @param firstTime set to true if this is the first update call since this component has
+             been enabled. Set to false for every subsequent call.
+    * @param dt  the elapsed time since the last call
+    */
+    virtual void update( bool firstTime, double dt ) = 0;
+
+   /**
+    * @brief overideable method being called from the update() method if this component
+    *        is disabled. It's a noop by default.
+    */
+    virtual void disabled( double dt ) {}
+
+    /** 
+     * @brief debug flag, true if this component should generate some useful output
+     * on every iteration
+     */
+    bool _debug;
+
+
+    /** 
+     * @brief a (historic) flag signalling the derived class that it should compute it's internal
+     *        state but shall not set the output properties if /autopilot/locks/passive-mode is true.
+     */
+    bool _honor_passive;
+    
+public:
+    
+    /**
+     * @brief A constructor for an empty Component.
+     */
+    Component();
+
+    /**
+     * virtual destructor to clean up resources
+     */
+    virtual ~Component();
+
+    /**
+     * @brief configure this component from a property node. Iterates through all nodes found
+     *        as childs under configNode and calls configure of the derived class for each child.
+     * @param configNode the property node containing the configuration 
+     */
+    bool configure( SGPropertyNode_ptr configNode );
+
+    /**
+     * @brief getter for the name property
+     * @return the name of the component
+     */
+    inline const std::string& get_name() const { return _name; }
+
+    /**
+     * @brief setter for the name property
+     * @param name the name of the component
+     */
+    inline void set_name( const std::string & name ) { _name = name; }
+
+    /**
+     * @brief check if this component is enabled as configured in the
+     * &lt;enable&gt; section
+     * @return true if the enable-condition is true.
+     *
+     * If a &lt;condition&gt; is defined, this condition is evaluated, 
+     * &lt;prop&gt; and &lt;value&gt; tags are ignored.
+     *
+     * If a &lt;prop&gt; is defined and no &lt;value&gt; is defined, the property
+     * named in the &lt;prop&gt;&lt;prop&gt; tags is evaluated as boolean.
+     *
+     * If a &lt;prop&gt; is defined and a &lt;value&gt; is defined, the property named
+     * in &lt;prop&gt;&lt;/prop&gt; is compared (as a string) to the value defined in
+     * &lt;value&gt;&lt;/value&gt;
+     *
+     * Returns true, if neither &lt;condition&gt; nor &lt;prop&gt; exists
+     */
+    bool isPropertyEnabled();
+};
+
+
+}
+#endif // COMPONENT_HXX

diff --git a/src/Autopilot/digitalcomponent.cxx b/src/Autopilot/digitalcomponent.cxx
new file mode 100644 (file)
index 0000000..8fed619
--- /dev/null
+++ b/src/Autopilot/digitalcomponent.cxx
@@ -0,0 +1,109 @@
+// digitalcomponent.cxx - Base class for digital autopilot components
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "digitalcomponent.hxx"
+#include <Main/fg_props.hxx>
+
+using namespace FGXMLAutopilot;
+
+DigitalComponent::DigitalComponent() :
+  _inverted(false)
+{
+}
+
+bool DigitalComponent::InputMap::get_value( const std::string & name ) const
+{
+  // can't use map::operator[] here since it's not const
+  const_iterator __i = lower_bound( name );
+  if (__i == end() || key_comp()(name, (*__i).first))
+    return false; // does not exist, return false
+
+  return (*__i).second->test();
+}
+
+/*
+  <input>
+    <name>Foo</name>
+    <condition>
+     <and>...</and>
+    </condition>
+  </input>
+  <output>
+    <name>Bar</name>
+    <property>/foo/bar</property>
+    <inverted>true</inverted>
+  </output>
+  <output>/some/property</output>
+*/
+bool DigitalComponent::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  if( Component::configure( nodeName, configNode ) )
+    return true;
+
+  if (nodeName == "input") {
+    SGPropertyNode_ptr nameNode = configNode->getNode("name");
+    string name;
+    if( nameNode != NULL ) {
+      name = nameNode->getStringValue();
+    } else {
+      std::ostringstream buf;
+      buf << "Input" << _input.size();
+      name = buf.str();
+    }
+    _input[name] = sgReadCondition( fgGetNode("/"), configNode );
+    return true;
+  } 
+
+  if (nodeName == "output") {
+    SGPropertyNode_ptr n = configNode->getNode("name");
+    string name;
+    if( n != NULL ) {
+      name = n->getStringValue();
+    } else {
+      std::ostringstream buf;
+      buf << "Output" << _output.size();
+      name = buf.str();
+    }
+
+    DigitalOutput_ptr o = new DigitalOutput();
+    _output[name] = o;
+
+    if( (n = configNode->getNode("inverted")) != NULL )
+      o->setInverted( n->getBoolValue() );
+
+    if( (n = configNode->getNode("property")) != NULL )
+      o->setProperty( fgGetNode( n->getStringValue(), true ) );
+
+    if( configNode->nChildren() == 0 )
+      o->setProperty( fgGetNode( configNode->getStringValue(), true ) );
+
+    return true;
+  } 
+
+  if (nodeName == "inverted") {
+    _inverted = configNode->getBoolValue();
+    return true;
+  }
+  
+  return false;
+}

diff --git a/src/Autopilot/digitalcomponent.hxx b/src/Autopilot/digitalcomponent.hxx
new file mode 100644 (file)
index 0000000..606dd5f
--- /dev/null
+++ b/src/Autopilot/digitalcomponent.hxx
@@ -0,0 +1,130 @@
+// digitalcomponent.hxx - Base class for digital autopilot components
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __DIGITALCOMPONENT_HXX
+#define __DIGITALCOMPONENT_HXX 1
+
+#include "component.hxx"
+
+namespace FGXMLAutopilot {
+
+/**
+ * @brief Models a digital output bound to a property. May be an inverted output.
+ */
+class DigitalOutput : public SGReferenced {
+
+private:
+  bool _inverted;
+  SGPropertyNode_ptr _node;
+
+protected:
+
+public:
+  /**
+   * @brief Constructs an empty, noninverting output
+   */
+  DigitalOutput();
+
+  inline void setProperty( SGPropertyNode_ptr node );
+
+  inline void setInverted( bool value ) { _inverted = value; }
+  inline bool isInverted() const { return _inverted; }
+
+  bool getValue() const;
+  void setValue( bool value );
+};
+
+inline DigitalOutput::DigitalOutput() : _inverted(false) 
+{
+}
+
+inline void DigitalOutput::setProperty( SGPropertyNode_ptr node ) 
+{ 
+  _node->setBoolValue( (_node = node)->getBoolValue() );
+}
+
+inline bool DigitalOutput::getValue() const 
+{
+  if( _node == NULL ) return false;
+  bool nodeState = _node->getBoolValue();
+  return _inverted ? !nodeState : nodeState;
+}
+
+inline void DigitalOutput::setValue( bool value ) 
+{
+  if( _node == NULL ) return;
+  _node->setBoolValue( _inverted ? !value : value );
+}
+
+typedef SGSharedPtr<DigitalOutput> DigitalOutput_ptr;
+
+/**
+ * @brief Base class for digital autopilot components
+ *
+ * Each digital component has (at least)
+ * <ul>
+ *   <li>one value input</li>
+ *   <li>any number of output properties</li>
+ * </ul>
+ */
+class DigitalComponent : public Component {
+public:
+    DigitalComponent();
+
+    class InputMap : public std::map<const std::string,SGSharedPtr<const SGCondition> > {
+      public:
+        bool get_value( const std::string & name ) const;
+    };
+
+
+//    typedef std::map<const std::string,SGSharedPtr<const SGCondition> > InputMap;
+    typedef std::map<const std::string,DigitalOutput_ptr> OutputMap;
+protected:
+
+    /**
+     * @brief Named input "pins"
+     */
+    InputMap _input;
+
+    /**
+     * @brief Named output "pins"
+     */
+    OutputMap _output;
+
+    /**
+     * @brief Global "inverted" flag for the outputs
+     */
+    bool _inverted;
+
+    /**
+     * @brief Over-rideable hook method to allow derived classes to refine top-level
+     * node parsing. 
+     * @param aName
+     * @param aNode
+     * @return true if the node was handled, false otherwise.
+     */
+    virtual bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+};
+
+}
+#endif // DIGITALCOMPONENT_HXX
+

diff --git a/src/Autopilot/digitalfilter.cxx b/src/Autopilot/digitalfilter.cxx
new file mode 100644 (file)
index 0000000..9edf53b
--- /dev/null
+++ b/src/Autopilot/digitalfilter.cxx
@@ -0,0 +1,358 @@
+// digitalfilter.cxx - a selection of digital filters
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "digitalfilter.hxx"
+#include "functor.hxx"
+#include <deque>
+
+namespace FGXMLAutopilot {
+
+/* --------------------------------------------------------------------------------- */
+/* --------------------------------------------------------------------------------- */
+class GainFilterImplementation : public DigitalFilterImplementation {
+protected:
+  InputValueList _gainInput;
+  bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+public:
+  GainFilterImplementation() : _gainInput(1.0) {}
+  double compute(  double dt, double input );
+};
+
+class ReciprocalFilterImplementation : public GainFilterImplementation {
+public:
+  double compute(  double dt, double input );
+};
+
+class DerivativeFilterImplementation : public GainFilterImplementation {
+  InputValueList _TfInput;
+  double _input_1;
+  bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+public:
+  DerivativeFilterImplementation();
+  double compute(  double dt, double input );
+};
+
+class ExponentialFilterImplementation : public GainFilterImplementation {
+protected:
+  InputValueList _TfInput;
+  bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+  bool _isSecondOrder;
+  double output_1, output_2;
+public:
+  ExponentialFilterImplementation();
+  double compute(  double dt, double input );
+  virtual void initialize( double output );
+};
+
+class MovingAverageFilterImplementation : public DigitalFilterImplementation {
+protected:
+  InputValueList _samplesInput;
+  double _output_1;
+  std::deque <double> _inputQueue;
+  bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+public:
+  MovingAverageFilterImplementation();
+  double compute(  double dt, double input );
+  virtual void initialize( double output );
+};
+
+class NoiseSpikeFilterImplementation : public DigitalFilterImplementation {
+protected:
+  double _output_1;
+  InputValueList _rateOfChangeInput;
+  bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+public:
+  NoiseSpikeFilterImplementation();
+  double compute(  double dt, double input );
+  virtual void initialize( double output );
+};
+
+/* --------------------------------------------------------------------------------- */
+/* --------------------------------------------------------------------------------- */
+
+} // namespace FGXMLAutopilot
+
+using namespace FGXMLAutopilot;
+
+/* --------------------------------------------------------------------------------- */
+/* --------------------------------------------------------------------------------- */
+
+bool DigitalFilterImplementation::configure( SGPropertyNode_ptr configNode )
+{
+  for (int i = 0; i < configNode->nChildren(); ++i ) {
+    SGPropertyNode_ptr prop;
+
+    SGPropertyNode_ptr child = configNode->getChild(i);
+    string cname(child->getName());
+
+    if( configure( cname, child ) )
+      continue;
+
+  } // for configNode->nChildren()
+
+  return true;
+}
+
+/* --------------------------------------------------------------------------------- */
+/* --------------------------------------------------------------------------------- */
+
+double GainFilterImplementation::compute(  double dt, double input )
+{
+  return _gainInput.get_value() * input;
+}
+
+bool GainFilterImplementation::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  if (nodeName == "gain" ) {
+    _gainInput.push_back( new InputValue( configNode, 1 ) );
+    return true;
+  }
+
+  return false;
+}
+
+/* --------------------------------------------------------------------------------- */
+/* --------------------------------------------------------------------------------- */
+
+double ReciprocalFilterImplementation::compute(  double dt, double input )
+{
+  if( input >= -SGLimitsd::min() || input <= SGLimitsd::min() )
+    return SGLimitsd::max();
+
+  return _gainInput.get_value() / input;
+
+}
+
+/* --------------------------------------------------------------------------------- */
+/* --------------------------------------------------------------------------------- */
+
+DerivativeFilterImplementation::DerivativeFilterImplementation() :
+  _input_1(0.0)
+{
+}
+
+bool DerivativeFilterImplementation::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  if( GainFilterImplementation::configure( nodeName, configNode ) )
+    return true;
+
+  if (nodeName == "filter-time" ) {
+    _TfInput.push_back( new InputValue( configNode, 1 ) );
+    return true;
+  }
+
+  return false;
+}
+
+double DerivativeFilterImplementation::compute(  double dt, double input )
+{
+  double output = (input - _input_1) * _TfInput.get_value() * _gainInput.get_value() / dt;
+  _input_1 = input;
+  return output;
+
+}
+
+/* --------------------------------------------------------------------------------- */
+/* --------------------------------------------------------------------------------- */
+
+MovingAverageFilterImplementation::MovingAverageFilterImplementation() :
+  _output_1(0.0)
+{
+}
+
+void MovingAverageFilterImplementation::initialize( double output )
+{
+  _output_1 = output;
+}
+
+double MovingAverageFilterImplementation::compute(  double dt, double input )
+{
+  std::deque<double>::size_type samples = _samplesInput.get_value();
+  _inputQueue.resize(samples+1, 0.0);
+
+  double output_0 = _output_1 + (input - _inputQueue.back()) / samples;
+
+  _output_1 = output_0;
+  _inputQueue.push_front(input);
+  return output_0;
+}
+
+bool MovingAverageFilterImplementation::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  if (nodeName == "samples" ) {
+    _samplesInput.push_back( new InputValue( configNode, 1 ) );
+    return true;
+  }
+
+  return false;
+}
+
+/* --------------------------------------------------------------------------------- */
+/* --------------------------------------------------------------------------------- */
+
+NoiseSpikeFilterImplementation::NoiseSpikeFilterImplementation() :
+  _output_1(0.0)
+{
+}
+
+void NoiseSpikeFilterImplementation::initialize( double output )
+{
+  _output_1 = output;
+}
+
+double NoiseSpikeFilterImplementation::compute(  double dt, double input )
+{
+  double maxChange = _rateOfChangeInput.get_value() * dt;
+
+  double output_0 = _output_1;
+
+  if (_output_1 - input > maxChange) {
+    output_0 = _output_1 - maxChange;
+  } else if( _output_1 - input < -maxChange ) {
+    output_0 = _output_1 + maxChange;
+  } else if (fabs(input - _output_1) <= maxChange) {
+    output_0 = input;
+  }
+  _output_1 = output_0;
+  return output_0;
+}
+
+bool NoiseSpikeFilterImplementation::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  if (nodeName == "max-rate-of-change" ) {
+    _rateOfChangeInput.push_back( new InputValue( configNode, 1 ) );
+    return true;
+  }
+
+  return false;
+}
+
+/* --------------------------------------------------------------------------------- */
+/* --------------------------------------------------------------------------------- */
+
+ExponentialFilterImplementation::ExponentialFilterImplementation()
+  : _isSecondOrder(false),
+    output_1(0.0),
+    output_2(0.0)
+{
+}
+
+void ExponentialFilterImplementation::initialize( double output )
+{
+  output_1 = output_2 = output;
+}
+
+double ExponentialFilterImplementation::compute(  double dt, double input )
+{
+  input = GainFilterImplementation::compute( dt, input );
+
+  double output_0;
+  double alpha = 1 / ((_TfInput.get_value()/dt) + 1);
+ 
+  if(_isSecondOrder) {
+    output_0 = alpha * alpha * input + 
+               2 * (1 - alpha) * output_1 -
+              (1 - alpha) * (1 - alpha) * output_2;
+  } else {
+    output_0 = alpha * input + (1 - alpha) * output_1;
+  }
+  output_2 = output_1;
+  return (output_1 = output_0);
+}
+
+bool ExponentialFilterImplementation::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  if( GainFilterImplementation::configure( nodeName, configNode ) )
+    return true;
+
+  if (nodeName == "filter-time" ) {
+    _TfInput.push_back( new InputValue( configNode, 1 ) );
+    return true;
+  }
+
+  if (nodeName == "type" ) {
+    string type(configNode->getStringValue());
+    _isSecondOrder = type == "double-exponential";
+  }
+
+  return false;
+}
+
+/* --------------------------------------------------------------------------------- */
+/* Digital Filter Component Implementation                                           */
+/* --------------------------------------------------------------------------------- */
+
+DigitalFilter::DigitalFilter() :
+    AnalogComponent()
+{
+}
+
+static map<string,FunctorBase<DigitalFilterImplementation> *> componentForge;
+
+bool DigitalFilter::configure(const string& nodeName, SGPropertyNode_ptr configNode)
+{
+  if( componentForge.empty() ) {
+    componentForge["gain"] = new CreateAndConfigureFunctor<GainFilterImplementation,DigitalFilterImplementation>();
+    componentForge["exponential"] = new CreateAndConfigureFunctor<ExponentialFilterImplementation,DigitalFilterImplementation>();
+    componentForge["double-exponential"] = new CreateAndConfigureFunctor<ExponentialFilterImplementation,DigitalFilterImplementation>();
+    componentForge["moving-average"] = new CreateAndConfigureFunctor<MovingAverageFilterImplementation,DigitalFilterImplementation>();
+    componentForge["noise-spike"] = new CreateAndConfigureFunctor<NoiseSpikeFilterImplementation,DigitalFilterImplementation>();
+    componentForge["reciprocal"] = new CreateAndConfigureFunctor<ReciprocalFilterImplementation,DigitalFilterImplementation>();
+    componentForge["derivative"] = new CreateAndConfigureFunctor<DerivativeFilterImplementation,DigitalFilterImplementation>();
+  }
+
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "DigitalFilter::configure(" << nodeName << ")" << endl );
+  if( AnalogComponent::configure( nodeName, configNode ) )
+    return true;
+
+  if (nodeName == "type" ) {
+    string type( configNode->getStringValue() );
+    if( componentForge.count(type) == 0 ) {
+      SG_LOG( SG_AUTOPILOT, SG_BULK, "unhandled filter type <" << type << ">" << endl );
+      return true;
+    }
+    _implementation = (*componentForge[type])( configNode->getParent() );
+    return true;
+  }
+
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "DigitalFilter::configure(" << nodeName << ") [unhandled]" << endl );
+  return false; // not handled by us, let the base class try
+}
+
+void DigitalFilter::update( bool firstTime, double dt)
+{
+  if( _implementation == NULL ) return;
+
+  if( firstTime ) 
+    _implementation->initialize( get_output_value() );
+
+  double input = _valueInput.get_value() - _referenceInput.get_value();
+  double output = _implementation->compute( dt, input );
+
+  set_output_value( output );
+
+  if(_debug) {
+    cout << "input:" << input
+         << "\toutput:" << output << endl;
+  }
+}

diff --git a/src/Autopilot/digitalfilter.hxx b/src/Autopilot/digitalfilter.hxx
new file mode 100644 (file)
index 0000000..4bc37a9
--- /dev/null
+++ b/src/Autopilot/digitalfilter.hxx
@@ -0,0 +1,72 @@
+// digitalfilter.hxx - a selection of digital filters
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __DIGITALFILTER_HXX
+#define __DIGITALFILTER_HXX 1
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include "analogcomponent.hxx"
+
+namespace FGXMLAutopilot {
+
+/**
+ *
+ *
+ */
+class DigitalFilterImplementation : public SGReferenced {
+protected:
+  virtual bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode) = 0;
+public:
+  virtual void   initialize( double output ) {}
+  virtual double compute( double dt, double input ) = 0;
+  bool configure( SGPropertyNode_ptr configNode );
+};
+
+/**
+ * brief@ DigitalFilter - a selection of digital filters
+ *
+ */
+class DigitalFilter : public AnalogComponent
+{
+private:
+    SGSharedPtr<DigitalFilterImplementation> _implementation;
+
+protected:
+    bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode);
+    void update( bool firstTime, double dt);
+
+    InputValueList _Tf;
+    InputValueList _samples;
+    InputValueList _rateOfChange;
+    InputValueList _gain;
+
+public:
+    DigitalFilter();
+    ~DigitalFilter() {}
+
+};
+
+} // namespace FGXMLAutopilot
+#endif

diff --git a/src/Autopilot/flipflop.cxx b/src/Autopilot/flipflop.cxx
new file mode 100644 (file)
index 0000000..076b2db
--- /dev/null
+++ b/src/Autopilot/flipflop.cxx
@@ -0,0 +1,469 @@
+// flipflop.hxx - implementation of multiple flip flop types
+//
+// Written by Torsten Dreyer
+//
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "flipflop.hxx"
+#include "functor.hxx"
+#include "inputvalue.hxx"
+#include <Main/fg_props.hxx>
+
+namespace FGXMLAutopilot {
+
+/**
+ * @brief Flip flop implementation for a RS flip flop with dominant RESET
+ *
+ * RS (reset-set) flip flops act as a fundamental latch. It has two input lines, 
+ * S (set) and R (reset). Activating the set input sets the output while activating
+ * the reset input resets the output. If both inputs are activated, the output
+ * is deactivated, too. This is why the RESET line is called dominant. Use a
+ * SRFlipFlopImplementation for a dominant SET line.
+ *
+ * <table>
+ * <tr>
+ * <td colspan="3">Logictable</td>
+ * </tr>
+ * <tr>
+ *   <td>S</td><td>R</td><td>Q</td>
+ * </tr>
+ * <tr>
+ *   <td>false</td><td>false</td><td>unchanged</td>
+ * </tr>
+ * <tr>
+ *   <td>false</td><td>true</td><td>false</td>
+ * </tr>
+ * <tr>
+ *   <td>true</td><td>false</td><td>true</td>
+ * </tr>
+ * <tr>
+ *   <td>true</td><td>true</td><td>false</td>
+ * </tr>
+ * </table>
+ */
+class RSFlipFlopImplementation : public FlipFlopImplementation {
+protected:
+  bool _rIsDominant;
+public:
+  RSFlipFlopImplementation( bool rIsDominant = true ) : _rIsDominant( rIsDominant ) {}
+  virtual bool getState( double dt, DigitalComponent::InputMap input, bool & q );
+};
+
+/**
+ * @brief Flip flop implementation for a RS flip flop with dominant SET
+ *
+ * SR (set-reset) flip flops act as a fundamental latch. It has two input lines, 
+ * S (set) and R (reset). Activating the set input sets the output while activating
+ * the reset input resets the output. If both inputs are activated, the output
+ * is activated, too. This is why the SET line is called dominant. Use a
+ * RSFlipFlopImplementation for a dominant RESET line.
+ * 
+ * <table>
+ * <tr>
+ * <td colspan="3">Logictable</td>
+ * </tr>
+ * <tr>
+ *   <td>S</td><td>R</td><td>Q</td>
+ * </tr>
+ * <tr>
+ *   <td>false</td><td>false</td><td>unchanged</td>
+ * </tr>
+ * <tr>
+ *   <td>false</td><td>true</td><td>false</td>
+ * </tr>
+ * <tr>
+ *   <td>true</td><td>false</td><td>true</td>
+ * </tr>
+ * <tr>
+ *   <td>true</td><td>true</td><td>true</td>
+ * </tr>
+ * </table>
+ */
+class SRFlipFlopImplementation : public RSFlipFlopImplementation {
+public:
+  SRFlipFlopImplementation() : RSFlipFlopImplementation( false ) {}
+};
+
+/**
+ * @brief Base class for clocked flip flop implementation
+ *
+ * A clocked flip flop computes it's output on the raising edge (false/true transition)
+ * of the clock input. If such a transition is detected, the onRaisingEdge method is called
+ * by this implementation. All clocked flip flops inherit from the RS flip flop and may
+ * be set or reset by the respective set/reset lines. Note that the RS implementation 
+ * ignores the clock, The output is set immediately, regardless of the state of the clock
+ * input. The "clock" input is mandatory for clocked flip flops.
+ * 
+ */
+class ClockedFlipFlopImplementation : public RSFlipFlopImplementation {
+private:
+  /** 
+   * @brief the previous state of the clock input 
+   */
+  bool _clock;
+protected:
+
+  /**
+   * @brief pure virtual function to be implemented from the implementing class, gets called
+   * from the update method if the raising edge of the clock input was detected. 
+   * @param input a map of named input lines
+   * @param q a reference to a boolean variable to receive the output state
+   * @return true if the state has changed, false otherwise
+   */
+  virtual bool onRaisingEdge( DigitalComponent::InputMap input, bool & q ) = 0;
+public:
+
+  /**
+   * @brief constructor for a ClockedFlipFlopImplementation
+   * @param rIsDominant boolean flag to signal if RESET shall be dominant (true) or SET shall be dominant (false)
+   */
+  ClockedFlipFlopImplementation( bool rIsDominant = true ) : RSFlipFlopImplementation( rIsDominant ), _clock(false) {}
+
+  /**
+   * @brief evaluates the output state from the input lines. 
+   * This method basically waits for a raising edge and calls onRaisingEdge
+   * @param dt the elapsed time in seconds from since the last call
+   * @param input a map of named input lines
+   * @param q a reference to a boolean variable to receive the output state
+   * @return true if the state has changed, false otherwise
+   */
+  virtual bool getState( double dt, DigitalComponent::InputMap input, bool & q );
+};
+
+/**
+ * @brief Implements a JK flip flop as a clocked flip flop
+ *
+ * The JK flip flop has five input lines: R, S, clock, J and K. The R and S lines work as described
+ * in the RS flip flop. Setting the J line to true sets the output to true on the next raising
+ * edge of the clock line. Setting the K line to true sets the output to false on the next raising
+ * edge of the clock line. If both, J and K are true, the output is toggled at with every raising
+ * edge of the clock line. 
+ *
+ * Undefined inputs default to false.
+ *
+ * <table>
+ * <tr>
+ * <td colspan="7">Logictable</td>
+ * </tr>
+ * <tr>
+ *   <td>S</td><td>R</td><td>J</td><td>K</td><td>clock</td><td>Q (previous)</td><td>Q</td>
+ * </tr>
+ * <tr>
+ *   <td>false</td><td>false</td><td>false</td><td>false</td><td>any</td><td>any</td><td>unchanged</td>
+ * </tr>
+ * <tr>
+ *   <td>true</td><td>false</td><td>any</td><td>any</td><td>any</td><td>any</td><td>true</td>
+ * </tr>
+ * <tr>
+ *   <td>any</td><td>true</td><td>any</td><td>any</td><td>any</td><td>any</td><td>false</td>
+ * </tr>
+ * <tr>
+ *   <td>false</td><td>false</td><td>true</td><td>false</td><td>^</td><td>any</td><td>true</td>
+ * </tr>
+ * <tr>
+ *   <td>false</td><td>false</td><td>false</td><td>true</td><td>^</td><td>any</td><td>false</td>
+ * </tr>
+ * <tr>
+ *   <td>false</td><td>false</td><td>true</td><td>true</td><td>^</td><td>false</td><td>true</td>
+ * </tr>
+ * <tr>
+ *   <td>false</td><td>false</td><td>true</td><td>true</td><td>^</td><td>true</td><td>false</td>
+ * </tr>
+ * </table>
+ */
+class JKFlipFlopImplementation : public ClockedFlipFlopImplementation {
+public:
+  /**
+   * @brief constructor for a JKFlipFlopImplementation
+   * @param rIsDominant boolean flag to signal if RESET shall be dominant (true) or SET shall be dominant (false)
+   */
+  JKFlipFlopImplementation( bool rIsDominant = true ) : ClockedFlipFlopImplementation ( rIsDominant ) {}
+
+  /**
+   * @brief compute the output state according to the logic table on the raising edge of the clock
+   * @param input a map of named input lines
+   * @param q a reference to a boolean variable to receive the output state
+   * @return true if the state has changed, false otherwise
+   */
+  virtual bool onRaisingEdge( DigitalComponent::InputMap input, bool & q );
+};
+
+/** 
+ * @brief Implements a D (delay) flip flop.
+ *
+ */
+class DFlipFlopImplementation : public ClockedFlipFlopImplementation {
+public:
+  /**
+   * @brief constructor for a DFlipFlopImplementation
+   * @param rIsDominant boolean flag to signal if RESET shall be dominant (true) or SET shall be dominant (false)
+   */
+  DFlipFlopImplementation( bool rIsDominant = true ) : ClockedFlipFlopImplementation ( rIsDominant ) {}
+
+  /**
+   * @brief compute the output state according to the logic table on the raising edge of the clock
+   * @param input a map of named input lines
+   * @param q a reference to a boolean variable to receive the output state
+   * @return true if the state has changed, false otherwise
+   */
+  virtual bool onRaisingEdge( DigitalComponent::InputMap input, bool & q ) {
+    q = input.get_value("D");
+    return true;
+  }
+};
+
+/** 
+ * @brief Implements a T (toggle) flip flop.
+ *
+ */
+class TFlipFlopImplementation : public ClockedFlipFlopImplementation {
+public:
+  /**
+   * @brief constructor for a TFlipFlopImplementation
+   * @param rIsDominant boolean flag to signal if RESET shall be dominant (true) or SET shall be dominant (false)
+   */
+  TFlipFlopImplementation( bool rIsDominant = true ) : ClockedFlipFlopImplementation ( rIsDominant ) {}
+
+  /**
+   * @brief compute the output state according to the logic table on the raising edge of the clock
+   * @param input a map of named input lines
+   * @param q a reference to a boolean variable to receive the output state
+   * @return true if the state has changed, false otherwise
+   */
+  virtual bool onRaisingEdge( DigitalComponent::InputMap input, bool & q ) {
+    q = !q;
+    return true;
+  }
+};
+
+/** 
+ * @brief Implements a monostable flip flop
+ *
+ * The stable output state is false.
+ *
+ */
+class MonoFlopImplementation : public JKFlipFlopImplementation {
+protected:
+  virtual bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+  InputValueList _time;
+  double _t;
+public:
+  /**
+   * @brief constructor for a MonoFlopImplementation
+   * @param rIsDominant boolean flag to signal if RESET shall be dominant (true) or SET shall be dominant (false)
+   */
+  MonoFlopImplementation( bool rIsDominant = true ) : JKFlipFlopImplementation( rIsDominant ) {}
+  /**
+   * @brief evaluates the output state from the input lines and returns to the stable state 
+   * after expiry of the internal timer
+   * @param dt the elapsed time in seconds from since the last call
+   * @param input a map of named input lines
+   * @param q a reference to a boolean variable to receive the output state
+   * @return true if the state has changed, false otherwise
+   */
+  virtual bool getState( double dt, DigitalComponent::InputMap input, bool & q );
+};
+
+} // namespace
+
+using namespace FGXMLAutopilot;
+
+bool MonoFlopImplementation::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  if( JKFlipFlopImplementation::configure( nodeName, configNode ) )
+    return true;
+
+  if (nodeName == "time") {
+    _time.push_back( new InputValue( configNode ) );
+    return true;
+  } 
+
+  return false;
+}
+
+bool MonoFlopImplementation::getState( double dt, DigitalComponent::InputMap input, bool & q )
+{
+  if( JKFlipFlopImplementation::getState( dt, input, q ) ) {
+    _t = q ? _time.get_value() : 0;
+    return true;
+  }
+
+  _t -= dt;
+  if( _t <= 0.0 ) {
+    q = 0;
+    return true;
+  }
+
+  return false;
+}
+
+
+bool RSFlipFlopImplementation::getState( double dt, DigitalComponent::InputMap input, bool & q )
+{
+  bool s = input.get_value("S");
+  bool r = input.get_value("R");
+
+  // s == false && q == false: no change, keep state
+  if( s || r ) {
+    if( _rIsDominant ) { // RS: reset is dominant
+      if( s ) q = true; // set
+      if( r ) q = false; // reset
+    } else { // SR: set is dominant
+      if( r ) q = false; // reset
+      if( s ) q = true; // set
+    }
+    return true; // signal state changed
+  }
+  return false; // signal state unchagned
+}
+
+bool ClockedFlipFlopImplementation::getState( double dt, DigitalComponent::InputMap input, bool & q )
+{
+  bool c = input.get_value("clock");
+  bool raisingEdge = c && !_clock;
+    
+  _clock = c;
+
+  if( RSFlipFlopImplementation::getState( dt, input, q ) )
+    return true;
+
+
+  if( !raisingEdge ) return false; //signal no change
+  return onRaisingEdge( input, q );
+}
+
+bool JKFlipFlopImplementation::onRaisingEdge( DigitalComponent::InputMap input, bool & q )
+{
+  bool j = input.get_value("J");
+  bool k = input.get_value("K");
+    
+  // j == false && k == false: no change, keep state
+  if( (j || k) ) {
+    if( j && k ) {
+      q = !q; // toggle
+    } else {
+      if( j ) q = true;  // set
+      if( k ) q = false; // reset
+    }
+    return true; // signal state changed
+  }
+
+  return false; // signal no change
+}
+
+bool FlipFlopImplementation::configure( SGPropertyNode_ptr configNode )
+{
+  for (int i = 0; i < configNode->nChildren(); ++i ) {
+    SGPropertyNode_ptr prop;
+
+    SGPropertyNode_ptr child = configNode->getChild(i);
+    string cname(child->getName());
+
+    if( configure( cname, child ) )
+      continue;
+
+  } // for configNode->nChildren()
+
+  return true;
+}
+
+
+static map<string,FunctorBase<FlipFlopImplementation> *> componentForge;
+
+bool FlipFlop::configure( const std::string & nodeName, SGPropertyNode_ptr configNode ) 
+{ 
+  if( componentForge.empty() ) {
+    componentForge["RS"] = new CreateAndConfigureFunctor<RSFlipFlopImplementation,FlipFlopImplementation>();
+    componentForge["SR"] = new CreateAndConfigureFunctor<SRFlipFlopImplementation,FlipFlopImplementation>();
+    componentForge["JK"] = new CreateAndConfigureFunctor<JKFlipFlopImplementation,FlipFlopImplementation>();
+    componentForge["D"]  = new CreateAndConfigureFunctor<DFlipFlopImplementation, FlipFlopImplementation>();
+    componentForge["T"]  = new CreateAndConfigureFunctor<TFlipFlopImplementation, FlipFlopImplementation>();
+    componentForge["monostable"]  = new CreateAndConfigureFunctor<MonoFlopImplementation, FlipFlopImplementation>();
+  }
+
+  if( DigitalComponent::configure( nodeName, configNode ) )
+    return true;
+
+  if( nodeName == "type" ) {
+    string type(configNode->getStringValue());
+    if( componentForge.count(type) == 0 ) {
+      SG_LOG( SG_AUTOPILOT, SG_BULK, "unhandled flip-flop type <" << type << ">" << endl );
+      return true;
+    }
+    _implementation = (*componentForge[type])( configNode->getParent() );
+    return true;
+  }
+
+  if (nodeName == "set"||nodeName == "S") {
+    _input["S"] = sgReadCondition( fgGetNode("/"), configNode );
+    return true;
+  }
+
+  if (nodeName == "reset" || nodeName == "R" ) {
+    _input["R"] = sgReadCondition( fgGetNode("/"), configNode );
+    return true;
+  } 
+
+  if (nodeName == "J") {
+    _input["J"] = sgReadCondition( fgGetNode("/"), configNode );
+    return true;
+  } 
+
+  if (nodeName == "K") {
+    _input["K"] = sgReadCondition( fgGetNode("/"), configNode );
+    return true;
+  } 
+
+  if (nodeName == "D") {
+    _input["D"] = sgReadCondition( fgGetNode("/"), configNode );
+    return true;
+  } 
+
+  if (nodeName == "clock") {
+    _input["clock"] = sgReadCondition( fgGetNode("/"), configNode );
+    return true;
+  }
+
+  return false; 
+}
+
+void FlipFlop::update( bool firstTime, double dt )
+{
+  if( _implementation == NULL ) {
+    SG_LOG( SG_AUTOPILOT, SG_ALERT, "No flip-flop implementation for " << get_name() << endl );
+    return;
+  }
+
+  bool q0, q;
+
+  q0 = q = get_output();
+
+  if( _implementation->getState( dt, _input, q ) && q0 != q ) {
+    set_output( q );
+
+    if(_debug) {
+      cout << "updating flip-flop \"" << get_name() << "\"" << endl;
+      cout << "prev. Output:" << q0 << endl;
+      for( InputMap::const_iterator it = _input.begin(); it != _input.end(); it++ ) 
+        cout << "Input \"" << (*it).first << "\":" << (*it).second->test() << endl;
+      cout << "new Output:" << q << endl;
+    }
+  }
+}
+
+

diff --git a/src/Autopilot/flipflop.hxx b/src/Autopilot/flipflop.hxx
new file mode 100644 (file)
index 0000000..dfdb382
--- /dev/null
+++ b/src/Autopilot/flipflop.hxx
@@ -0,0 +1,92 @@
+// flipflop.hxx - implementation of multiple flip flop types
+//
+// Written by Torsten Dreyer
+//
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __FLIPFLOPCOMPONENT_HXX
+#define __FLIPFLOPCOMPONENT_HXX 1
+
+#include "logic.hxx"
+
+namespace FGXMLAutopilot {
+
+/**
+ * @brief Interface for a flip flop implementation. Can be configured from a property node and
+ * returns a state depending on input lines.
+ */
+class FlipFlopImplementation : public SGReferenced {
+protected:
+ /**
+  * @brief configure this component from a property node. Iterates through all nodes found
+  *        as childs under configNode and calls configure of the derived class for each child.
+  * @param configNode the property node containing the configuration 
+  */
+  virtual bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode ) { return false; }
+public:
+  /**
+   * @brief evaluates the output state from the input lines
+   * @param dt the elapsed time in seconds from since the last call
+   * @param input a map of named input lines
+   * @param q a reference to a boolean variable to receive the output state
+   * @return true if the state has changed, false otherwise
+   */
+  virtual bool getState( double dt, DigitalComponent::InputMap input, bool & q ) { return false; }
+
+ /**
+  * @brief configure this component from a property node. Iterates through all nodes found
+  *        as childs under configNode and calls configure of the derived class for each child.
+  * @param configNode the property node containing the configuration 
+  */
+  bool configure( SGPropertyNode_ptr configNode );
+};
+
+/**
+ * @brief A simple flipflop implementation
+ */
+class FlipFlop : public Logic {
+public:
+protected:
+    /**
+     * @brief Over-rideable hook method to allow derived classes to refine top-level
+     * node parsing. 
+     * @param aName
+     * @param aNode
+     * @return true if the node was handled, false otherwise.
+     */
+    virtual bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+
+   /** 
+    * @brief Implementation of the pure virtual function of the Component class. Gets called from
+    * the update method if it's not disabled with the firstTime parameter set to true if this
+    * is the first call after being enabled 
+    * @param firstTime set to true if this is the first update call since this component has
+             been enabled. Set to false for every subsequent call.
+    * @param dt  the elapsed time since the last call
+    */
+    void update( bool firstTime, double dt );
+
+private:
+   /** 
+    * @brief Pointer to the actual flip flop implementation
+    */
+    SGSharedPtr<FlipFlopImplementation> _implementation;
+
+};
+
+}
+#endif // FLIPFLOPCOMPONENT_HXX

diff --git a/src/Autopilot/functor.hxx b/src/Autopilot/functor.hxx
new file mode 100644 (file)
index 0000000..b68b683
--- /dev/null
+++ b/src/Autopilot/functor.hxx
@@ -0,0 +1,50 @@
+// functor.hxx - a utility to create object based on names
+//
+// Written by Torsten Dreyer
+//
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __FUNCTOR_HXX
+#define __FUNCTOR_HXX 1
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include <simgear/props/props.hxx>
+
+namespace FGXMLAutopilot {
+
+template <class TBase> class FunctorBase {
+public:
+  virtual TBase * operator()( SGPropertyNode_ptr configNode ) = 0;
+};
+
+template <class TClass,class TBase> class CreateAndConfigureFunctor : 
+  public FunctorBase<TBase>,
+  SGReferenced {
+public:
+  virtual TBase * operator()( SGPropertyNode_ptr configNode ) { 
+    TBase * base = new TClass();
+    base->configure( configNode );
+    return base;
+  }
+};
+
+}
+
+#endif // __FUNCTOR_HXX 1

diff --git a/src/Autopilot/inputvalue.cxx b/src/Autopilot/inputvalue.cxx
new file mode 100644 (file)
index 0000000..fb80263
--- /dev/null
+++ b/src/Autopilot/inputvalue.cxx
@@ -0,0 +1,202 @@
+// inputvalue.hxx - provide input to autopilot components
+//
+// Written by Torsten Dreyer
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "inputvalue.hxx"
+#include <Main/fg_props.hxx>
+using namespace FGXMLAutopilot;
+
+PeriodicalValue::PeriodicalValue( SGPropertyNode_ptr root )
+{
+  SGPropertyNode_ptr minNode = root->getChild( "min" );
+  SGPropertyNode_ptr maxNode = root->getChild( "max" );
+  if( minNode == NULL || maxNode == NULL ) {
+    SG_LOG(SG_AUTOPILOT, SG_ALERT, "periodical defined, but no <min> and/or <max> tag. Period ignored." );
+  } else {
+    minPeriod = new InputValue( minNode );
+    maxPeriod = new InputValue( maxNode );
+  }
+}
+
+double PeriodicalValue::normalize( double value )
+{
+  if( !(minPeriod && maxPeriod )) return value;
+
+  double p1 = minPeriod->get_value();
+  double p2 = maxPeriod->get_value();
+
+  double min = std::min<double>(p1,p2);
+  double max = std::max<double>(p1,p2);
+  double phase = fabs(max - min);
+
+  if( phase > SGLimitsd::min() ) {
+    while( value < min )  value += phase;
+    while( value >= max ) value -= phase;
+  } else {
+    value = min; // phase is zero
+  }
+
+  return value;
+}
+
+InputValue::InputValue( SGPropertyNode_ptr node, double value, double offset, double scale) :
+  _value(0.0),
+  _abs(false)
+{
+  parse( node, value, offset, scale );
+}
+
+
+void InputValue::parse( SGPropertyNode_ptr node, double aValue, double aOffset, double aScale )
+{
+    _value = aValue;
+    _property = NULL; 
+    _offset = NULL;
+    _scale = NULL;
+    _min = NULL;
+    _max = NULL;
+    _periodical = NULL;
+
+    if( node == NULL )
+        return;
+
+    SGPropertyNode * n;
+
+    if( (n = node->getChild("condition")) != NULL ) {
+        _condition = sgReadCondition(fgGetNode("/"), n);
+    }
+
+    if( (n = node->getChild( "scale" )) != NULL ) {
+        _scale = new InputValue( n, aScale );
+    }
+
+    if( (n = node->getChild( "offset" )) != NULL ) {
+        _offset = new InputValue( n, aOffset );
+    }
+
+    if( (n = node->getChild( "max" )) != NULL ) {
+        _max = new InputValue( n );
+    }
+
+    if( (n = node->getChild( "min" )) != NULL ) {
+        _min = new InputValue( n );
+    }
+
+    if( (n = node->getChild( "abs" )) != NULL ) {
+      _abs = n->getBoolValue();
+    }
+
+    if( (n = node->getChild( "period" )) != NULL ) {
+      _periodical = new PeriodicalValue( n );
+    }
+
+    SGPropertyNode *valueNode = node->getChild( "value" );
+    if ( valueNode != NULL ) {
+        _value = valueNode->getDoubleValue();
+    }
+
+    if ((n = node->getChild("expression")) != NULL) {
+      _expression = SGReadDoubleExpression(fgGetNode("/"), n->getChild(0));
+      return;
+    }
+    
+    n = node->getChild( "property" );
+    // if no <property> element, check for <prop> element for backwards
+    // compatibility
+    if(  n == NULL )
+        n = node->getChild( "prop" );
+
+    if (  n != NULL ) {
+        _property = fgGetNode(  n->getStringValue(), true );
+        if ( valueNode != NULL ) {
+            // initialize property with given value 
+            // if both <prop> and <value> exist
+            double s = get_scale();
+            if( s != 0 )
+              _property->setDoubleValue( (_value - get_offset())/s );
+            else
+              _property->setDoubleValue( 0 ); // if scale is zero, value*scale is zero
+        }
+        
+        return;
+    } // of have a <property> or <prop>
+
+    
+    if (valueNode == NULL) {
+        // no <value>, <prop> or <expression> element, use text node 
+        const char * textnode = node->getStringValue();
+        char * endp = NULL;
+        // try to convert to a double value. If the textnode does not start with a number
+        // endp will point to the beginning of the string. We assume this should be
+        // a property name
+        _value = strtod( textnode, &endp );
+        if( endp == textnode ) {
+          _property = fgGetNode( textnode, true );
+        }
+    }
+}
+
+void InputValue::set_value( double aValue ) 
+{
+    if (!_property)
+      return;
+      
+    double s = get_scale();
+    if( s != 0 )
+        _property->setDoubleValue( (aValue - get_offset())/s );
+    else
+        _property->setDoubleValue( 0 ); // if scale is zero, value*scale is zero
+}
+
+double InputValue::get_value() const
+{
+    double value = _value;
+
+    if (_expression) {
+        // compute the expression value
+        value = _expression->getValue(NULL);
+    } else if( _property != NULL ) {
+        value = _property->getDoubleValue();
+    }
+    
+    if( _scale ) 
+        value *= _scale->get_value();
+
+    if( _offset ) 
+        value += _offset->get_value();
+
+    if( _min ) {
+        double m = _min->get_value();
+        if( value < m )
+            value = m;
+    }
+
+    if( _max ) {
+        double m = _max->get_value();
+        if( value > m )
+            value = m;
+    }
+
+    if( _periodical ) {
+      value = _periodical->normalize( value );
+    }
+    
+    return _abs ? fabs(value) : value;
+}
+

diff --git a/src/Autopilot/inputvalue.hxx b/src/Autopilot/inputvalue.hxx
new file mode 100644 (file)
index 0000000..bdf0b63
--- /dev/null
+++ b/src/Autopilot/inputvalue.hxx
@@ -0,0 +1,127 @@
+// inputvalue.hxx - provide input to autopilot components
+//
+// Written by Torsten Dreyer
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#ifndef _INPUTVALUE_HXX
+#define _INPUTVALUE_HXX 1
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+
+#include <simgear/structure/SGExpression.hxx>
+
+namespace FGXMLAutopilot {
+
+typedef SGSharedPtr<class InputValue> InputValue_ptr;
+typedef SGSharedPtr<class PeriodicalValue> PeriodicalValue_ptr;
+
+/**
+ * @brief Model a periodical value like angular values
+ *
+ * Most common use for periodical values are angular values.
+ * If y = f(x) = f(x + n*period), this is a periodical function
+ */
+class PeriodicalValue : public SGReferenced {
+private:
+     InputValue_ptr minPeriod; // The minimum value of the period
+     InputValue_ptr maxPeriod; // The maximum value of the period
+public:
+     PeriodicalValue( SGPropertyNode_ptr node );
+     double normalize( double value );
+};
+
+/**
+ * @brief A input value for analog autopilot components
+ *
+ * Input values may be constants, property values, transformed with a scale
+ * and/or offset, clamped to min/max values, be periodical, bound to 
+ * conditions or evaluated from expressions.
+ */
+class InputValue : public SGReferenced {
+private:
+     double             _value;    // The value as a constant or initializer for the property
+     bool               _abs;      // return absolute value
+     SGPropertyNode_ptr _property; // The name of the property containing the value
+     InputValue_ptr _offset;   // A fixed offset, defaults to zero
+     InputValue_ptr _scale;    // A constant scaling factor defaults to one
+     InputValue_ptr _min;      // A minimum clip defaults to no clipping
+     InputValue_ptr _max;      // A maximum clip defaults to no clipping
+     PeriodicalValue_ptr  _periodical; //
+     SGSharedPtr<const SGCondition> _condition;
+     SGSharedPtr<SGExpressiond> _expression;  ///< expression to generate the value
+     
+public:
+    InputValue( SGPropertyNode_ptr node = NULL, double value = 0.0, double offset = 0.0, double scale = 1.0 );
+    
+    void parse( SGPropertyNode_ptr, double value = 0.0, double offset = 0.0, double scale = 1.0 );
+
+    /* get the value of this input, apply scale and offset and clipping */
+    double get_value() const;
+
+    /* set the input value after applying offset and scale */
+    void set_value( double value );
+
+    inline double get_scale() const {
+      return _scale == NULL ? 1.0 : _scale->get_value();
+    }
+
+    inline double get_offset() const {
+      return _offset == NULL ? 0.0 : _offset->get_value();
+    }
+
+    inline bool is_enabled() const {
+      return _condition == NULL ? true : _condition->test();
+    }
+
+};
+
+/**
+ * @brief A chained list of InputValues
+ *
+ * Many compoments support InputValueLists as input. Each InputValue may be bound to
+ * a condition. This list supports the get_value() function to retrieve the value
+ * of the first InputValue in this list that has a condition evaluating to true.
+ */
+class InputValueList : public std::vector<InputValue_ptr> {
+  public:
+    InputValueList( double def = 0.0 ) : _def(def) { }
+
+    InputValue_ptr get_active() const {
+      for (const_iterator it = begin(); it != end(); ++it) {
+        if( (*it)->is_enabled() )
+          return *it;
+      }
+      return NULL;
+    }
+
+    double get_value() const {
+      InputValue_ptr input = get_active();
+      return input == NULL ? _def : input->get_value();
+    }
+  private:
+
+    double _def;
+
+};
+
+}
+
+#endif

diff --git a/src/Autopilot/logic.cxx b/src/Autopilot/logic.cxx
new file mode 100644 (file)
index 0000000..8327042
--- /dev/null
+++ b/src/Autopilot/logic.cxx
@@ -0,0 +1,63 @@
+// logic.cxx - Base class for logic components
+//
+// Written by Torsten Dreyer
+//
+// Copyright (C) 2004  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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+// for some obscure reason, MSVC needs this to compile
+#ifdef _MSC_VER
+#ifndef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+#include <simgear/math/SGMath.hxx>
+#endif
+
+#include "logic.hxx"
+
+using namespace FGXMLAutopilot;
+
+bool Logic::get_input() const
+{
+  // return state of first configured condition
+  InputMap::const_iterator it = _input.begin();
+  if( it == _input.end() ) return false; // no inputs?
+  return (*it).second->test();
+}
+
+void Logic::set_output( bool value )
+{
+  // respect global inverted flag
+  if( _inverted ) value = !value;
+
+  // set all outputs to the given value
+  for( OutputMap::iterator it = _output.begin(); it != _output.end(); it++ )
+    (*it).second->setValue( value );
+}
+
+bool Logic::get_output() const
+{
+  OutputMap::const_iterator it = _output.begin();
+  bool q = it != _output.end() ? (*it).second->getValue() : false;
+  return _inverted ? !q : q;
+}
+
+void Logic::update( bool firstTime, double dt )
+{
+  set_output( get_input() );
+}
+

diff --git a/src/Autopilot/logic.hxx b/src/Autopilot/logic.hxx
new file mode 100644 (file)
index 0000000..44add3a
--- /dev/null
+++ b/src/Autopilot/logic.hxx
@@ -0,0 +1,46 @@
+// logic.hxx - Base class for logic components
+//
+// Written by Torsten Dreyer
+//
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __LOGICCOMPONENT_HXX
+#define __LOGICCOMPONENT_HXX 1
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include "digitalcomponent.hxx"
+
+namespace FGXMLAutopilot {
+
+/**
+ * @brief A simple logic class writing &lt;condition&gt; to a property
+ */
+class Logic : public DigitalComponent {
+public:
+    bool get_input() const;
+    void set_output( bool value );
+    bool get_output() const;
+protected:
+    void update( bool firstTime, double dt );
+};
+
+}
+#endif // LOGICCOMPONENT_HXX
+

diff --git a/src/Autopilot/pidcontroller.cxx b/src/Autopilot/pidcontroller.cxx
new file mode 100644 (file)
index 0000000..1ad0274
--- /dev/null
+++ b/src/Autopilot/pidcontroller.cxx
@@ -0,0 +1,246 @@
+// pidcontroller.cxx - implementation of PID controller
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "pidcontroller.hxx"
+
+using namespace FGXMLAutopilot;
+
+PIDController::PIDController():
+    AnalogComponent(),
+    alpha( 0.1 ),
+    beta( 1.0 ),
+    gamma( 0.0 ),
+    ep_n_1( 0.0 ),
+    edf_n_1( 0.0 ),
+    edf_n_2( 0.0 ),
+    u_n_1( 0.0 ),
+    desiredTs( 0.0 ),
+    elapsedTime( 0.0 )
+{
+}
+
+/*
+ * Roy Vegard Ovesen:
+ *
+ * Ok! Here is the PID controller algorithm that I would like to see
+ * implemented:
+ *
+ *   delta_u_n = Kp * [ (ep_n - ep_n-1) + ((Ts/Ti)*e_n)
+ *               + (Td/Ts)*(edf_n - 2*edf_n-1 + edf_n-2) ]
+ *
+ *   u_n = u_n-1 + delta_u_n
+ *
+ * where:
+ *
+ * delta_u : The incremental output
+ * Kp      : Proportional gain
+ * ep      : Proportional error with reference weighing
+ *           ep = beta * r - y
+ *           where:
+ *           beta : Weighing factor
+ *           r    : Reference (setpoint)
+ *           y    : Process value, measured
+ * e       : Error
+ *           e = r - y
+ * Ts      : Sampling interval
+ * Ti      : Integrator time
+ * Td      : Derivator time
+ * edf     : Derivate error with reference weighing and filtering
+ *           edf_n = edf_n-1 / ((Ts/Tf) + 1) + ed_n * (Ts/Tf) / ((Ts/Tf) + 1)
+ *           where:
+ *           Tf : Filter time
+ *           Tf = alpha * Td , where alpha usually is set to 0.1
+ *           ed : Unfiltered derivate error with reference weighing
+ *             ed = gamma * r - y
+ *             where:
+ *             gamma : Weighing factor
+ * 
+ * u       : absolute output
+ * 
+ * Index n means the n'th value.
+ * 
+ * 
+ * Inputs:
+ * enabled ,
+ * y_n , r_n , beta=1 , gamma=0 , alpha=0.1 ,
+ * Kp , Ti , Td , Ts (is the sampling time available?)
+ * u_min , u_max
+ * 
+ * Output:
+ * u_n
+ */
+
+void PIDController::update( bool firstTime, double dt ) 
+{
+    double edf_n = 0.0;
+    double delta_u_n = 0.0; // incremental output
+    double u_n = 0.0;       // absolute output
+
+    double u_min = _minInput.get_value();
+    double u_max = _maxInput.get_value();
+
+    elapsedTime += dt;
+    if( elapsedTime <= desiredTs ) {
+        // do nothing if time step is not positive (i.e. no time has
+        // elapsed)
+        return;
+    }
+    double Ts = elapsedTime; // sampling interval (sec)
+    elapsedTime = 0.0;
+
+    if( firstTime ) {
+      // first time being enabled, seed u_n with current
+      // property tree value
+      ep_n_1 = 0.0;
+      edf_n_2 = edf_n_1 = edf_n = 0.0;
+      u_n = get_output_value();
+      u_n_1 = u_n;
+    }
+
+    if( Ts > SGLimitsd::min()) {
+        if( _debug ) cout <<  "Updating " << get_name()
+                          << " Ts " << Ts << endl;
+
+        double y_n = _valueInput.get_value();
+        double r_n = _referenceInput.get_value();
+                      
+        if ( _debug ) cout << "  input = " << y_n << " ref = " << r_n << endl;
+
+        // Calculates proportional error:
+        double ep_n = beta * r_n - y_n;
+        if ( _debug ) cout << "  ep_n = " << ep_n;
+        if ( _debug ) cout << "  ep_n_1 = " << ep_n_1;
+
+        // Calculates error:
+        double e_n = r_n - y_n;
+        if ( _debug ) cout << " e_n = " << e_n;
+
+        double td = Td.get_value();
+        if ( td > 0.0 ) { // do we need to calcluate derivative error?
+
+          // Calculates derivate error:
+            double ed_n = gamma * r_n - y_n;
+            if ( _debug ) cout << " ed_n = " << ed_n;
+
+            // Calculates filter time:
+            double Tf = alpha * td;
+            if ( _debug ) cout << " Tf = " << Tf;
+
+            // Filters the derivate error:
+            edf_n = edf_n_1 / (Ts/Tf + 1)
+                + ed_n * (Ts/Tf) / (Ts/Tf + 1);
+            if ( _debug ) cout << " edf_n = " << edf_n;
+        } else {
+            edf_n_2 = edf_n_1 = edf_n = 0.0;
+        }
+
+        // Calculates the incremental output:
+        double ti = Ti.get_value();
+        if ( ti > 0.0 ) {
+            delta_u_n = Kp.get_value() * ( (ep_n - ep_n_1)
+                               + ((Ts/ti) * e_n)
+                               + ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
+
+          if ( _debug ) {
+              cout << " delta_u_n = " << delta_u_n << endl;
+              cout << "P:" << Kp.get_value() * (ep_n - ep_n_1)
+                   << " I:" << Kp.get_value() * ((Ts/ti) * e_n)
+                   << " D:" << Kp.get_value() * ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
+                   << endl;
+        }
+        }
+
+        // Integrator anti-windup logic:
+        if ( delta_u_n > (u_max - u_n_1) ) {
+            delta_u_n = u_max - u_n_1;
+            if ( _debug ) cout << " max saturation " << endl;
+        } else if ( delta_u_n < (u_min - u_n_1) ) {
+            delta_u_n = u_min - u_n_1;
+            if ( _debug ) cout << " min saturation " << endl;
+        }
+
+        // Calculates absolute output:
+        u_n = u_n_1 + delta_u_n;
+        if ( _debug ) cout << "  output = " << u_n << endl;
+
+        // Updates indexed values;
+        u_n_1   = u_n;
+        ep_n_1  = ep_n;
+        edf_n_2 = edf_n_1;
+        edf_n_1 = edf_n;
+
+        set_output_value( u_n );
+    }
+}
+
+bool PIDController::configure( const std::string & nodeName, SGPropertyNode_ptr configNode )
+{
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "PIDController::configure(" << nodeName << ")" << endl );
+
+  if( AnalogComponent::configure( nodeName, configNode ) )
+    return true;
+
+  if( nodeName == "config" ) {
+    Component::configure( configNode );
+    return true;
+  }
+
+  if (nodeName == "Ts") {
+    desiredTs = configNode->getDoubleValue();
+    return true;
+  } 
+
+  if (nodeName == "Kp") {
+    Kp.push_back( new InputValue(configNode) );
+    return true;
+  } 
+
+  if (nodeName == "Ti") {
+    Ti.push_back( new InputValue(configNode) );
+    return true;
+  } 
+
+  if (nodeName == "Td") {
+    Td.push_back( new InputValue(configNode) );
+    return true;
+  } 
+
+  if (nodeName == "beta") {
+    beta = configNode->getDoubleValue();
+    return true;
+  } 
+
+  if (nodeName == "alpha") {
+    alpha = configNode->getDoubleValue();
+    return true;
+  } 
+
+  if (nodeName == "gamma") {
+    gamma = configNode->getDoubleValue();
+    return true;
+  } 
+
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "PIDController::configure(" << nodeName << ") [unhandled]" << endl );
+  return false;
+}
+

diff --git a/src/Autopilot/pidcontroller.hxx b/src/Autopilot/pidcontroller.hxx
new file mode 100644 (file)
index 0000000..da69a73
--- /dev/null
+++ b/src/Autopilot/pidcontroller.hxx
@@ -0,0 +1,74 @@
+// pidcontroller.hxx - implementation of PID controller
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __PIDCONTROLLER_HXX
+#define __PIDCONTROLLER_HXX 1
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include "analogcomponent.hxx"
+
+#include <simgear/props/props.hxx>
+#include <simgear/structure/subsystem_mgr.hxx>
+
+namespace FGXMLAutopilot {
+
+/**
+ * Roy Ovesen's PID controller
+ */
+class PIDController : public AnalogComponent {
+
+private:
+    // Configuration values
+    InputValueList Kp;          // proportional gain
+    InputValueList Ti;          // Integrator time (sec)
+    InputValueList Td;          // Derivator time (sec)
+
+    double alpha;               // low pass filter weighing factor (usually 0.1)
+    double beta;                // process value weighing factor for
+                                // calculating proportional error
+                                // (usually 1.0)
+    double gamma;               // process value weighing factor for
+                                // calculating derivative error
+                                // (usually 0.0)
+
+    // Previous state tracking values
+    double ep_n_1;              // ep[n-1]  (prop error)
+    double edf_n_1;             // edf[n-1] (derivative error)
+    double edf_n_2;             // edf[n-2] (derivative error)
+    double u_n_1;               // u[n-1]   (output)
+    double desiredTs;            // desired sampling interval (sec)
+    double elapsedTime;          // elapsed time (sec)
+
+protected:
+    bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode);
+public:
+    PIDController();
+    ~PIDController() {}
+
+    void update( bool firstTime, double dt );
+};
+
+}
+#endif // __PIDCONTROLLER_HXX

diff --git a/src/Autopilot/pisimplecontroller.cxx b/src/Autopilot/pisimplecontroller.cxx
new file mode 100644 (file)
index 0000000..b19633a
--- /dev/null
+++ b/src/Autopilot/pisimplecontroller.cxx
@@ -0,0 +1,88 @@
+// pisimplecontroller.cxx - implementation of a simple PI controller
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "pisimplecontroller.hxx"
+
+using namespace FGXMLAutopilot;
+
+PISimpleController::PISimpleController() :
+    AnalogComponent(),
+    _int_sum( 0.0 )
+{
+}
+
+bool PISimpleController::configure( const string& nodeName, SGPropertyNode_ptr configNode)
+{
+  if( AnalogComponent::configure( nodeName, configNode ) )
+    return true;
+
+  if( nodeName == "config" ) {
+    Component::configure( configNode );
+    return true;
+  }
+
+  if (nodeName == "Kp") {
+    _Kp.push_back( new InputValue(configNode) );
+    return true;
+  } 
+
+  if (nodeName == "Ki") {
+    _Ki.push_back( new InputValue(configNode) );
+    return true;
+  }
+
+  return false;
+}
+
+void PISimpleController::update( bool firstTime, double dt )
+{
+    if ( firstTime ) {
+        // we have just been enabled, zero out int_sum
+        _int_sum = 0.0;
+    }
+
+    if ( _debug ) cout << "Updating " << get_name() << endl;
+    double y_n = _valueInput.get_value();
+    double r_n = _referenceInput.get_value();
+                  
+    double error = r_n - y_n;
+    if ( _debug ) cout << "input = " << y_n
+                      << " reference = " << r_n
+                      << " error = " << error
+                      << endl;
+
+    double prop_comp = clamp(error * _Kp.get_value());
+    _int_sum += error * _Ki.get_value() * dt;
+
+
+    double output = prop_comp + _int_sum;
+    double clamped_output = clamp( output );
+    if( output != clamped_output ) // anti-windup
+      _int_sum = clamped_output - prop_comp;
+
+    if ( _debug ) cout << "prop_comp = " << prop_comp
+                      << " int_sum = " << _int_sum << endl;
+
+    set_output_value( clamped_output );
+    if ( _debug ) cout << "output = " << clamped_output << endl;
+}

diff --git a/src/Autopilot/pisimplecontroller.hxx b/src/Autopilot/pisimplecontroller.hxx
new file mode 100644 (file)
index 0000000..06dcb01
--- /dev/null
+++ b/src/Autopilot/pisimplecontroller.hxx
@@ -0,0 +1,64 @@
+// pisimplecontroller.hxx - implementation of a simple PI controller
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __PISIMPLECONTROLLER_HXX
+#define __PISIMPLECONTROLLER_HXX 1
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include "analogcomponent.hxx"
+
+#include <simgear/props/props.hxx>
+#include <simgear/structure/subsystem_mgr.hxx>
+
+namespace FGXMLAutopilot {
+
+/**
+ * A simplistic P [ + I ] PI controller
+ */
+class PISimpleController : public AnalogComponent {
+
+private:
+
+    // proportional component data
+    InputValueList _Kp;
+
+    // integral component data
+    InputValueList _Ki;
+    double _int_sum;
+
+protected:
+    bool configure( const std::string & nodeName, SGPropertyNode_ptr configNode );
+
+public:
+
+    PISimpleController();
+    ~PISimpleController() {}
+
+    void update( bool firstTime, double dt );
+};
+
+}
+
+#endif

diff --git a/src/Autopilot/predictor.cxx b/src/Autopilot/predictor.cxx
new file mode 100644 (file)
index 0000000..fe16d14
--- /dev/null
+++ b/src/Autopilot/predictor.cxx
@@ -0,0 +1,81 @@
+// predictor.cxx - predict future values
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+
+#include "predictor.hxx"
+
+#ifdef SG_BULK
+#undef SG_BULK
+#endif
+#define SG_BULK SG_ALERT
+#ifdef SG_INFO
+#undef SG_INFO
+#endif
+#define SG_INFO SG_ALERT
+
+using namespace FGXMLAutopilot;
+
+Predictor::Predictor () :
+    AnalogComponent(),
+    _average(0.0)
+{
+}
+
+bool Predictor::configure(const string& nodeName, SGPropertyNode* configNode)
+{
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "Predictor::configure(" << nodeName << ")" << endl );
+  if (nodeName == "seconds") {
+    _seconds.push_back( new InputValue( configNode, 0 ) );
+    return true;
+  } 
+
+  if (nodeName == "filter-gain") {
+    _filter_gain.push_back( new InputValue( configNode, 0 ) );
+    return true;
+  }
+
+  SG_LOG( SG_AUTOPILOT, SG_BULK, "Predictor::configure(" << nodeName << ") [unhandled]" << endl );
+  return false;
+}
+
+void Predictor::update( bool firstTime, double dt ) 
+{
+    double ivalue = _valueInput.get_value();
+
+    if ( firstTime ) {
+        _last_value = ivalue;
+    }
+
+    double current = (ivalue - _last_value)/dt; // calculate current error change (per second)
+    _average = dt < 1.0 ? ((1.0 - dt) * _average + current * dt) : current;
+
+    // calculate output with filter gain adjustment
+    double output = ivalue + 
+           (1.0 - _filter_gain.get_value()) * (_average * _seconds.get_value()) + 
+           _filter_gain.get_value() * (current * _seconds.get_value());
+    output = clamp( output );
+    set_output_value( output );
+
+    _last_value = ivalue;
+}
+
+

diff --git a/src/Autopilot/predictor.hxx b/src/Autopilot/predictor.hxx
new file mode 100644 (file)
index 0000000..5418b33
--- /dev/null
+++ b/src/Autopilot/predictor.hxx
@@ -0,0 +1,67 @@
+// predictor.hxx - predict future values
+//
+// Written by Torsten Dreyer
+// Based heavily on work created by Curtis Olson, started January 2004.
+//
+// Copyright (C) 2004  Curtis L. Olson  - http://www.flightgear.org/~curt
+// Copyright (C) 2010  Torsten Dreyer - Torsten (at) t3r (dot) de
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef __PREDICTOR_HXX
+#define __PREDICTOR_HXX 1
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include "analogcomponent.hxx"
+
+#include <simgear/props/props.hxx>
+
+namespace FGXMLAutopilot {
+
+/**
+ * @brief Simple moving average filter converts input value to predicted value "seconds".
+ *
+ * Smoothing as described by Curt Olson:
+ *   gain would be valid in the range of 0 - 1.0
+ *   1.0 would mean no filtering.
+ *   0.0 would mean no input.
+ *   0.5 would mean (1 part past value + 1 part current value) / 2
+ *   0.1 would mean (9 parts past value + 1 part current value) / 10
+ *   0.25 would mean (3 parts past value + 1 part current value) / 4
+ */
+class Predictor : public AnalogComponent {
+
+private:
+    double _last_value;
+    double _average;
+    InputValueList _seconds;
+    InputValueList _filter_gain;
+
+protected:
+  bool configure(const std::string& nodeName, SGPropertyNode* configNode );
+
+public:
+    Predictor();
+    ~Predictor() {}
+
+    void update( bool firstTime, double dt );
+};
+
+} // namespace FGXMLAutopilot
+
+#endif

diff --git a/src/Autopilot/route_mgr.cxx b/src/Autopilot/route_mgr.cxx
index 967ca992a240e2f8d60550a2383f303f6d4f85a2..07059cc16113c2a39d0729d075207eedf1930862 100644 (file)
--- a/src/Autopilot/route_mgr.cxx
+++ b/src/Autopilot/route_mgr.cxx
@@ -51,20 +51,8 @@
 #include "Airports/simple.hxx"
 #include "Airports/runways.hxx"
 
-#include "FDM/flight.hxx" // for getting ground speed
-
 #define RM "/autopilot/route-manager/"
 
-static double get_ground_speed() {
-  // starts in ft/s so we convert to kts
-  static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
-
-  double ft_s = cur_fdm_state->get_V_ground_speed()
-      * speedup_node->getIntValue();
-  double kts = ft_s * SG_FEET_TO_METER * 3600 * SG_METER_TO_NM;
-  return kts;
-}
-
 FGRouteMgr::FGRouteMgr() :
     _route( new SGRoute ),
     input(fgGetNode( RM "input", true )),
@@ -212,7 +200,7 @@ void FGRouteMgr::update( double dt ) {
       return;
     }
     
-    double groundSpeed = get_ground_speed();
+    double groundSpeed = fgGetDouble("/velocities/groundspeed-kt", 0.0);
     if (airborne->getBoolValue()) {
       time_t now = time(NULL);
       elapsedFlightTime->setDoubleValue(difftime(now, _takeoffTime));
@@ -265,14 +253,14 @@ void FGRouteMgr::update( double dt ) {
 
 
 void FGRouteMgr::setETAPropertyFromDistance(SGPropertyNode_ptr aProp, double aDistance) {
-    double speed = get_ground_speed();
+    double speed =fgGetDouble("/velocities/groundspeed-kt", 0.0);
     if (speed < 1.0) {
       aProp->setStringValue("--:--");
       return;
     }
   
     char eta_str[64];
-    double eta = aDistance * SG_METER_TO_NM / get_ground_speed();
+    double eta = aDistance * SG_METER_TO_NM / speed;
     if ( eta >= 100.0 ) { 
         eta = 99.999; // clamp
     }

diff --git a/src/Autopilot/xmlauto.cxx b/src/Autopilot/xmlauto.cxx
deleted file mode 100644 (file)
index fe51f37..0000000
--- a/src/Autopilot/xmlauto.cxx
+++ /dev/null
@@ -1,1136 +0,0 @@
-// xmlauto.cxx - a more flexible, generic way to build autopilots
-//
-// Written by Curtis Olson, started January 2004.
-//
-// Copyright (C) 2004  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
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-//
-// $Id$
-
-#ifdef HAVE_CONFIG_H
-#  include <config.h>
-#endif
-
-#include <iostream>
-
-#include <simgear/structure/exception.hxx>
-#include <simgear/misc/sg_path.hxx>
-#include <simgear/sg_inlines.h>
-#include <simgear/props/props_io.hxx>
-
-#include <Main/fg_props.hxx>
-#include <Main/globals.hxx>
-#include <Main/util.hxx>
-
-#include "xmlauto.hxx"
-
-using std::cout;
-using std::endl;
-
-using simgear::PropertyList;
-
-FGPeriodicalValue::FGPeriodicalValue( SGPropertyNode_ptr root )
-{
-  SGPropertyNode_ptr minNode = root->getChild( "min" );
-  SGPropertyNode_ptr maxNode = root->getChild( "max" );
-  if( minNode == NULL || maxNode == NULL ) {
-    SG_LOG(SG_AUTOPILOT, SG_ALERT, "periodical defined, but no <min> and/or <max> tag. Period ignored." );
-  } else {
-    minPeriod = new FGXMLAutoInput( minNode );
-    maxPeriod = new FGXMLAutoInput( maxNode );
-  }
-}
-
-double FGPeriodicalValue::normalize( double value )
-{
-  if( !(minPeriod && maxPeriod )) return value;
-
-  double p1 = minPeriod->get_value();
-  double p2 = maxPeriod->get_value();
-
-  double min = std::min<double>(p1,p2);
-  double max = std::max<double>(p1,p2);
-  double phase = fabs(max - min);
-
-  if( phase > SGLimitsd::min() ) {
-    while( value < min )  value += phase;
-    while( value >= max ) value -= phase;
-  } else {
-    value = min; // phase is zero
-  }
-
-  return value;
-}
-
-FGXMLAutoInput::FGXMLAutoInput( SGPropertyNode_ptr node, double value, double offset, double scale) :
-  value(0.0),
-  abs(false),
-  _condition(NULL) 
-{
-  parse( node, value, offset, scale );
-}
-
-
-void FGXMLAutoInput::parse( SGPropertyNode_ptr node, double aValue, double aOffset, double aScale )
-{
-    value = aValue;
-    property = NULL; 
-    offset = NULL;
-    scale = NULL;
-    min = NULL;
-    max = NULL;
-    periodical = NULL;
-
-    if( node == NULL )
-        return;
-
-    SGPropertyNode * n;
-
-    if( (n = node->getChild("condition")) != NULL ) {
-        _condition = sgReadCondition(fgGetNode("/"), n);
-    }
-
-    if( (n = node->getChild( "scale" )) != NULL ) {
-        scale = new FGXMLAutoInput( n, aScale );
-    }
-
-    if( (n = node->getChild( "offset" )) != NULL ) {
-        offset = new FGXMLAutoInput( n, aOffset );
-    }
-
-    if( (n = node->getChild( "max" )) != NULL ) {
-        max = new FGXMLAutoInput( n );
-    }
-
-    if( (n = node->getChild( "min" )) != NULL ) {
-        min = new FGXMLAutoInput( n );
-    }
-
-    if( (n = node->getChild( "abs" )) != NULL ) {
-      abs = n->getBoolValue();
-    }
-
-    if( (n = node->getChild( "period" )) != NULL ) {
-      periodical = new FGPeriodicalValue( n );
-    }
-
-    SGPropertyNode *valueNode = node->getChild( "value" );
-    if ( valueNode != NULL ) {
-        value = valueNode->getDoubleValue();
-    }
-
-    n = node->getChild( "property" );
-    // if no <property> element, check for <prop> element for backwards
-    // compatibility
-    if(  n == NULL )
-        n = node->getChild( "prop" );
-
-    if (  n != NULL ) {
-        property = fgGetNode(  n->getStringValue(), true );
-        if ( valueNode != NULL ) {
-            // initialize property with given value 
-            // if both <prop> and <value> exist
-            double s = get_scale();
-            if( s != 0 )
-              property->setDoubleValue( (value - get_offset())/s );
-            else
-              property->setDoubleValue( 0 ); // if scale is zero, value*scale is zero
-        }
-    }
-
-    if ( n == NULL && valueNode == NULL ) {
-        // no <value> element and no <prop> element, use text node 
-        const char * textnode = node->getStringValue();
-        char * endp = NULL;
-        // try to convert to a double value. If the textnode does not start with a number
-        // endp will point to the beginning of the string. We assume this should be
-        // a property name
-        value = strtod( textnode, &endp );
-        if( endp == textnode ) {
-          property = fgGetNode( textnode, true );
-        }
-    }
-}
-
-void FGXMLAutoInput::set_value( double aValue ) 
-{
-    double s = get_scale();
-    if( s != 0 )
-        property->setDoubleValue( (aValue - get_offset())/s );
-    else
-        property->setDoubleValue( 0 ); // if scale is zero, value*scale is zero
-}
-
-double FGXMLAutoInput::get_value() 
-{
-    if( property != NULL ) 
-        value = property->getDoubleValue();
-
-    if( scale ) 
-        value *= scale->get_value();
-
-    if( offset ) 
-        value += offset->get_value();
-
-    if( min ) {
-        double m = min->get_value();
-        if( value < m )
-            value = m;
-    }
-
-    if( max ) {
-        double m = max->get_value();
-        if( value > m )
-            value = m;
-    }
-
-    if( periodical ) {
-      value = periodical->normalize( value );
-    }
-    
-    return abs ? fabs(value) : value;
-}
-
-FGXMLAutoComponent::FGXMLAutoComponent() :
-      _condition( NULL ),
-      enable_prop( NULL ),
-      enable_value( NULL ),
-      passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
-      honor_passive( false ),
-      name(""),
-      feedback_if_disabled( false ),
-      debug(false),
-      enabled( false )
-{
-}
-
-FGXMLAutoComponent::~FGXMLAutoComponent() 
-{
-    delete enable_value;
-}
-
-void FGXMLAutoComponent::parseNode(SGPropertyNode* aNode)
-{
-  SGPropertyNode *prop; 
-  for (int i = 0; i < aNode->nChildren(); ++i ) {
-    SGPropertyNode *child = aNode->getChild(i);
-    string cname(child->getName());
-    
-    if (parseNodeHook(cname, child)) {
-      // derived class handled it, fine
-    } else if ( cname == "name" ) {
-      name = child->getStringValue();
-    } else if ( cname == "feedback-if-disabled" ) {
-      feedback_if_disabled = child->getBoolValue();
-    } else if ( cname == "debug" ) {
-      debug = child->getBoolValue();
-    } else if ( cname == "enable" ) {
-      if( (prop = child->getChild("condition")) != NULL ) {
-        _condition = sgReadCondition(fgGetNode("/"), prop);
-      } else {
-         if ( (prop = child->getChild( "prop" )) != NULL ) {
-             enable_prop = fgGetNode( prop->getStringValue(), true );
-         }
-
-         if ( (prop = child->getChild( "value" )) != NULL ) {
-             delete enable_value;
-             enable_value = new string(prop->getStringValue());
-         }
-      }
-      if ( (prop = child->getChild( "honor-passive" )) != NULL ) {
-          honor_passive = prop->getBoolValue();
-      }
-    } else if ( cname == "input" ) {
-      valueInput.push_back( new FGXMLAutoInput( child ) );
-    } else if ( cname == "reference" ) {
-      referenceInput.push_back( new FGXMLAutoInput( child ) );
-    } else if ( cname == "output" ) {
-      // grab all <prop> and <property> childs
-      int found = 0;
-      // backwards compatibility: allow <prop> elements
-      for( int i = 0; (prop = child->getChild("prop", i)) != NULL; i++ ) { 
-          SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
-          output_list.push_back( tmp );
-          found++;
-      }
-      for( int i = 0; (prop = child->getChild("property", i)) != NULL; i++ ) { 
-          SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
-          output_list.push_back( tmp );
-          found++;
-      }
-
-      // no <prop> elements, text node of <output> is property name
-      if( found == 0 )
-          output_list.push_back( fgGetNode(child->getStringValue(), true ) );
-    } else if ( cname == "config" ) {
-      parseConfig(child);
-    } else if ( cname == "min" ) {
-        uminInput.push_back( new FGXMLAutoInput( child ) );
-    } else if ( cname == "u_min" ) {
-        uminInput.push_back( new FGXMLAutoInput( child ) );
-    } else if ( cname == "max" ) {
-        umaxInput.push_back( new FGXMLAutoInput( child ) );
-    } else if ( cname == "u_max" ) {
-        umaxInput.push_back( new FGXMLAutoInput( child ) );
-    } else if ( cname == "period" ) {
-      periodical = new FGPeriodicalValue( child );
-    } else {
-      SG_LOG(SG_AUTOPILOT, SG_ALERT, "malformed autopilot definition - unrecognized node:" 
-        << cname << " in section " << name);
-      throw sg_io_exception("XMLAuto: unrecognized component node:" + cname, "Section=" + name);
-    }
-  } // of top-level iteration
-}
-
-void FGXMLAutoComponent::parseConfig(SGPropertyNode* aConfig)
-{
-  for (int i = 0; i < aConfig->nChildren(); ++i ) {
-    SGPropertyNode *child = aConfig->getChild(i);
-    string cname(child->getName());
-    
-    if (parseConfigHook(cname, child)) {
-      // derived class handled it, fine
-    } else if ( cname == "min" ) {
-        uminInput.push_back( new FGXMLAutoInput( child ) );
-    } else if ( cname == "u_min" ) {
-        uminInput.push_back( new FGXMLAutoInput( child ) );
-    } else if ( cname == "max" ) {
-        umaxInput.push_back( new FGXMLAutoInput( child ) );
-    } else if ( cname == "u_max" ) {
-        umaxInput.push_back( new FGXMLAutoInput( child ) );
-    } else {
-      SG_LOG(SG_AUTOPILOT, SG_ALERT, "malformed autopilot definition - unrecognized config node:" 
-        << cname << " in section " << name);
-      throw sg_io_exception("XMLAuto: unrecognized config node:" + cname, "Section=" + name);
-    }
-  } // of config iteration
-}
-
-bool FGXMLAutoComponent::parseNodeHook(const string& aName, SGPropertyNode* aNode)
-{
-  return false;
-}
-
-bool FGXMLAutoComponent::parseConfigHook(const string& aName, SGPropertyNode* aNode)
-{
-  return false;
-}
-
-bool FGXMLAutoComponent::isPropertyEnabled()
-{
-    if( _condition )
-        return _condition->test();
-
-    if( enable_prop ) {
-        if( enable_value ) {
-            return *enable_value == enable_prop->getStringValue();
-        } else {
-            return enable_prop->getBoolValue();
-        }
-    }
-    return true;
-}
-
-void FGXMLAutoComponent::do_feedback_if_disabled()
-{
-    if( output_list.size() > 0 ) {    
-        FGXMLAutoInput * input = valueInput.get_active();
-        if( input != NULL )
-            input->set_value( output_list[0]->getDoubleValue() );
-    }
-}
-
-double FGXMLAutoComponent::clamp( double value )
-{
-    //If this is a periodical value, normalize it into our domain 
-    // before clamping
-    if( periodical )
-      value = periodical->normalize( value );
-
-    // clamp, if either min or max is defined
-    if( uminInput.size() + umaxInput.size() > 0 ) {
-        double d = umaxInput.get_value( 0.0 );
-        if( value > d ) value = d;
-        d = uminInput.get_value( 0.0 );
-        if( value < d ) value = d;
-    }
-    return value;
-}
-
-FGPIDController::FGPIDController( SGPropertyNode *node ):
-    FGXMLAutoComponent(),
-    alpha( 0.1 ),
-    beta( 1.0 ),
-    gamma( 0.0 ),
-    ep_n_1( 0.0 ),
-    edf_n_1( 0.0 ),
-    edf_n_2( 0.0 ),
-    u_n_1( 0.0 ),
-    desiredTs( 0.0 ),
-    elapsedTime( 0.0 )
-{
-  parseNode(node);
-}
-
-bool FGPIDController::parseConfigHook(const string& aName, SGPropertyNode* aNode)
-{
-  if (aName == "Ts") {
-    desiredTs = aNode->getDoubleValue();
-  } else if (aName == "Kp") {
-    Kp.push_back( new FGXMLAutoInput(aNode) );
-  } else if (aName == "Ti") {
-    Ti.push_back( new FGXMLAutoInput(aNode) );
-  } else if (aName == "Td") {
-    Td.push_back( new FGXMLAutoInput(aNode) );
-  } else if (aName == "beta") {
-    beta = aNode->getDoubleValue();
-  } else if (aName == "alpha") {
-    alpha = aNode->getDoubleValue();
-  } else if (aName == "gamma") {
-    gamma = aNode->getDoubleValue();
-  } else {
-    // unhandled by us, let the base class try it
-    return false;
-  }
-
-  return true;
-}
-
-/*
- * Roy Vegard Ovesen:
- *
- * Ok! Here is the PID controller algorithm that I would like to see
- * implemented:
- *
- *   delta_u_n = Kp * [ (ep_n - ep_n-1) + ((Ts/Ti)*e_n)
- *               + (Td/Ts)*(edf_n - 2*edf_n-1 + edf_n-2) ]
- *
- *   u_n = u_n-1 + delta_u_n
- *
- * where:
- *
- * delta_u : The incremental output
- * Kp      : Proportional gain
- * ep      : Proportional error with reference weighing
- *           ep = beta * r - y
- *           where:
- *           beta : Weighing factor
- *           r    : Reference (setpoint)
- *           y    : Process value, measured
- * e       : Error
- *           e = r - y
- * Ts      : Sampling interval
- * Ti      : Integrator time
- * Td      : Derivator time
- * edf     : Derivate error with reference weighing and filtering
- *           edf_n = edf_n-1 / ((Ts/Tf) + 1) + ed_n * (Ts/Tf) / ((Ts/Tf) + 1)
- *           where:
- *           Tf : Filter time
- *           Tf = alpha * Td , where alpha usually is set to 0.1
- *           ed : Unfiltered derivate error with reference weighing
- *             ed = gamma * r - y
- *             where:
- *             gamma : Weighing factor
- * 
- * u       : absolute output
- * 
- * Index n means the n'th value.
- * 
- * 
- * Inputs:
- * enabled ,
- * y_n , r_n , beta=1 , gamma=0 , alpha=0.1 ,
- * Kp , Ti , Td , Ts (is the sampling time available?)
- * u_min , u_max
- * 
- * Output:
- * u_n
- */
-
-void FGPIDController::update( double dt ) {
-    double e_n;             // error
-    double edf_n;
-    double delta_u_n = 0.0; // incremental output
-    double u_n = 0.0;       // absolute output
-    double Ts;              // sampling interval (sec)
-
-    double u_min = uminInput.get_value();
-    double u_max = umaxInput.get_value();
-
-    elapsedTime += dt;
-    if ( elapsedTime <= desiredTs ) {
-        // do nothing if time step is not positive (i.e. no time has
-        // elapsed)
-        return;
-    }
-    Ts = elapsedTime;
-    elapsedTime = 0.0;
-
-    if ( isPropertyEnabled() ) {
-        if ( !enabled ) {
-            // first time being enabled, seed u_n with current
-            // property tree value
-            u_n = get_output_value();
-            u_n_1 = u_n;
-        }
-        enabled = true;
-    } else {
-        enabled = false;
-        do_feedback();
-    }
-
-    if ( enabled && Ts > 0.0) {
-        if ( debug ) cout << "Updating " << get_name()
-                          << " Ts " << Ts << endl;
-
-        double y_n = valueInput.get_value();
-        double r_n = referenceInput.get_value();
-                      
-        if ( debug ) cout << "  input = " << y_n << " ref = " << r_n << endl;
-
-        // Calculates proportional error:
-        double ep_n = beta * r_n - y_n;
-        if ( debug ) cout << "  ep_n = " << ep_n;
-        if ( debug ) cout << "  ep_n_1 = " << ep_n_1;
-
-        // Calculates error:
-        e_n = r_n - y_n;
-        if ( debug ) cout << " e_n = " << e_n;
-
-        double td = Td.get_value();
-        if ( td > 0.0 ) { // do we need to calcluate derivative error?
-
-          // Calculates derivate error:
-            double ed_n = gamma * r_n - y_n;
-            if ( debug ) cout << " ed_n = " << ed_n;
-
-            // Calculates filter time:
-            double Tf = alpha * td;
-            if ( debug ) cout << " Tf = " << Tf;
-
-            // Filters the derivate error:
-            edf_n = edf_n_1 / (Ts/Tf + 1)
-                + ed_n * (Ts/Tf) / (Ts/Tf + 1);
-            if ( debug ) cout << " edf_n = " << edf_n;
-        } else {
-            edf_n_2 = edf_n_1 = edf_n = 0.0;
-        }
-
-        // Calculates the incremental output:
-        double ti = Ti.get_value();
-        if ( ti > 0.0 ) {
-            delta_u_n = Kp.get_value() * ( (ep_n - ep_n_1)
-                               + ((Ts/ti) * e_n)
-                               + ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
-
-          if ( debug ) {
-              cout << " delta_u_n = " << delta_u_n << endl;
-              cout << "P:" << Kp.get_value() * (ep_n - ep_n_1)
-                   << " I:" << Kp.get_value() * ((Ts/ti) * e_n)
-                   << " D:" << Kp.get_value() * ((td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2))
-                   << endl;
-        }
-        }
-
-        // Integrator anti-windup logic:
-        if ( delta_u_n > (u_max - u_n_1) ) {
-            delta_u_n = u_max - u_n_1;
-            if ( debug ) cout << " max saturation " << endl;
-        } else if ( delta_u_n < (u_min - u_n_1) ) {
-            delta_u_n = u_min - u_n_1;
-            if ( debug ) cout << " min saturation " << endl;
-        }
-
-        // Calculates absolute output:
-        u_n = u_n_1 + delta_u_n;
-        if ( debug ) cout << "  output = " << u_n << endl;
-
-        // Updates indexed values;
-        u_n_1   = u_n;
-        ep_n_1  = ep_n;
-        edf_n_2 = edf_n_1;
-        edf_n_1 = edf_n;
-
-        set_output_value( u_n );
-    } else if ( !enabled ) {
-        ep_n_1 = 0.0;
-        edf_n_2 = edf_n_1 = edf_n = 0.0;
-    }
-}
-
-
-FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
-    FGXMLAutoComponent(),
-    int_sum( 0.0 )
-{
-  parseNode(node);
-}
-
-bool FGPISimpleController::parseConfigHook(const string& aName, SGPropertyNode* aNode)
-{
-  if (aName == "Kp") {
-    Kp.push_back( new FGXMLAutoInput(aNode) );
-  } else if (aName == "Ki") {
-    Ki.push_back( new FGXMLAutoInput(aNode) );
-  } else {
-    // unhandled by us, let the base class try it
-    return false;
-  }
-
-  return true;
-}
-
-void FGPISimpleController::update( double dt ) {
-
-    if ( isPropertyEnabled() ) {
-        if ( !enabled ) {
-            // we have just been enabled, zero out int_sum
-            int_sum = 0.0;
-        }
-        enabled = true;
-    } else {
-        enabled = false;
-        do_feedback();
-    }
-
-    if ( enabled ) {
-        if ( debug ) cout << "Updating " << get_name() << endl;
-        double y_n = valueInput.get_value();
-        double r_n = referenceInput.get_value();
-                      
-        double error = r_n - y_n;
-        if ( debug ) cout << "input = " << y_n
-                          << " reference = " << r_n
-                          << " error = " << error
-                          << endl;
-
-        double prop_comp = clamp(error * Kp.get_value());
-        int_sum += error * Ki.get_value() * dt;
-
-
-        double output = prop_comp + int_sum;
-        double clamped_output = clamp( output );
-        if( output != clamped_output ) // anti-windup
-          int_sum = clamped_output - prop_comp;
-
-        if ( debug ) cout << "prop_comp = " << prop_comp
-                          << " int_sum = " << int_sum << endl;
-
-        set_output_value( clamped_output );
-        if ( debug ) cout << "output = " << clamped_output << endl;
-    }
-}
-
-
-FGPredictor::FGPredictor ( SGPropertyNode *node ):
-    FGXMLAutoComponent(),
-    average(0.0)
-{
-  parseNode(node);
-}
-
-bool FGPredictor::parseNodeHook(const string& aName, SGPropertyNode* aNode)
-{
-  if (aName == "seconds") {
-    seconds.push_back( new FGXMLAutoInput( aNode, 0 ) );
-  } else if (aName == "filter-gain") {
-    filter_gain.push_back( new FGXMLAutoInput( aNode, 0 ) );
-  } else {
-    return false;
-  }
-  
-  return true;
-}
-
-void FGPredictor::update( double dt ) {
-    /*
-       Simple moving average filter converts input value to predicted value "seconds".
-
-       Smoothing as described by Curt Olson:
-         gain would be valid in the range of 0 - 1.0
-         1.0 would mean no filtering.
-         0.0 would mean no input.
-         0.5 would mean (1 part past value + 1 part current value) / 2
-         0.1 would mean (9 parts past value + 1 part current value) / 10
-         0.25 would mean (3 parts past value + 1 part current value) / 4
-
-    */
-
-    double ivalue = valueInput.get_value();
-
-    if ( isPropertyEnabled() ) {
-        if ( !enabled ) {
-            // first time being enabled
-            last_value = ivalue;
-        }
-        enabled = true;
-    } else {
-        enabled = false;
-        do_feedback();
-    }
-
-    if ( enabled ) {
-
-        if ( dt > 0.0 ) {
-            double current = (ivalue - last_value)/dt; // calculate current error change (per second)
-            average = dt < 1.0 ? ((1.0 - dt) * average + current * dt) : current;
-
-            // calculate output with filter gain adjustment
-            double output = ivalue + 
-               (1.0 - filter_gain.get_value()) * (average * seconds.get_value()) + 
-                       filter_gain.get_value() * (current * seconds.get_value());
-            output = clamp( output );
-            set_output_value( output );
-        }
-        last_value = ivalue;
-    }
-}
-
-
-FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node):
-    FGXMLAutoComponent(),
-    filterType(none)
-{
-    parseNode(node);
-
-    output.resize(2, 0.0);
-    input.resize(samplesInput.get_value() + 1, 0.0);
-}
-
-
-bool FGDigitalFilter::parseNodeHook(const string& aName, SGPropertyNode* aNode)
-{
-  if (aName == "type" ) {
-    string val(aNode->getStringValue());
-    if ( val == "exponential" ) {
-      filterType = exponential;
-    } else if (val == "double-exponential") {
-      filterType = doubleExponential;
-    } else if (val == "moving-average") {
-      filterType = movingAverage;
-    } else if (val == "noise-spike") {
-      filterType = noiseSpike;
-    } else if (val == "gain") {
-      filterType = gain;
-    } else if (val == "reciprocal") {
-      filterType = reciprocal;
-    } else if (val == "differential") {
-      filterType = differential;
-      // use a constant of two samples for current and previous input value
-      samplesInput.push_back( new FGXMLAutoInput(NULL, 2.0 ) ); 
-    }
-  } else if (aName == "filter-time" ) {
-    TfInput.push_back( new FGXMLAutoInput( aNode, 1.0 ) );
-    if( filterType == none ) filterType = exponential;
-  } else if (aName == "samples" ) {
-    samplesInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
-    if( filterType == none ) filterType = movingAverage;
-  } else if (aName == "max-rate-of-change" ) {
-    rateOfChangeInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
-    if( filterType == none ) filterType = noiseSpike;
-  } else if (aName == "gain" ) {
-    gainInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
-    if( filterType == none ) filterType = gain;
-  } else {
-    return false; // not handled by us, let the base class try
-  }
-  
-  return true;
-}
-
-void FGDigitalFilter::update(double dt)
-{
-    if ( isPropertyEnabled() ) {
-
-        input.push_front(valueInput.get_value()-referenceInput.get_value());
-        input.resize(samplesInput.get_value() + 1, 0.0);
-
-        if ( !enabled ) {
-            // first time being enabled, initialize output to the
-            // value of the output property to avoid bumping.
-            output.push_front(get_output_value());
-        }
-
-        enabled = true;
-    } else {
-        enabled = false;
-        do_feedback();
-    }
-
-    if ( !enabled || dt < SGLimitsd::min() ) 
-        return;
-
-    /*
-     * Exponential filter
-     *
-     * Output[n] = alpha*Input[n] + (1-alpha)*Output[n-1]
-     *
-     */
-     if( debug ) cout << "Updating " << get_name()
-                      << " dt " << dt << endl;
-
-    if (filterType == exponential)
-    {
-        double alpha = 1 / ((TfInput.get_value()/dt) + 1);
-        output.push_front(alpha * input[0] + 
-                          (1 - alpha) * output[0]);
-    } 
-    else if (filterType == doubleExponential)
-    {
-        double alpha = 1 / ((TfInput.get_value()/dt) + 1);
-        output.push_front(alpha * alpha * input[0] + 
-                          2 * (1 - alpha) * output[0] -
-                          (1 - alpha) * (1 - alpha) * output[1]);
-    }
-    else if (filterType == movingAverage)
-    {
-        output.push_front(output[0] + 
-                          (input[0] - input.back()) / samplesInput.get_value());
-    }
-    else if (filterType == noiseSpike)
-    {
-        double maxChange = rateOfChangeInput.get_value() * dt;
-
-        if ((output[0] - input[0]) > maxChange)
-        {
-            output.push_front(output[0] - maxChange);
-        }
-        else if ((output[0] - input[0]) < -maxChange)
-        {
-            output.push_front(output[0] + maxChange);
-        }
-        else if (fabs(input[0] - output[0]) <= maxChange)
-        {
-            output.push_front(input[0]);
-        }
-    }
-    else if (filterType == gain)
-    {
-        output[0] = gainInput.get_value() * input[0];
-    }
-    else if (filterType == reciprocal)
-    {
-        if (input[0] != 0.0) {
-            output[0] = gainInput.get_value() / input[0];
-        }
-    }
-    else if (filterType == differential)
-    {
-        if( dt > SGLimitsd::min() ) {
-            output[0] = (input[0]-input[1]) * TfInput.get_value() / dt;
-        }
-    }
-
-    output[0] = clamp(output[0]) ;
-    set_output_value( output[0] );
-
-    output.resize(2);
-
-    if (debug)
-    {
-        cout << "input:" << input[0] 
-             << "\toutput:" << output[0] << endl;
-    }
-}
-
-FGXMLAutoLogic::FGXMLAutoLogic(SGPropertyNode * node ) :
-    FGXMLAutoComponent(),
-    inverted(false)
-{
-    parseNode(node);
-}
-
-bool FGXMLAutoLogic::parseNodeHook(const std::string& aName, SGPropertyNode* aNode)
-{
-    if (aName == "input") {
-        input = sgReadCondition( fgGetNode("/"), aNode );
-    } else if (aName == "inverted") {
-        inverted = aNode->getBoolValue();
-    } else {
-        return false;
-    }
-  
-    return true;
-}
-
-void FGXMLAutoLogic::update(double dt)
-{
-    if ( isPropertyEnabled() ) {
-        if ( !enabled ) {
-            // we have just been enabled
-        }
-        enabled = true;
-    } else {
-        enabled = false;
-        do_feedback();
-    }
-
-    if ( !enabled || dt < SGLimitsd::min() ) 
-        return;
-
-    if( input == NULL ) {
-        if ( debug ) cout << "No input for " << get_name() << endl;
-        return;
-    }
-
-    bool i = input->test();
-
-    if ( debug ) cout << "Updating " << get_name() << ": " << (inverted ? !i : i) << endl;
-
-    set_output_value( i );
-}
-
-
-FGXMLAutopilotGroup::FGXMLAutopilotGroup() :
-  SGSubsystemGroup()
-#ifdef XMLAUTO_USEHELPER
-  ,average(0.0), // average/filtered prediction
-  v_last(0.0),  // last velocity
-  last_static_pressure(0.0),
-  vel(fgGetNode( "/velocities/airspeed-kt", true )),
-  // Estimate speed in 5,10 seconds
-  lookahead5(fgGetNode( "/autopilot/internal/lookahead-5-sec-airspeed-kt", true )),
-  lookahead10(fgGetNode( "/autopilot/internal/lookahead-10-sec-airspeed-kt", true )),
-  bug(fgGetNode( "/autopilot/settings/heading-bug-deg", true )),
-  mag_hdg(fgGetNode( "/orientation/heading-magnetic-deg", true )),
-  bug_error(fgGetNode( "/autopilot/internal/heading-bug-error-deg", true )),
-  fdm_bug_error(fgGetNode( "/autopilot/internal/fdm-heading-bug-error-deg", true )),
-  target_true(fgGetNode( "/autopilot/settings/true-heading-deg", true )),
-  true_hdg(fgGetNode( "/orientation/heading-deg", true )),
-  true_error(fgGetNode( "/autopilot/internal/true-heading-error-deg", true )),
-  target_nav1(fgGetNode( "/instrumentation/nav[0]/radials/target-auto-hdg-deg", true )),
-  true_nav1(fgGetNode( "/autopilot/internal/nav1-heading-error-deg", true )),
-  true_track_nav1(fgGetNode( "/autopilot/internal/nav1-track-error-deg", true )),
-  nav1_course_error(fgGetNode( "/autopilot/internal/nav1-course-error", true )),
-  nav1_selected_course(fgGetNode( "/instrumentation/nav[0]/radials/selected-deg", true )),
-  vs_fps(fgGetNode( "/velocities/vertical-speed-fps", true )),
-  vs_fpm(fgGetNode( "/autopilot/internal/vert-speed-fpm", true )),
-  static_pressure(fgGetNode( "/systems/static[0]/pressure-inhg", true )),
-  pressure_rate(fgGetNode( "/autopilot/internal/pressure-rate", true )),
-  track(fgGetNode( "/orientation/track-deg", true ))
-#endif
-{
-}
-
-void FGXMLAutopilotGroup::update( double dt )
-{
-    // update all configured autopilots
-    SGSubsystemGroup::update( dt );
-#ifdef XMLAUTO_USEHELPER
-    // update helper values
-    double v = vel->getDoubleValue();
-    double a = 0.0;
-    if ( dt > 0.0 ) {
-        a = (v - v_last) / dt;
-
-        if ( dt < 1.0 ) {
-            average = (1.0 - dt) * average + dt * a;
-        } else {
-            average = a;
-        }
-
-        lookahead5->setDoubleValue( v + average * 5.0 );
-        lookahead10->setDoubleValue( v + average * 10.0 );
-        v_last = v;
-    }
-
-    // Calculate heading bug error normalized to +/- 180.0
-    double diff = bug->getDoubleValue() - mag_hdg->getDoubleValue();
-    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
-    bug_error->setDoubleValue( diff );
-
-    fdm_bug_error->setDoubleValue( diff );
-
-    // Calculate true heading error normalized to +/- 180.0
-    diff = target_true->getDoubleValue() - true_hdg->getDoubleValue();
-    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
-    true_error->setDoubleValue( diff );
-
-    // Calculate nav1 target heading error normalized to +/- 180.0
-    diff = target_nav1->getDoubleValue() - true_hdg->getDoubleValue();
-    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
-    true_nav1->setDoubleValue( diff );
-
-    // Calculate true groundtrack
-    diff = target_nav1->getDoubleValue() - track->getDoubleValue();
-    SG_NORMALIZE_RANGE(diff, -180.0, 180.0);
-    true_track_nav1->setDoubleValue( diff );
-
-    // Calculate nav1 selected course error normalized to +/- 180.0
-    diff = nav1_selected_course->getDoubleValue() - mag_hdg->getDoubleValue();
-    SG_NORMALIZE_RANGE( diff, -180.0, 180.0 );
-    nav1_course_error->setDoubleValue( diff );
-
-    // Calculate vertical speed in fpm
-    vs_fpm->setDoubleValue( vs_fps->getDoubleValue() * 60.0 );
-
-
-    // Calculate static port pressure rate in [inhg/s].
-    // Used to determine vertical speed.
-    if ( dt > 0.0 ) {
-        double current_static_pressure = static_pressure->getDoubleValue();
-        double current_pressure_rate = 
-            ( current_static_pressure - last_static_pressure ) / dt;
-
-        pressure_rate->setDoubleValue(current_pressure_rate);
-        last_static_pressure = current_static_pressure;
-    }
-#endif
-}
-
-void FGXMLAutopilotGroup::reinit()
-{
-    for( vector<string>::size_type i = 0; i < _autopilotNames.size(); i++ ) {
-      FGXMLAutopilot * ap = (FGXMLAutopilot*)get_subsystem( _autopilotNames[i] );
-      if( ap == NULL ) continue; // ?
-      remove_subsystem( _autopilotNames[i] );
-      delete ap;
-    }
-    _autopilotNames.clear();
-    init();
-}
-
-void FGXMLAutopilotGroup::init()
-{
-    PropertyList autopilotNodes = fgGetNode( "/sim/systems", true )->getChildren("autopilot");
-    if( autopilotNodes.size() == 0 ) {
-        SG_LOG( SG_ALL, SG_WARN, "No autopilot configuration specified for this model!");
-        return;
-    }
-
-    for( PropertyList::size_type i = 0; i < autopilotNodes.size(); i++ ) {
-        SGPropertyNode_ptr pathNode = autopilotNodes[i]->getNode( "path" );
-        if( pathNode == NULL ) {
-            SG_LOG( SG_ALL, SG_WARN, "No autopilot configuration file specified for this autopilot!");
-            continue;
-        }
-
-        string apName;
-        SGPropertyNode_ptr nameNode = autopilotNodes[i]->getNode( "name" );
-        if( nameNode != NULL ) {
-            apName = nameNode->getStringValue();
-        } else {
-          std::ostringstream buf;
-          buf <<  "unnamed_autopilot_" << i;
-          apName = buf.str();
-        }
-
-        if( get_subsystem( apName.c_str() ) != NULL ) {
-            SG_LOG( SG_ALL, SG_ALERT, "Duplicate autopilot configuration name " << apName << " ignored" );
-            continue;
-        }
-
-        SGPath config( globals->get_fg_root() );
-        config.append( pathNode->getStringValue() );
-
-        SG_LOG( SG_ALL, SG_INFO, "Reading autopilot configuration from " << config.str() );
-        // FGXMLAutopilot
-        FGXMLAutopilot * ap = new FGXMLAutopilot;
-        try {
-            SGPropertyNode_ptr root = new SGPropertyNode();
-            readProperties( config.str(), root );
-
-
-            if ( ! ap->build( root ) ) {
-                SG_LOG( SG_ALL, SG_ALERT,
-                  "Detected an internal inconsistency in the autopilot configuration." << endl << " See earlier errors for details." );
-                delete ap;
-                continue;
-            }        
-        } catch (const sg_exception& e) {
-            SG_LOG( SG_AUTOPILOT, SG_ALERT, "Failed to load autopilot configuration: "
-                    << config.str() << ":" << e.getMessage() );
-            delete ap;
-            continue;
-        }
-
-        SG_LOG( SG_AUTOPILOT, SG_INFO, "adding  autopilot subsystem " << apName );
-        set_subsystem( apName, ap );
-        _autopilotNames.push_back( apName );
-    }
-
-    SGSubsystemGroup::init();
-}
-
-FGXMLAutopilot::FGXMLAutopilot() {
-}
-
-
-FGXMLAutopilot::~FGXMLAutopilot() {
-}
-
- 
-/* read all /sim/systems/autopilot[n]/path properties, try to read the file specified therein
- * and configure/add the digital filters specified in that file
- */
-void FGXMLAutopilot::init() 
-{
-}
-
-
-void FGXMLAutopilot::reinit() {
-    components.clear();
-    init();
-}
-
-
-void FGXMLAutopilot::bind() {
-}
-
-void FGXMLAutopilot::unbind() {
-}
-
-bool FGXMLAutopilot::build( SGPropertyNode_ptr config_props ) {
-    SGPropertyNode *node;
-    int i;
-
-    int count = config_props->nChildren();
-    for ( i = 0; i < count; ++i ) {
-        node = config_props->getChild(i);
-        string name = node->getName();
-        // cout << name << endl;
-        SG_LOG( SG_AUTOPILOT, SG_BULK, "adding  autopilot component " << name );
-        if ( name == "pid-controller" ) {
-            components.push_back( new FGPIDController( node ) );
-        } else if ( name == "pi-simple-controller" ) {
-            components.push_back( new FGPISimpleController( node ) );
-        } else if ( name == "predict-simple" ) {
-            components.push_back( new FGPredictor( node ) );
-        } else if ( name == "filter" ) {
-            components.push_back( new FGDigitalFilter( node ) );
-        } else if ( name == "logic" ) {
-            components.push_back( new FGXMLAutoLogic( node ) );
-        } else {
-            SG_LOG( SG_AUTOPILOT, SG_WARN, "Unknown top level autopilot section: " << name );
-//            return false;
-        }
-    }
-
-    return true;
-}
-
-/*
- * Update the list of autopilot components
- */
-
-void FGXMLAutopilot::update( double dt ) 
-{
-    unsigned int i;
-    for ( i = 0; i < components.size(); ++i ) {
-        components[i]->update( dt );
-    }
-}
-

diff --git a/src/Autopilot/xmlauto.hxx b/src/Autopilot/xmlauto.hxx
deleted file mode 100644 (file)
index a29d49e..0000000
--- a/src/Autopilot/xmlauto.hxx
+++ /dev/null
@@ -1,483 +0,0 @@
-// xmlauto.hxx - a more flexible, generic way to build autopilots
-//
-// Written by Curtis Olson, started January 2004.
-//
-// Copyright (C) 2004  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
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-//
-// $Id$
-
-
-#ifndef _XMLAUTO_HXX
-#define _XMLAUTO_HXX 1
-
-/* 
-Torsten Dreyer:
-I'd like to deprecate the so called autopilot helper function
-(which is now part of the AutopilotGroup::update() method).
-Every property calculated within this helper can be calculated
-using filters defined in an external autopilot definition file.
-The complete set of calculations may be extracted into a separate
-configuration file. The current implementation is able to hande 
-multiple config files and autopilots. The helper doubles code
-and writes properties used only by a few aircraft.
-*/
-// FIXME: this should go into config.h and/or configure
-// or removed along with the "helper" one day.
-#define XMLAUTO_USEHELPER
-
-#include <simgear/compiler.h>
-
-#include <string>
-#include <vector>
-#include <deque>
-
-#include <simgear/props/props.hxx>
-#include <simgear/structure/subsystem_mgr.hxx>
-#include <simgear/props/condition.hxx>
-
-typedef SGSharedPtr<class FGXMLAutoInput> FGXMLAutoInput_ptr;
-typedef SGSharedPtr<class FGPeriodicalValue> FGPeriodicalValue_ptr;
-
-class FGPeriodicalValue : public SGReferenced {
-private:
-     FGXMLAutoInput_ptr minPeriod; // The minimum value of the period
-     FGXMLAutoInput_ptr maxPeriod; // The maximum value of the period
-public:
-     FGPeriodicalValue( SGPropertyNode_ptr node );
-     double normalize( double value );
-};
-
-class FGXMLAutoInput : public SGReferenced {
-private:
-     double             value;    // The value as a constant or initializer for the property
-     bool               abs;      // return absolute value
-     SGPropertyNode_ptr property; // The name of the property containing the value
-     FGXMLAutoInput_ptr offset;   // A fixed offset, defaults to zero
-     FGXMLAutoInput_ptr scale;    // A constant scaling factor defaults to one
-     FGXMLAutoInput_ptr min;      // A minimum clip defaults to no clipping
-     FGXMLAutoInput_ptr max;      // A maximum clip defaults to no clipping
-     FGPeriodicalValue_ptr  periodical; //
-     SGSharedPtr<const SGCondition> _condition;
-
-public:
-    FGXMLAutoInput( SGPropertyNode_ptr node = NULL, double value = 0.0, double offset = 0.0, double scale = 1.0 );
-    
-    void parse( SGPropertyNode_ptr, double value = 0.0, double offset = 0.0, double scale = 1.0 );
-
-    /* get the value of this input, apply scale and offset and clipping */
-    double get_value();
-
-    /* set the input value after applying offset and scale */
-    void set_value( double value );
-
-    inline double get_scale() {
-      return scale == NULL ? 1.0 : scale->get_value();
-    }
-
-    inline double get_offset() {
-      return offset == NULL ? 0.0 : offset->get_value();
-    }
-
-    inline bool is_enabled() {
-      return _condition == NULL ? true : _condition->test();
-    }
-
-};
-
-class FGXMLAutoInputList : public std::vector<FGXMLAutoInput_ptr> {
-  public:
-    FGXMLAutoInput_ptr get_active() {
-      for (iterator it = begin(); it != end(); ++it) {
-        if( (*it)->is_enabled() )
-          return *it;
-      }
-      return NULL;
-    }
-
-    double get_value( double def = 0.0 ) {
-      FGXMLAutoInput_ptr input = get_active();
-      return input == NULL ? def : input->get_value();
-    }
-
-};
-
-/**
- * Base class for other autopilot components
- */
-
-class FGXMLAutoComponent : public SGReferenced {
-
-private:
-    simgear::PropertyList output_list;
-
-    SGSharedPtr<const SGCondition> _condition;
-    SGPropertyNode_ptr enable_prop;
-    std::string * enable_value;
-
-    SGPropertyNode_ptr passive_mode;
-    bool honor_passive;
-
-    std::string name;
-
-    /* Feed back output property to input property if
-       this filter is disabled. This is for multi-stage
-       filter where one filter sits behind a pid-controller
-       to provide changes of the overall output to the pid-
-       controller.
-       feedback is disabled by default.
-     */
-    bool feedback_if_disabled;
-    void do_feedback_if_disabled();
-
-protected:
-    FGXMLAutoComponent();
-    
-    /*
-     * Parse a component specification read from a property-list.
-     * Calls the hook methods below to allow derived classes to
-     * specialise parsing bevaiour.
-     */
-    void parseNode(SGPropertyNode* aNode);
-
-    /**
-     * Helper to parse the config section
-     */
-    void parseConfig(SGPropertyNode* aConfig);
-
-    /*
-     * Over-rideable hook method to allow derived classes to refine top-level
-     * node parsing. Return true if the node was handled, false otherwise.
-     */
-    virtual bool parseNodeHook(const std::string& aName, SGPropertyNode* aNode);
-    
-    /**
-     * Over-rideable hook method to allow derived classes to refine config
-     * node parsing. Return true if the node was handled, false otherwise.
-     */
-    virtual bool parseConfigHook(const std::string& aName, SGPropertyNode* aNode);
-
-    FGXMLAutoInputList valueInput;
-    FGXMLAutoInputList referenceInput;
-    FGXMLAutoInputList uminInput;
-    FGXMLAutoInputList umaxInput;
-    FGPeriodicalValue_ptr periodical;
-    // debug flag
-    bool debug;
-    bool enabled;
-
-    
-    inline void do_feedback() {
-        if( feedback_if_disabled ) do_feedback_if_disabled();
-    }
-
-public:
-    
-    virtual ~FGXMLAutoComponent();
-
-    virtual void update (double dt)=0;
-    
-    inline const std::string& get_name() { return name; }
-
-    double clamp( double value );
-
-    inline void set_output_value( double value ) {
-        // passive_ignore == true means that we go through all the
-        // motions, but drive the outputs.  This is analogous to
-        // running the autopilot with the "servos" off.  This is
-        // helpful for things like flight directors which position
-        // their vbars from the autopilot computations.
-        if ( honor_passive && passive_mode->getBoolValue() ) return;
-        for( simgear::PropertyList::iterator it = output_list.begin();
-             it != output_list.end(); ++it)
-          (*it)->setDoubleValue( clamp( value ) );
-    }
-
-    inline void set_output_value( bool value ) {
-        // passive_ignore == true means that we go through all the
-        // motions, but drive the outputs.  This is analogous to
-        // running the autopilot with the "servos" off.  This is
-        // helpful for things like flight directors which position
-        // their vbars from the autopilot computations.
-        if ( honor_passive && passive_mode->getBoolValue() ) return;
-        for( simgear::PropertyList::iterator it = output_list.begin();
-             it != output_list.end(); ++it)
-          (*it)->setBoolValue( value ); // don't use clamp here, bool is clamped anyway
-    }
-
-    inline double get_output_value() {
-      return output_list.size() == 0 ? 0.0 : clamp(output_list[0]->getDoubleValue());
-    }
-
-    /* 
-       Returns true if the enable-condition is true.
-
-       If a <condition> is defined, this condition is evaluated, 
-       <prop> and <value> tags are ignored.
-
-       If a <prop> is defined and no <value> is defined, the property
-       named in the <prop></prop> tags is evaluated as boolean.
-
-       If a <prop> is defined a a <value> is defined, the property named
-       in <prop></prop> is compared (as a string) to the value defined in
-       <value></value>
-
-       Returns true, if neither <condition> nor <prop> exists
-
-       Examples:
-       Using a <condition> tag
-       <enable>
-         <condition>
-           <!-- any legal condition goes here and is evaluated -->
-         </condition>
-         <prop>This is ignored</prop>
-         <value>This is also ignored</value>
-       </enable>
-
-       Using a single boolean property
-       <enable>
-         <prop>/some/property/that/is/evaluated/as/boolean</prop>
-       </enable>
-
-       Using <prop> == <value>
-       This is the old style behaviour
-       <enable>
-         <prop>/only/true/if/this/equals/true</prop>
-         <value>true<value>
-       </enable>
-    */
-    bool isPropertyEnabled();
-};
-
-typedef SGSharedPtr<FGXMLAutoComponent> FGXMLAutoComponent_ptr;
-
-
-/**
- * Roy Ovesen's PID controller
- */
-
-class FGPIDController : public FGXMLAutoComponent {
-
-private:
-
-
-    // Configuration values
-    FGXMLAutoInputList Kp;          // proportional gain
-    FGXMLAutoInputList Ti;          // Integrator time (sec)
-    FGXMLAutoInputList Td;          // Derivator time (sec)
-
-    double alpha;               // low pass filter weighing factor (usually 0.1)
-    double beta;                // process value weighing factor for
-                                // calculating proportional error
-                                // (usually 1.0)
-    double gamma;               // process value weighing factor for
-                                // calculating derivative error
-                                // (usually 0.0)
-
-    // Previous state tracking values
-    double ep_n_1;              // ep[n-1]  (prop error)
-    double edf_n_1;             // edf[n-1] (derivative error)
-    double edf_n_2;             // edf[n-2] (derivative error)
-    double u_n_1;               // u[n-1]   (output)
-    double desiredTs;            // desired sampling interval (sec)
-    double elapsedTime;          // elapsed time (sec)
-    
-
-protected:
-  bool parseConfigHook(const std::string& aName, SGPropertyNode* aNode);
-    
-public:
-
-    FGPIDController( SGPropertyNode *node );
-    FGPIDController( SGPropertyNode *node, bool old );
-    ~FGPIDController() {}
-
-    void update( double dt );
-};
-
-
-/**
- * A simplistic P [ + I ] PID controller
- */
-
-class FGPISimpleController : public FGXMLAutoComponent {
-
-private:
-
-    // proportional component data
-    FGXMLAutoInputList Kp;
-
-    // integral component data
-    FGXMLAutoInputList Ki;
-    double int_sum;
-
-protected:
-  bool parseConfigHook(const std::string& aName, SGPropertyNode* aNode);
-
-public:
-
-    FGPISimpleController( SGPropertyNode *node );
-    ~FGPISimpleController() {}
-
-    void update( double dt );
-};
-
-
-/**
- * Predictor - calculates value in x seconds future.
- */
-
-class FGPredictor : public FGXMLAutoComponent {
-
-private:
-    double last_value;
-    double average;
-    FGXMLAutoInputList seconds;
-    FGXMLAutoInputList filter_gain;
-
-protected:
-  bool parseNodeHook(const std::string& aName, SGPropertyNode* aNode);
-
-public:
-    FGPredictor( SGPropertyNode *node );
-    ~FGPredictor() {}
-
-    void update( double dt );
-};
-
-
-/**
- * FGDigitalFilter - a selection of digital filters
- *
- * Exponential filter
- * Double exponential filter
- * Moving average filter
- * Noise spike filter
- *
- * All these filters are low-pass filters.
- *
- */
-
-class FGDigitalFilter : public FGXMLAutoComponent
-{
-private:
-    FGXMLAutoInputList samplesInput; // Number of input samples to average
-    FGXMLAutoInputList rateOfChangeInput;  // The maximum allowable rate of change [1/s]
-    FGXMLAutoInputList gainInput;     // 
-    FGXMLAutoInputList TfInput;            // Filter time [s]
-
-    std::deque <double> output;
-    std::deque <double> input;
-    enum filterTypes { exponential, doubleExponential, movingAverage,
-                       noiseSpike, gain, reciprocal, differential, none };
-    filterTypes filterType;
-
-protected:
-  bool parseNodeHook(const std::string& aName, SGPropertyNode* aNode);
-  
-public:
-    FGDigitalFilter(SGPropertyNode *node);
-    ~FGDigitalFilter() {}
-
-    void update(double dt);
-};
-
-class FGXMLAutoLogic : public FGXMLAutoComponent
-{
-private:
-    SGSharedPtr<SGCondition> input;
-    bool inverted;
-
-protected:
-    bool parseNodeHook(const std::string& aName, SGPropertyNode* aNode);
-
-public:
-    FGXMLAutoLogic(SGPropertyNode * node );
-    ~FGXMLAutoLogic() {}
-
-    void update(double dt);
-};
-
-/**
- * Model an autopilot system.
- * 
- */
-
-class FGXMLAutopilotGroup : public SGSubsystemGroup
-{
-public:
-    FGXMLAutopilotGroup();
-    void init();
-    void reinit();
-    void update( double dt );
-private:
-    std::vector<std::string> _autopilotNames;
-
-#ifdef XMLAUTO_USEHELPER
-    double average;
-    double v_last;
-    double last_static_pressure;
-
-    SGPropertyNode_ptr vel;
-    SGPropertyNode_ptr lookahead5;
-    SGPropertyNode_ptr lookahead10;
-    SGPropertyNode_ptr bug;
-    SGPropertyNode_ptr mag_hdg;
-    SGPropertyNode_ptr bug_error;
-    SGPropertyNode_ptr fdm_bug_error;
-    SGPropertyNode_ptr target_true;
-    SGPropertyNode_ptr true_hdg;
-    SGPropertyNode_ptr true_error;
-    SGPropertyNode_ptr target_nav1;
-    SGPropertyNode_ptr true_nav1;
-    SGPropertyNode_ptr true_track_nav1;
-    SGPropertyNode_ptr nav1_course_error;
-    SGPropertyNode_ptr nav1_selected_course;
-    SGPropertyNode_ptr vs_fps;
-    SGPropertyNode_ptr vs_fpm;
-    SGPropertyNode_ptr static_pressure;
-    SGPropertyNode_ptr pressure_rate;
-    SGPropertyNode_ptr track;
-#endif
-};
-
-class FGXMLAutopilot : public SGSubsystem
-{
-
-public:
-
-    FGXMLAutopilot();
-    ~FGXMLAutopilot();
-
-    void init();
-    void reinit();
-    void bind();
-    void unbind();
-    void update( double dt );
-
-
-    bool build( SGPropertyNode_ptr );
-protected:
-    typedef std::vector<FGXMLAutoComponent_ptr> comp_list;
-
-private:
-    bool serviceable;
-    comp_list components;
-    
-};
-
-
-#endif // _XMLAUTO_HXX

diff --git a/src/Cockpit/cockpit.cxx b/src/Cockpit/cockpit.cxx
index 0414a0f6a0ae4fb0a15f3cde660c52bde07fbed4..a2f542cbcccf359431a14960c1e37dbd9cb57899 100644 (file)
--- a/src/Cockpit/cockpit.cxx
+++ b/src/Cockpit/cockpit.cxx
@@ -26,6 +26,7 @@
 #endif
 
 #include <simgear/compiler.h>
+#include <simgear/sg_inlines.h>
 
 #include <stdlib.h>
 #include <stdio.h>
@@ -36,11 +37,8 @@
 #include <simgear/props/props.hxx>
 #include <simgear/timing/sg_time.hxx>
 
-#include <Aircraft/aircraft.hxx>
 #include <Include/general.hxx>
-#ifdef ENABLE_SP_FDM
-#include <FDM/SP/ADA.hxx>
-#endif
+
 #include <Main/globals.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/viewmgr.hxx>
@@ -51,7 +49,6 @@
 #include "cockpit.hxx"
 #include "hud.hxx"
 
-
 // The following routines obtain information concerntin the aircraft's
 // current state and return it to calling instrument display routines.
 // They should eventually be member functions of the aircraft.
@@ -59,14 +56,14 @@
 
 float get_latitude( void )
 {
-    return current_aircraft.fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
+    return fgGetDouble("/position/latitude-deg");
 }
 
 float get_lat_min( void )
 {
     double a, d;
 
-    a = current_aircraft.fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
+    a = fgGetDouble("/position/latitude-deg");
     if (a < 0.0) {
         a = -a;
     }
@@ -79,7 +76,7 @@ float get_lat_min( void )
 
 float get_longitude( void )
 {
-    return current_aircraft.fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
+    return fgGetDouble("/position/longitude-deg");
 }
 
 
@@ -99,7 +96,7 @@ get_formated_gmt_time( void )
 float get_long_min( void )
 {
     double  a, d;
-    a = current_aircraft.fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
+    a = fgGetDouble("/position/longitude-deg");
     if (a < 0.0) {
         a = -a;
     }
@@ -139,7 +136,7 @@ float get_speed( void )
 {
     static const SGPropertyNode * speedup_node = fgGetNode("/sim/speed-up");
 
-    float speed = current_aircraft.fdm_state->get_V_calibrated_kts()
+    float speed = fgGetDouble("/velocities/airspeed-kt")
         * speedup_node->getIntValue();
 
     return speed;
@@ -147,27 +144,27 @@ float get_speed( void )
 
 float get_mach(void)
 {
-    return current_aircraft.fdm_state->get_Mach_number();
+    return fgGetDouble("/velocities/mach");
 }
 
 float get_aoa( void )
 {
-    return current_aircraft.fdm_state->get_Alpha() * SGD_RADIANS_TO_DEGREES;
+    return fgGetDouble("/orientation/alpha-deg");
 }
 
 float get_roll( void )
 {
-    return current_aircraft.fdm_state->get_Phi();
+    return fgGetDouble("/orientation/roll-deg") * SG_DEGREES_TO_RADIANS;
 }
 
 float get_pitch( void )
 {
-    return current_aircraft.fdm_state->get_Theta();
+    return fgGetDouble("/orientation/pitch-deg") * SG_DEGREES_TO_RADIANS;
 }
 
 float get_heading( void )
 {
-    return current_aircraft.fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES;
+    return fgGetDouble("/orientation/heading-deg");
 }
 
 float get_altitude( void )
@@ -175,16 +172,11 @@ float get_altitude( void )
     static const SGPropertyNode *startup_units_node
         = fgGetNode("/sim/startup/units");
 
-    float altitude;
-
     if ( !strcmp(startup_units_node->getStringValue(), "feet") ) {
-        altitude = current_aircraft.fdm_state->get_Altitude();
+        return fgGetDouble("/position/altitude-ft");
     } else {
-        altitude = (current_aircraft.fdm_state->get_Altitude()
-                    * SG_FEET_TO_METER);
+        return fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER;
     }
-
-    return altitude;
 }
 
 float get_agl( void )
@@ -192,22 +184,16 @@ float get_agl( void )
     static const SGPropertyNode *startup_units_node
         = fgGetNode("/sim/startup/units");
 
-    float agl;
-
     if ( !strcmp(startup_units_node->getStringValue(), "feet") ) {
-        agl = (current_aircraft.fdm_state->get_Altitude()
-               - current_aircraft.fdm_state->get_Runway_altitude());
+        return fgGetDouble("/position/altitude-agl-ft");
     } else {
-        agl = (current_aircraft.fdm_state->get_Altitude()
-               - current_aircraft.fdm_state->get_Runway_altitude()) * SG_FEET_TO_METER;
+        return fgGetDouble("/position/altitude-agl-ft") * SG_FEET_TO_METER;
     }
-
-    return agl;
 }
 
 float get_sideslip( void )
 {
-    return current_aircraft.fdm_state->get_Beta();
+    return fgGetDouble("/orientation/side-slip-rad");
 }
 
 float get_frame_rate( void )
@@ -246,11 +232,11 @@ float get_climb_rate( void )
     static const SGPropertyNode *startup_units_node
         = fgGetNode("/sim/startup/units");
 
-    float climb_rate;
+    float climb_rate = fgGetDouble("/velocities/vertical-speed-fps", 0.0);
     if ( !strcmp(startup_units_node->getStringValue(), "feet") ) {
-        climb_rate = current_aircraft.fdm_state->get_Climb_Rate() * 60.0;
+        climb_rate *= 60.0;
     } else {
-        climb_rate = current_aircraft.fdm_state->get_Climb_Rate() * SG_FEET_TO_METER * 60.0;
+        climb_rate *= SG_FEET_TO_METER * 60.0;
     }
 
     return climb_rate;
@@ -259,15 +245,9 @@ float get_climb_rate( void )
 
 float get_view_direction( void )
 {
-    double view_off = SGD_2PI - globals->get_current_view()->getHeadingOffset_deg() * SGD_DEGREES_TO_RADIANS;
-    double view = ( current_aircraft.fdm_state->get_Psi() + view_off)
-        * SGD_RADIANS_TO_DEGREES;
-
-    if (view > 360.)
-        view -= 360.;
-    else if (view<0.)
-        view += 360.;
-
+    double view_off = 360.0 - globals->get_current_view()->getHeadingOffset_deg();
+    double view = fgGetDouble("/orientation/heading-deg") + view_off;
+    SG_NORMALIZE_RANGE(view, 0.0, 360.0);
     return view;
 }
 
@@ -280,240 +260,108 @@ float get_dme( void )
     return dme_node->getFloatValue();
 }
 
-// $$$ begin - added, VS Renganathan 13 Oct 2K
-// #ifdef FIGHTER_HUD
-float get_Vx   ( void )
-{
-    // Curt dont comment this and return zero. - Ranga
-    // Please remove comments from get_V_..() function in flight.hxx
-    float Vxx = current_aircraft.fdm_state->get_V_north_rel_ground();
-    return Vxx;
-}
-
-float get_Vy   ( void )
-{
-    // Curt dont comment this and return zero. - Ranga
-    // Please remove comments from get_V_..() function in flight.hxx
-    float Vyy = current_aircraft.fdm_state->get_V_east_rel_ground();
-    return Vyy;
-}
-
-float get_Vz   ( void )
-{
-    // Curt dont comment this and return zero. - Ranga
-    // Please remove comments from get_V_..() function in flight.hxx
-    float Vzz = current_aircraft.fdm_state->get_V_down_rel_ground();
-    return Vzz;
-}
-
 float get_Ax   ( void )
 {
-    float Ax = current_aircraft.fdm_state->get_V_dot_north();
-    return Ax;
-}
-
-float get_Ay   ( void )
-{
-    float Ay = current_aircraft.fdm_state->get_V_dot_east();
-    return Ay;
-}
-
-float get_Az   ( void )
-{
-    float Az = current_aircraft.fdm_state->get_V_dot_down();
-    return Az;
+    return fgGetDouble("/accelerations/ned/north-accel-fps_sec", 0.0);
 }
 
 float get_anzg   ( void )
 {
-    float anzg = current_aircraft.fdm_state->get_N_Z_cg();
-    return anzg;
+    return fgGetDouble("/accelerations/n-z-cg-fps_sec", 0.0);
 }
 
 #ifdef ENABLE_SP_FDM
-int get_iaux1 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(1);
-}
-
-int get_iaux2 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(2);
-}
-
-int get_iaux3 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(3);
-}
-
-int get_iaux4 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(4);
-}
-
-int get_iaux5 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(5);
-}
-
-int get_iaux6 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(6);
-}
-
-int get_iaux7 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(7);
-}
-
-int get_iaux8 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(8);
-}
-
-int get_iaux9 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(9);
-}
-
-int get_iaux10 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(10);
-}
-
-int get_iaux11 (void)
-{
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_iaux(11);
-}
-
-int get_iaux12 (void)
-{
-     FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-     return fdm->get_iaux(12);
-}
-
 float get_aux1 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_daux(1);
+    return fgGetDouble("/fdm-ada/ship-lat", 0.0);
 }
 
 float get_aux2 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_daux(2);
+    return fgGetDouble("/fdm-ada/ship-lon", 0.0);
 }
 
 float get_aux3 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_daux(3);
+    return fgGetDouble("/fdm-ada/ship-alt", 0.0);
 }
 
 float get_aux4 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_daux(4);
+    return fgGetDouble("/fdm-ada/skijump-dist", 0.0);
 }
 
 float get_aux5 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_daux(5);
+    return fgGetDouble("/fdm-ada/aux5", 0.0);
 }
 
 float get_aux6 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_daux(6);
+    return fgGetDouble("/fdm-ada/aux6", 0.0);
 }
 
 float get_aux7 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_daux(7);
+    return fgGetDouble("/fdm-ada/aux7", 0.0);
 }
 
 float get_aux8 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_daux(8);
-}
+    return fgGetDouble("/fdm-ada/aux8", 0.0);}
 
 float get_aux9 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(1);
-}
+    return fgGetDouble("/fdm-ada/aux9", 0.0);}
 
 float get_aux10 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(2);
+    return fgGetDouble("/fdm-ada/aux10", 0.0);
 }
 
 float get_aux11 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(3);
+    return fgGetDouble("/fdm-ada/aux11", 0.0);
 }
 
 float get_aux12 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(4);
+    return fgGetDouble("/fdm-ada/aux12", 0.0);
 }
 
 float get_aux13 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(5);
+    return fgGetDouble("/fdm-ada/aux13", 0.0);
 }
 
 float get_aux14 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(6);
+    return fgGetDouble("/fdm-ada/aux14", 0.0);
 }
 
 float get_aux15 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(7);
+    return fgGetDouble("/fdm-ada/aux15", 0.0);
 }
 
 float get_aux16 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(8);
+    return fgGetDouble("/fdm-ada/aux16", 0.0);
 }
 
 float get_aux17 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(9);
+    return fgGetDouble("/fdm-ada/aux17", 0.0);
 }
 
 float get_aux18 (void)
 {
-    FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
-    return fdm->get_faux(10);
+    return fgGetDouble("/fdm-ada/aux18", 0.0);
 }
 #endif
 
 
-bool fgCockpitInit( fgAIRCRAFT *cur_aircraft )
+bool fgCockpitInit()
 {
     SG_LOG( SG_COCKPIT, SG_INFO, "Initializing cockpit subsystem" );
 
@@ -529,7 +377,7 @@ bool fgCockpitInit( fgAIRCRAFT *cur_aircraft )
     // HI_Head is now a null pointer so we can generate a new list from the
     // current aircraft.
 
-    fgHUDInit( cur_aircraft );
+    fgHUDInit();
 
     return true;
 }

diff --git a/src/Cockpit/cockpit.hxx b/src/Cockpit/cockpit.hxx
index 9c7a5c9d279bc1a93a35b5b3679a6e49cbde7543..91c4155142ccb412ba3408e6c0f2e348e0dcf484 100644 (file)
--- a/src/Cockpit/cockpit.hxx
+++ b/src/Cockpit/cockpit.hxx
@@ -33,10 +33,7 @@
 
 #include <osg/State>
 
-#include <Aircraft/aircraft.hxx>
-#include "panel.hxx"
-
-bool fgCockpitInit( fgAIRCRAFT *cur_aircraft );
+bool fgCockpitInit();
 void fgCockpitUpdate( osg::State* );
 
 #endif /* _COCKPIT_HXX */

diff --git a/src/Cockpit/hud.cxx b/src/Cockpit/hud.cxx
index b06a1917bb68e8a4e97a31ada1be75e2d103f75a..57c2264e81527c9702b157825269b79735e5a274 100644 (file)
--- a/src/Cockpit/hud.cxx
+++ b/src/Cockpit/hud.cxx
@@ -42,8 +42,6 @@
 
 #include <osg/GLU>
 
-#include <Aircraft/aircraft.hxx>
-//#include <Autopilot/xmlauto.hxx>
 #include <GUI/new_gui.hxx>           // FGFontCache
 #include <Main/globals.hxx>
 #include <Scenery/scenery.hxx>
@@ -230,7 +228,7 @@ int readHud( istream &input )
 // display for a Piper Cub doesn't show the speed range of a North American
 // mustange and the engine readouts of a B36!
 //
-int fgHUDInit( fgAIRCRAFT * /* current_aircraft */ )
+int fgHUDInit()
 {
 
     HUD_style = 1;
@@ -282,7 +280,7 @@ int fgHUDInit( fgAIRCRAFT * /* current_aircraft */ )
 }
 
 
-int fgHUDInit2( fgAIRCRAFT * /* current_aircraft */ )
+int fgHUDInit2()
 {
 
     HUD_style = 2;

diff --git a/src/Cockpit/hud.hxx b/src/Cockpit/hud.hxx
index 3774767b668cb65a2446ebaf7863a5ac87c8bb48..bec30f5539a6c570ca185b1c4efc3906bc3e3eb1 100644 (file)
--- a/src/Cockpit/hud.hxx
+++ b/src/Cockpit/hud.hxx
@@ -54,7 +54,6 @@ namespace osg {
 #include <simgear/constants.h>
 
 #include <Include/fg_typedefs.h>
-#include <Aircraft/aircraft.hxx>
 #include <Aircraft/controls.hxx>
 #include <FDM/flight.hxx>
 #include <GUI/gui.h>
@@ -134,46 +133,6 @@ extern float get_mach( void );
 extern char *coord_format_lat(float);
 extern char *coord_format_lon(float);
 
-// $$$ begin - added, VS Renganathan, 13 Oct 2K
-extern float get_anzg (void);
-extern float get_Vx (void);
-extern float get_Vy (void);
-extern float get_Vz (void);
-extern float get_Ax (void);
-extern float get_Ay (void);
-extern float get_Az (void);
-extern int get_iaux1 (void);
-extern int get_iaux2 (void);
-extern int get_iaux3 (void);
-extern int get_iaux4 (void);
-extern int get_iaux5 (void);
-extern int get_iaux6 (void);
-extern int get_iaux7 (void);
-extern int get_iaux8 (void);
-extern int get_iaux9 (void);
-extern int get_iaux10 (void);
-extern int get_iaux11 (void);
-extern int get_iaux12 (void);
-extern float get_aux1(void);
-extern float get_aux2(void);
-extern float get_aux3(void);
-extern float get_aux4(void);
-extern float get_aux5 (void);
-extern float get_aux6 (void);
-extern float get_aux7 (void);
-extern float get_aux8(void);
-extern float get_aux9(void);
-extern float get_aux10(void);
-extern float get_aux11(void);
-extern float get_aux12(void);
-extern float get_aux13(void);
-extern float get_aux14(void);
-extern float get_aux15(void);
-extern float get_aux16(void);
-extern float get_aux17(void);
-extern float get_aux18(void);
-// $$$ end - added, VS Renganathan, 13 Oct 2K
-
 extern char *get_formated_gmt_time( void );
 
 enum  hudinstype{ HUDno_instr,
@@ -734,8 +693,8 @@ public:
 };
 
 
-extern int  fgHUDInit( fgAIRCRAFT * /* current_aircraft */ );
-extern int  fgHUDInit2( fgAIRCRAFT * /* current_aircraft */ );
+extern int  fgHUDInit();
+extern int  fgHUDInit2();
 extern void fgUpdateHUD( osg::State* );
 extern void fgUpdateHUD( osg::State*, GLfloat x_start, GLfloat y_start,
                          GLfloat x_end, GLfloat y_end );

diff --git a/src/Cockpit/hud_labl.cxx b/src/Cockpit/hud_labl.cxx
index 95d69142a5104e9d7ee76840596edeac82130290..8927b113e60e6f3f60b7285e455565b0de73c308 100644 (file)
--- a/src/Cockpit/hud_labl.cxx
+++ b/src/Cockpit/hud_labl.cxx
@@ -114,7 +114,7 @@ void instr_label::draw(void)
         }
 
     } else {
-        snprintf(label_buffer, sizeof( label_buffer) -1, format_buffer.c_str());
+        snprintf(label_buffer, sizeof( label_buffer)-1, format_buffer.c_str(), 0);
     }
 
     lenstr = getStringWidth(label_buffer);

diff --git a/src/Cockpit/hud_ladr.cxx b/src/Cockpit/hud_ladr.cxx
index 34b58d0eb7bf0a5286b1f5ab524a0deee037a193..d56315b069e440e81976848f2878b98ef35676c8 100644 (file)
--- a/src/Cockpit/hud_ladr.cxx
+++ b/src/Cockpit/hud_ladr.cxx
@@ -96,11 +96,11 @@ void HudLadder::draw(void)
 
 #ifdef ENABLE_SP_FDM
     int lgear, wown, wowm, ilcanclaw, ihook;
-    ilcanclaw = get_iaux2();
-    lgear = get_iaux3();
-    wown = get_iaux4();
-    wowm = get_iaux5();
-    ihook = get_iaux6();
+    ilcanclaw = fgGetInt("/fdm-ada/iaux2", 0);
+    lgear = fgGetInt("/fdm-ada/iaux3", 0);
+    wown = fgGetInt("/fdm-ada/iaux4", 0);
+    wowm = fgGetInt("/fdm-ada/iaux5", 0);;
+    ihook = fgGetInt("/fdm-ada/iaux6", 0);
 #endif
     float pitch_value = current_ch1() * SGD_RADIANS_TO_DEGREES;
 
@@ -159,12 +159,12 @@ void HudLadder::draw(void)
     //****************************************************************
     //velocity vector reticle - computations
     if (velocity_vector) {
-        Vxx = get_Vx();
-        Vyy = get_Vy();
-        Vzz = get_Vz();
-        Axx = get_Ax();
-        Ayy = get_Ay();
-        Azz = get_Az();
+        Vxx = fgGetDouble("/velocities/north-relground-fps", 0.0);
+        Vyy = fgGetDouble("/velocities/east-relground-fps", 0.0);
+        Vzz = fgGetDouble("/velocities/down-relground-fps", 0.0);
+        Axx = fgGetDouble("/accelerations/ned/north-accel-fps_sec", 0.0);
+        Ayy = fgGetDouble("/accelerations/ned/east-accel-fps_sec", 0.0);
+        Azz = fgGetDouble("/accelerations/ned/down-accel-fps_sec", 0.0);
         psi = get_heading();
 
         if (psi > 180.0)
@@ -597,8 +597,8 @@ void HudLadder::draw(void)
 
         fromwp_lon = get_longitude() * SGD_DEGREES_TO_RADIANS;
         fromwp_lat = get_latitude() * SGD_DEGREES_TO_RADIANS;
-        towp_lon = get_aux2() * SGD_DEGREES_TO_RADIANS;
-        towp_lat = get_aux1() * SGD_DEGREES_TO_RADIANS;
+        towp_lon = fgGetDouble("/fdm-ada/ship-lon", 0.0) * SGD_DEGREES_TO_RADIANS;
+        towp_lat = fgGetDouble("/fdm-ada/ship-lat", 0.0) * SGD_DEGREES_TO_RADIANS;
 
         dist = acos(sin(fromwp_lat) * sin(towp_lat) + cos(fromwp_lat)
                 * cos(towp_lat) * cos(fabs(fromwp_lon - towp_lon)));

diff --git a/src/Cockpit/hud_rwy.cxx b/src/Cockpit/hud_rwy.cxx
index 0f7866619ac7607efc9212312b53aa2c12af93c4..2be1525238ed305f108362535a501862316f8476 100644 (file)
--- a/src/Cockpit/hud_rwy.cxx
+++ b/src/Cockpit/hud_rwy.cxx
@@ -27,7 +27,6 @@
 #include <math.h>
 #include <Main/globals.hxx>
 #include <Scenery/scenery.hxx>
-#include <Aircraft/aircraft.hxx>
 #include <Environment/environment.hxx>
 #include <Environment/environment_mgr.hxx>
 #include <ATCDCL/ATCutils.hxx>
@@ -185,7 +184,7 @@ FGRunway* runway_instr::get_active_runway()
 
 void runway_instr::get_rwy_points(sgdVec3 *points3d)
 {
-    double alt = current_aircraft.fdm_state->get_Runway_altitude() * SG_FEET_TO_METER;
+    double alt = runway->geod().getElevationM();
     double length = runway->lengthM() * 0.5;
     double width = runway->widthM() * 0.5;
     double frontLat = 0.0, frontLon = 0.0, backLat = 0.0, backLon = 0.0, az = 0.0, tempLat = 0.0, tempLon = 0.0;

diff --git a/src/Cockpit/panel.cxx b/src/Cockpit/panel.cxx
index be2f12570e8fb3d336e9e79d0c68ccee5b2a0155..9c39626ee6bd1dd4250047400a198064a1169b36 100644 (file)
--- a/src/Cockpit/panel.cxx
+++ b/src/Cockpit/panel.cxx
@@ -122,11 +122,7 @@ FGTextureManager::createTexture (const string &relativePath, bool staticTexture)
 {
   osg::Texture2D* texture = _textureMap[relativePath].get();
   if (texture == 0) {
-    SG_LOG( SG_COCKPIT, SG_DEBUG,
-            "Texture " << relativePath << " does not yet exist" );
-    SGPath tpath(globals->get_fg_root());
-    tpath.append(relativePath);
-
+    SGPath tpath = globals->resolve_aircraft_path(relativePath);
     texture = SGLoadTexture2D(staticTexture, tpath);
 
     _textureMap[relativePath] = texture;

diff --git a/src/Cockpit/panel_io.cxx b/src/Cockpit/panel_io.cxx
index 7ef58b6e1522ed393a9e1d2e0a34abeef30b4f41..ecd6efd89a02c674463529642c5899e92bbb6ef2 100644 (file)
--- a/src/Cockpit/panel_io.cxx
+++ b/src/Cockpit/panel_io.cxx
@@ -839,10 +839,9 @@ fgReadPanel (istream &input)
 FGPanel *
 fgReadPanel (const string &relative_path)
 {
-  SGPath path(globals->get_fg_root());
-  path.append(relative_path);
+  SGPath path = globals->resolve_aircraft_path(relative_path);
   SGPropertyNode root;
-
+  
   try {
     readProperties(path.str(), &root);
   } catch (const sg_exception &e) {

diff --git a/src/Environment/Makefile.am b/src/Environment/Makefile.am
index a39d0ec3cbe2f779934cb6b7089e6a42884460a5..6c7ee1f5190e25fdf753db13129a1b3d23de0772 100644 (file)
--- a/src/Environment/Makefile.am
+++ b/src/Environment/Makefile.am
@@ -12,6 +12,7 @@ libEnvironment_a_SOURCES = \
        fgwind.cxx fgwind.hxx \
        atmosphere.cxx atmosphere.hxx \
        precipitation_mgr.cxx precipitation_mgr.hxx \
-       ridge_lift.cxx ridge_lift.hxx
+       ridge_lift.cxx ridge_lift.hxx \
+       ephemeris.cxx ephemeris.hxx 
 
 INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src

diff --git a/src/Environment/environment.cxx b/src/Environment/environment.cxx
index 9a5755e3db3d7f8cabeaa89a739547c8b28fb71f..30354ffd9255c54d1f98b9a2207e033e2e2e2932 100644 (file)
--- a/src/Environment/environment.cxx
+++ b/src/Environment/environment.cxx
@@ -211,20 +211,32 @@ FGEnvironment::read (const SGPropertyNode * node)
     maybe_copy_value(this, node, "visibility-m",
                      &FGEnvironment::set_visibility_m);
 
+    maybe_copy_value(this, node, "elevation-ft",
+                     &FGEnvironment::set_elevation_ft);
+
     if (!maybe_copy_value(this, node, "temperature-sea-level-degc",
-                          &FGEnvironment::set_temperature_sea_level_degc))
-        maybe_copy_value(this, node, "temperature-degc",
-                         &FGEnvironment::set_temperature_degc);
+                          &FGEnvironment::set_temperature_sea_level_degc)) {
+        if( maybe_copy_value(this, node, "temperature-degc",
+                         &FGEnvironment::set_temperature_degc)) {
+            _recalc_sl_temperature();
+        }
+    }
 
     if (!maybe_copy_value(this, node, "dewpoint-sea-level-degc",
-                          &FGEnvironment::set_dewpoint_sea_level_degc))
-        maybe_copy_value(this, node, "dewpoint-degc",
-                         &FGEnvironment::set_dewpoint_degc);
+                          &FGEnvironment::set_dewpoint_sea_level_degc)) {
+        if( maybe_copy_value(this, node, "dewpoint-degc",
+                         &FGEnvironment::set_dewpoint_degc)) {
+            _recalc_sl_dewpoint();
+        }
+    }
 
     if (!maybe_copy_value(this, node, "pressure-sea-level-inhg",
-                          &FGEnvironment::set_pressure_sea_level_inhg))
-        maybe_copy_value(this, node, "pressure-inhg",
-                         &FGEnvironment::set_pressure_inhg);
+                          &FGEnvironment::set_pressure_sea_level_inhg)) {
+        if( maybe_copy_value(this, node, "pressure-inhg",
+                         &FGEnvironment::set_pressure_inhg)) {
+            _recalc_sl_pressure();
+        }
+   }
 
     maybe_copy_value(this, node, "wind-from-heading-deg",
                      &FGEnvironment::set_wind_from_heading_deg);
@@ -232,9 +244,6 @@ FGEnvironment::read (const SGPropertyNode * node)
     maybe_copy_value(this, node, "wind-speed-kt",
                      &FGEnvironment::set_wind_speed_kt);
 
-    maybe_copy_value(this, node, "elevation-ft",
-                     &FGEnvironment::set_elevation_ft);
-
     maybe_copy_value(this, node, "turbulence/magnitude-norm",
                      &FGEnvironment::set_turbulence_magnitude_norm);
 
@@ -652,7 +661,7 @@ FGEnvironment::_recalc_sl_temperature ()
   }
 #endif
 
-  if (elevation_ft >= ISA_def[1].height) {
+  if (elevation_ft * atmodel::foot >= ISA_def[1].height) {
     SG_LOG(SG_GENERAL, SG_ALERT, "recalc_sl_temperature: "
         << "valid only in troposphere, not " << elevation_ft);
     return;

diff --git a/src/Environment/environment_ctrl.cxx b/src/Environment/environment_ctrl.cxx
index 6efcbde3ee747f3eb69bc90e32afcbfb4339fa56..0cc434e69392cfe537cf2d616acdff0b50460105 100644 (file)
--- a/src/Environment/environment_ctrl.cxx
+++ b/src/Environment/environment_ctrl.cxx
@@ -25,6 +25,7 @@
 #endif
 
 #include <algorithm>
+#include <cstring>
 
 #include <simgear/debug/logstream.hxx>
 #include <simgear/structure/commands.hxx>
@@ -132,7 +133,11 @@ void
 FGInterpolateEnvironmentCtrl::init ()
 {
        read_table( boundary_n, _boundary_table);
-       read_table( aloft_n, _aloft_table);
+       // pass in a pointer to the environment of the last bondary layer as
+       // a starting point
+       read_table( aloft_n, _aloft_table, 
+               _boundary_table.size() > 0 ?  
+               &(*(_boundary_table.end()-1))->environment : NULL );
 }
 
 void
@@ -142,7 +147,7 @@ FGInterpolateEnvironmentCtrl::reinit ()
 }
 
 void
-FGInterpolateEnvironmentCtrl::read_table (const SGPropertyNode * node, vector<bucket *> &table)
+FGInterpolateEnvironmentCtrl::read_table (const SGPropertyNode * node, vector<bucket *> &table, FGEnvironment * parent )
 {
        double last_altitude_ft = 0.0;
        double sort_required = false;
@@ -163,8 +168,11 @@ FGInterpolateEnvironmentCtrl::read_table (const SGPropertyNode * node, vector<bu
                                b = new bucket;
                                table.push_back(b);
                        }
+                       if (i == 0 && parent != NULL )
+                               b->environment.copy( *parent );
                        if (i > 0)
                                b->environment.copy(table[i-1]->environment);
+                       
                        b->environment.read(child);
                        b->altitude_ft = b->environment.get_elevation_ft();
 
@@ -183,6 +191,14 @@ FGInterpolateEnvironmentCtrl::read_table (const SGPropertyNode * node, vector<bu
 
        if( sort_required )
                sort(table.begin(), table.end(), bucket::lessThan);
+
+       // cleanup entries with (almost)same altitude
+       for( vector<bucket *>::size_type n = 1; n < table.size(); n++ ) {
+               if( fabs(table[n]->altitude_ft - table[n-1]->altitude_ft ) < 1 ) {
+                       SG_LOG( SG_GENERAL, SG_ALERT, "Removing duplicate altitude entry in environment config for altitude " << table[n]->altitude_ft );
+                       table.erase( table.begin() + n );
+               }
+       }
 }
 
 void
@@ -196,7 +212,7 @@ FGInterpolateEnvironmentCtrl::update (double delta_time_sec)
        int length = _boundary_table.size();
 
        if (length > 0) {
-                                                               // boundary table
+               // boundary table
                double boundary_limit = _boundary_table[length-1]->altitude_ft;
                if (boundary_limit >= altitude_agl_ft) {
                        do_interpolate(_boundary_table, altitude_agl_ft, _environment);
@@ -204,16 +220,16 @@ FGInterpolateEnvironmentCtrl::update (double delta_time_sec)
                } else if ((boundary_limit + boundary_transition) >= altitude_agl_ft) {
                        //TODO: this is 500ft above the top altitude of boundary layer
                        //shouldn't this be +/-250 ft off of the top altitude?
-                                                               // both tables
+                       // both tables
                        do_interpolate(_boundary_table, altitude_agl_ft, &env1);
                        do_interpolate(_aloft_table, altitude_ft, &env2);
-                       double fraction =
-                               (altitude_agl_ft - boundary_limit) / boundary_transition;
+                       double fraction = boundary_transition > SGLimitsd::min() ?
+                               (altitude_agl_ft - boundary_limit) / boundary_transition : 1.0;
                        interpolate(&env1, &env2, fraction, _environment);
                        return;
                }
        }
-                                                               // aloft table
+       // aloft table
        do_interpolate(_aloft_table, altitude_ft, _environment);
 }
 
@@ -224,31 +240,26 @@ FGInterpolateEnvironmentCtrl::do_interpolate (vector<bucket *> &table, double al
        if (length == 0)
                return;
 
-                                                               // Boundary conditions
+       // Boundary conditions
        if ((length == 1) || (table[0]->altitude_ft >= altitude_ft)) {
-               environment->copy(table[0]->environment);
+               environment->copy(table[0]->environment); // below bottom of table
                return;
        } else if (table[length-1]->altitude_ft <= altitude_ft) {
-               environment->copy(table[length-1]->environment);
+               environment->copy(table[length-1]->environment); // above top of table
                return;
-       }
-                                                               // Search the interpolation table
-       for (int i = 0; i < length - 1; i++) {
-               if ((i == length - 1) || (table[i]->altitude_ft <= altitude_ft)) {
-                               FGEnvironment * env1 = &(table[i]->environment);
-                               FGEnvironment * env2 = &(table[i+1]->environment);
-                               double fraction;
-                               if (table[i]->altitude_ft == table[i+1]->altitude_ft)
-                                       fraction = 1.0;
-                               else 
-                                       fraction =
-                                               ((altitude_ft - table[i]->altitude_ft) /
-                                                (table[i+1]->altitude_ft - table[i]->altitude_ft));
-                               interpolate(env1, env2, fraction, environment);
-
-                               return;
-               }
-       }
+       } 
+
+       // Search the interpolation table
+       int layer;
+       for ( layer = 1; // can't be below bottom layer, handled above
+             layer < length && table[layer]->altitude_ft <= altitude_ft;
+             layer++);
+       FGEnvironment * env1 = &(table[layer-1]->environment);
+       FGEnvironment * env2 = &(table[layer]->environment);
+       // two layers of same altitude were sorted out in read_table
+       double fraction = ((altitude_ft - table[layer-1]->altitude_ft) /
+                         (table[layer]->altitude_ft - table[layer-1]->altitude_ft));
+       interpolate(env1, env2, fraction, environment);
 }
 
 bool
@@ -747,7 +758,7 @@ void FGMetarCtrl::set_metar( const char * metar_string )
                m = new FGMetar( metar_string );
        }
        catch( sg_io_exception ) {
-               fprintf( stderr, "can't get metar: %s\n", metar_string );
+               SG_LOG( SG_GENERAL, SG_WARN, "Can't get metar: " << metar_string );
                metar_valid = false;
                return;
        }

diff --git a/src/Environment/environment_ctrl.hxx b/src/Environment/environment_ctrl.hxx
index aec1442cb375f56f142facb786ac5d46865d60c9..1f81c025901d6305ee175c1e870e04bd42d56272 100644 (file)
--- a/src/Environment/environment_ctrl.hxx
+++ b/src/Environment/environment_ctrl.hxx
@@ -101,7 +101,7 @@ private:
                static bool lessThan(bucket *a, bucket *b);
        };
 
-       void read_table (const SGPropertyNode * node, std::vector<bucket *> &table);
+       void read_table (const SGPropertyNode * node, std::vector<bucket *> &table, FGEnvironment * parent = NULL );
        void do_interpolate (std::vector<bucket *> &table, double altitude_ft,
                                                 FGEnvironment * environment);
 

diff --git a/src/Environment/environment_mgr.cxx b/src/Environment/environment_mgr.cxx
index acf20b861ed86f18059c2991cf8401dc874b84a6..775e4a32aa982a70f9090cf93c74bf1ead2b73d5 100644 (file)
--- a/src/Environment/environment_mgr.cxx
+++ b/src/Environment/environment_mgr.cxx
@@ -24,6 +24,8 @@
 #  include <config.h>
 #endif
 
+#include <cstring>
+
 #include <simgear/constants.h>
 #include <simgear/debug/logstream.hxx>
 #include <simgear/scene/sky/sky.hxx>
@@ -32,7 +34,6 @@
 
 #include <Main/main.hxx>
 #include <Main/fg_props.hxx>
-#include <Aircraft/aircraft.hxx>
 #include <FDM/flight.hxx>
 
 #include "environment.hxx"
@@ -40,6 +41,7 @@
 #include "environment_ctrl.hxx"
 #include "fgclouds.hxx"
 #include "precipitation_mgr.hxx"
+#include "ridge_lift.hxx"
 
 class SGSky;
 extern SGSky *thesky;
@@ -64,10 +66,18 @@ FGEnvironmentMgr::FGEnvironmentMgr ()
 
   _precipitationManager = new FGPrecipitationMgr;
   set_subsystem("precipitation", _precipitationManager);
+
+  set_subsystem("ridgelift", new FGRidgeLift);
 }
 
 FGEnvironmentMgr::~FGEnvironmentMgr ()
 {
+  SGSubsystem * subsys;
+
+  subsys = get_subsystem( "ridgelift" );
+  remove_subsystem( "ridgelift" );
+  delete subsys;
+
   remove_subsystem("precipitation");
   delete _precipitationManager;
 
@@ -90,7 +100,7 @@ FGEnvironmentMgr::init ()
 {
   SG_LOG( SG_GENERAL, SG_INFO, "Initializing environment subsystem");
   SGSubsystemGroup::init();
-  _update_fdm();
+  //_update_fdm();
 }
 
 void
@@ -98,7 +108,7 @@ FGEnvironmentMgr::reinit ()
 {
   SG_LOG( SG_GENERAL, SG_INFO, "Reinitializing environment subsystem");
   SGSubsystemGroup::reinit();
-  _update_fdm();
+  //_update_fdm();
 }
 
 void
@@ -290,20 +300,25 @@ void
 FGEnvironmentMgr::update (double dt)
 {
   SGSubsystemGroup::update(dt);
-
-                               // FIXME: the FDMs should update themselves
-  current_aircraft.fdm_state
-    ->set_Velocities_Local_Airmass(_environment->get_wind_from_north_fps(),
-                                  _environment->get_wind_from_east_fps(),
-                                  _environment->get_wind_from_down_fps());
+  
   _environment->set_elevation_ft(fgGetDouble("/position/altitude-ft"));
   _environment->set_local_weather_lift_fps(fgGetDouble("/local-weather/current/thermal-lift"));
-  osg::Vec3 windVec(-_environment->get_wind_from_north_fps(),
+  osg::Vec3 windVec(_environment->get_wind_from_north_fps(),
                     -_environment->get_wind_from_east_fps(),
-                    _environment->get_wind_from_down_fps());
-  simgear::Particles::setWindVector(windVec * SG_FEET_TO_METER);
+                    0);
+         // SG_LOG(SG_GENERAL, SG_ALERT, "-_environment->get_wind_from_north_mps() " <<
+                  //_environment->get_wind_from_north_fps() * SG_FEET_TO_METER
+                  //<< " -_environment->get_wind_from_east_mps() " 
+                  //<< -_environment->get_wind_from_east_fps() * SG_FEET_TO_METER
+                  //);
+
+  // simgear::Particles::setWindVector(windVec * SG_FEET_TO_METER);
+  simgear::Particles::setWindFrom( _environment->get_wind_from_heading_deg(),
+                                  _environment->get_wind_speed_kt() );
+  //double wind_true_deg = _environment->get_wind_from_heading_deg();
+  //simgear::Particles::setWindFrom( wind_true_deg,
+  //                                _environment->get_wind_speed_kt() );
 
-  _update_fdm();
 }
 
 FGEnvironment
@@ -335,27 +350,6 @@ FGEnvironmentMgr::getEnvironment(const SGGeod& aPos) const
 
 }
 
-void
-FGEnvironmentMgr::_update_fdm () const
-{
-  //
-  // Pass atmosphere on to FDM
-  // FIXME: have FDMs read properties directly.
-  //
-  if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
-                               // convert from Rankine to Celsius
-    cur_fdm_state
-      ->set_Static_temperature((9.0/5.0)
-                              * (_environment->get_temperature_degc() + 273.15));
-                               // convert from inHG to PSF
-    cur_fdm_state
-      ->set_Static_pressure(_environment->get_pressure_inhg() * 70.726566);
-                               // keep in slugs/ft^3
-    cur_fdm_state
-      ->set_Density(_environment->get_density_slugft3());
-  }
-}
-
 double
 FGEnvironmentMgr::get_cloud_layer_span_m (int index) const
 {

diff --git a/src/Environment/environment_mgr.hxx b/src/Environment/environment_mgr.hxx
index ffd75346345067f9d22c353614bea1f1694e8a8e..490340c4aec2a4988313b2c0104b9912fcda734d 100644 (file)
--- a/src/Environment/environment_mgr.hxx
+++ b/src/Environment/environment_mgr.hxx
@@ -76,8 +76,6 @@ public:
   virtual FGEnvironment getEnvironment(const SGGeod& aPos) const;
 private:
 
-  void _update_fdm () const;
-
   double get_cloud_layer_span_m (int index) const;
   void set_cloud_layer_span_m (int index, double span_m);
   double get_cloud_layer_elevation_ft (int index) const;

diff --git a/src/Environment/ephemeris.cxx b/src/Environment/ephemeris.cxx
new file mode 100644 (file)
index 0000000..874617f
--- /dev/null
+++ b/src/Environment/ephemeris.cxx
@@ -0,0 +1,85 @@
+// ephemeris.cxx -- wrap SGEphemeris code in a subsystem
+//
+// Written by James Turner, started June 2010.
+//
+// Copyright (C) 2010  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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+// $Id$
+
+#include <Environment/ephemeris.hxx>
+
+#include <simgear/timing/sg_time.hxx>
+#include <simgear/ephemeris/ephemeris.hxx>
+
+#include <Main/globals.hxx>
+#include <Main/fg_props.hxx>
+
+Ephemeris::Ephemeris() :
+  _impl(NULL),
+  _latProp(NULL)
+{
+}
+
+Ephemeris::~Ephemeris()
+{
+  delete _impl;
+}
+
+void Ephemeris::init()
+{
+  if (_impl) {
+    return;
+  }
+  
+  SGPath ephem_data_path(globals->get_fg_root());
+  ephem_data_path.append("Astro");
+  _impl = new SGEphemeris(ephem_data_path.c_str());
+  globals->set_ephem(_impl);
+  
+  _latProp = fgGetNode("/position/latitude-deg", true);
+  update(0.0);
+}
+
+void Ephemeris::postinit()
+{
+  
+}
+
+static void tieStar(const char* prop, Star* s, double (Star::*getter)() const)
+{
+  fgGetNode(prop, true)->tie(SGRawValueMethods<Star, double>(*s, getter, NULL));
+} 
+
+void Ephemeris::bind()
+{
+  tieStar("/ephemeris/sun/xs", _impl->get_sun(), &Star::getxs);
+  tieStar("/ephemeris/sun/ys", _impl->get_sun(), &Star::getys);
+  tieStar("/ephemeris/sun/ze", _impl->get_sun(), &Star::getze);
+  tieStar("/ephemeris/sun/ye", _impl->get_sun(), &Star::getye);
+  
+  tieStar("/ephemeris/sun/lat-deg", _impl->get_sun(), &Star::getLat);
+}
+
+void Ephemeris::unbind()
+{
+}
+
+void Ephemeris::update(double)
+{
+  SGTime* st = globals->get_time_params();
+  _impl->update(st->getMjd(), st->getLst(), _latProp->getDoubleValue());
+}

diff --git a/src/Environment/ephemeris.hxx b/src/Environment/ephemeris.hxx
new file mode 100644 (file)
index 0000000..766cff7
--- /dev/null
+++ b/src/Environment/ephemeris.hxx
@@ -0,0 +1,53 @@
+// ephemeris.hxx -- wrap SGEphemeris code in a subsystem
+//
+// Written by James Turner, started June 2010.
+//
+// Copyright (C) 2010  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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+// $Id$
+
+#ifndef FG_ENVIRONMENT_EPHEMERIS_HXX
+#define FG_ENVIRONMENT_EPHEMERIS_HXX
+
+#include <simgear/structure/subsystem_mgr.hxx>
+
+class SGEphemeris;
+class SGPropertyNode;
+
+/**
+ * Wrap SGEphemeris in a susbsytem/property interface
+ */
+class Ephemeris : public SGSubsystem
+{
+public:
+
+       Ephemeris();
+       ~Ephemeris();           
+       
+       virtual void bind();
+       virtual void unbind();
+       virtual void update(double dt);
+       virtual void init();
+  virtual void postinit();
+  
+private:
+  SGEphemeris* _impl;
+  SGPropertyNode* _latProp;
+};
+
+#endif // of FG_ENVIRONMENT_EPHEMERIS_HXX
+

diff --git a/src/Environment/fgclouds.cxx b/src/Environment/fgclouds.cxx
index 606a4973e8a5e2ae964b619a46dfefcf07e6a514..208fa402b587bea74808edcb195cb1ad78c09a30 100644 (file)
--- a/src/Environment/fgclouds.cxx
+++ b/src/Environment/fgclouds.cxx
@@ -24,6 +24,7 @@
 #  include "config.h"
 #endif
 
+#include <cstring>
 #include <Main/fg_props.hxx>
 
 #include <simgear/constants.h>
@@ -100,8 +101,7 @@ double FGClouds::buildCloud(SGPropertyNode *cloud_def_root, SGPropertyNode *box_
        double y = sg_random() * SGCloudField::fieldSize - (SGCloudField::fieldSize / 2.0);
        double z = grid_z_rand * (sg_random() - 0.5);
                
-       sgVec3 pos={x,y,z};
-       
+       SGVec3f pos(x,y,z);
         
        for(int i = 0; i < box_def->nChildren() ; i++) {
                SGPropertyNode *abox = box_def->getChild(i);

diff --git a/src/Environment/terrainsampler.cxx b/src/Environment/terrainsampler.cxx
new file mode 100644 (file)
index 0000000..276c8ff
--- /dev/null
+++ b/src/Environment/terrainsampler.cxx
@@ -0,0 +1,402 @@
+// terrainsampler.cxx --
+//
+// Written by Torsten Dreyer, started July 2010
+// Based on local weather implementation in nasal from 
+// Thorsten Renk
+//
+// Copyright (C) 2010  Curtis Olson
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include <Main/fg_props.hxx>
+#include <simgear/math/sg_random.h>
+#include <Scenery/scenery.hxx>
+#include <deque>
+
+#include "terrainsampler.hxx"
+using simgear::PropertyList;
+
+#include "tiedpropertylist.hxx"
+
+namespace Environment {
+/**
+ * @brief Class for presampling the terrain roughness
+ */
+class AreaSampler : public SGSubsystem {
+public:
+    AreaSampler( SGPropertyNode_ptr rootNode );
+    virtual ~AreaSampler();
+    void update( double dt );
+    void bind();
+    void unbind();
+    void init();
+    void reinit();
+
+    int getElevationHistogramStep() const { return _elevationHistogramStep; }
+    void setElevationHistograpStep( int value ) { 
+        _elevationHistogramStep = value > 0 ? value : 500;
+        _elevationHistogramCount = _elevationHistogramMax / _elevationHistogramStep;
+    }
+
+    int getElevationHistogramMax() const { return _elevationHistogramMax; }
+    void setElevationHistograpMax( int value ) { 
+        _elevationHistogramMax = value > 0 ? value : 10000;
+        _elevationHistogramCount = _elevationHistogramMax / _elevationHistogramStep;
+    }
+
+    int getElevationHistogramCount() const { return _elevationHistogramCount; }
+
+private:
+    void analyse();
+
+    SGPropertyNode_ptr _rootNode;
+
+    bool _enabled;
+    bool _useAircraftPosition;
+    double _heading_deg;
+    double _speed_kt;
+    int _radius;
+    double _max_computation_time_norm;
+    int _max_samples;    // keep xx samples in queue for analysis
+    double _reuse_samples_norm;
+    double _recalc_distance_norm;
+    int _elevationHistogramMax;
+    int _elevationHistogramStep;
+    int _elevationHistogramCount;
+    SGGeod _inputPosition;
+
+    double _altOffset;
+    double _altMedian;
+    double _altMin;
+    double _altLayered;
+    double _altMean;
+    SGGeod _outputPosition;
+
+    SGPropertyNode_ptr _signalNode;
+    SGPropertyNode_ptr _positionLatitudeNode;
+    SGPropertyNode_ptr _positionLongitudeNode;
+
+    deque<double> _elevations;
+    TiedPropertyList _tiedProperties;
+};
+
+AreaSampler::AreaSampler( SGPropertyNode_ptr rootNode ) :
+    _rootNode(rootNode),
+    _enabled(true),
+    _useAircraftPosition(false),
+    _heading_deg(0.0),
+    _speed_kt(0.0),
+    _radius(40000.0),
+    _max_computation_time_norm(0.1),
+    _max_samples(1000),
+    _reuse_samples_norm(0.8),
+    _recalc_distance_norm(0.1),
+    _elevationHistogramMax(10000),
+    _elevationHistogramStep(500),
+    _elevationHistogramCount(_elevationHistogramMax/_elevationHistogramStep),
+    _altOffset(0),
+    _altMedian(0),
+    _altMin(0),
+    _altLayered(0),
+    _altMean(0),
+    _signalNode(rootNode->getNode("output/valid", true )),
+    _positionLatitudeNode(fgGetNode( "/position/latitude-deg", true )),
+    _positionLongitudeNode(fgGetNode( "/position/longitude-deg", true ))
+{
+    _inputPosition.setElevationM( SG_MAX_ELEVATION_M );
+}
+
+AreaSampler::~AreaSampler()
+{
+}
+
+
+void AreaSampler::bind()
+{
+    _tiedProperties.setRoot( _rootNode );
+    _tiedProperties.Tie( "enabled", &_enabled );
+
+    _tiedProperties.setRoot( _rootNode->getNode( "input", true ) );
+    _tiedProperties.Tie( "use-aircraft-position", &_useAircraftPosition );
+    _tiedProperties.Tie( "latitude-deg", &_inputPosition, &SGGeod::getLatitudeDeg, &SGGeod::setLatitudeDeg );
+    _tiedProperties.Tie( "longitude-deg", &_inputPosition, &SGGeod::getLongitudeDeg, &SGGeod::setLongitudeDeg );
+    _tiedProperties.Tie( "heading-deg", &_heading_deg );
+    _tiedProperties.Tie( "speed-kt", &_speed_kt );
+    _tiedProperties.Tie( "radius-m", &_radius );
+    _tiedProperties.Tie( "max-computation-time-norm", &_max_computation_time_norm );
+    _tiedProperties.Tie( "max-samples", &_max_samples );
+    _tiedProperties.Tie( "reuse-samples-norm", &_reuse_samples_norm );
+    _tiedProperties.Tie( "recalc-distance-norm", &_recalc_distance_norm );
+    _tiedProperties.Tie( "elevation-histogram-max-ft", this, &AreaSampler::getElevationHistogramMax, &AreaSampler::setElevationHistograpMax );
+    _tiedProperties.Tie( "elevation-histogram-step-ft", this, &AreaSampler::getElevationHistogramStep, &AreaSampler::setElevationHistograpStep );
+    _tiedProperties.Tie( "elevation-histogram-count", this, &AreaSampler::getElevationHistogramCount );
+
+    _tiedProperties.setRoot( _rootNode->getNode( "output", true ) );
+    _tiedProperties.Tie( "alt-offset-ft", &_altOffset );
+    _tiedProperties.Tie( "alt-median-ft", &_altMedian );
+    _tiedProperties.Tie( "alt-min-ft", &_altMin );
+    _tiedProperties.Tie( "alt-layered-ft", &_altLayered );
+    _tiedProperties.Tie( "alt-mean-ft", &_altMean );
+    _tiedProperties.Tie( "longitude-deg", &_outputPosition, &SGGeod::getLongitudeDeg );
+    _tiedProperties.Tie( "latitude-deg", &_outputPosition, &SGGeod::getLatitudeDeg );
+
+}
+
+void AreaSampler::unbind()
+{
+    _tiedProperties.Untie();
+}
+
+void AreaSampler::init()
+{
+   _signalNode->setBoolValue(false);
+   _elevations.clear();
+   _altOffset = 0.0;
+   _altMedian = 0.0;
+   _altMin = 0.0;
+   _altLayered = 0.0;
+   _altMean = 0.0;
+}
+
+void AreaSampler::reinit()
+{
+    init();
+}
+
+void AreaSampler::update( double dt )
+{
+    // if not enabled or time has stalled, do nothing
+    if( !(_enabled && dt > SGLimitsd::min()) )
+        return;
+
+    // get the aircraft's position if requested
+    if( _useAircraftPosition && _speed_kt < 0.5 ) {
+        _inputPosition = SGGeod::fromDegM( 
+            _positionLongitudeNode->getDoubleValue(), 
+            _positionLatitudeNode->getDoubleValue(), 
+            SG_MAX_ELEVATION_M );
+    }
+
+    // need geocentric coordinates
+    SGGeoc center = SGGeoc::fromGeod( _inputPosition );
+
+    // if a speed is set, move the input position
+    if( _speed_kt >= 0.5 ) {
+        double distance_m = _speed_kt * dt * SG_NM_TO_METER;
+        center = center.advanceRadM( _heading_deg * SG_DEGREES_TO_RADIANS, distance_m );
+        _inputPosition = SGGeod::fromGeoc( center );
+    }
+
+    if( _signalNode->getBoolValue() ) {
+        // if we had finished the iteration and moved more than 10% of the radius
+        // of the sampling area, drop the oldest samples and continue sampling
+        if( SGGeoc::distanceM( center, SGGeoc::fromGeod(_outputPosition ) ) >= _recalc_distance_norm * _radius ) {
+            _elevations.resize( _max_samples * _reuse_samples_norm );
+            _signalNode->setBoolValue( false );
+        }
+    }
+
+    if( _signalNode->getBoolValue() )
+        return; // nothing to do.
+
+    FGScenery * scenery = globals->get_scenery();
+
+    SGTimeStamp start = SGTimeStamp::now();
+    while( (SGTimeStamp::now() - start).toSecs() < dt * _max_computation_time_norm ) {
+        // sample until we used up all our configured time
+        double distance = sg_random();
+        distance = _radius * (1-distance*distance);
+        double course = sg_random() * 2.0 * SG_PI;
+        SGGeod probe = SGGeod::fromGeoc(center.advanceRadM( course, distance ));
+        double elevation_m = 0.0;
+
+        if (scenery->get_elevation_m( probe, elevation_m, NULL )) 
+            _elevations.push_front(elevation_m *= SG_METER_TO_FEET);
+        
+        if( _elevations.size() >= (deque<unsigned>::size_type)_max_samples ) {
+            // sampling complete? 
+            analyse();
+            _outputPosition = _inputPosition;
+            _signalNode->setBoolValue( true );
+            break;
+        }
+    }
+}
+
+void AreaSampler::analyse()
+{
+    double sum;
+
+    vector<int> histogram(_elevationHistogramCount,0);
+    
+    for( deque<double>::size_type i = 0; i < _elevations.size(); i++ ) {
+        int idx = SGMisc<int>::clip( (int)(_elevations[i]/_elevationHistogramStep), 0, histogram.size()-1 );
+        histogram[idx]++;
+    }
+
+    _altMedian = 0.0;
+    sum = 0.0;
+    for( vector<int>::size_type i = 0; i < histogram.size(); i++ ) {
+        sum += histogram[i];
+        if( sum > 0.5 * _elevations.size() ) {
+            _altMedian = i * _elevationHistogramStep;
+            break;
+        }
+    }
+
+    _altOffset = 0.0;
+    sum = 0.0;
+    for(  vector<int>::size_type i = 0; i < histogram.size(); i++ ) {
+        sum += histogram[i];
+        if( sum > 0.3 * _elevations.size() ) {
+            _altOffset = i * _elevationHistogramStep;
+            break;
+        }
+    }
+
+   _altMean = 0.0;
+    for(  vector<int>::size_type i = 0; i < histogram.size(); i++ ) {
+        _altMean += histogram[i] * i;
+    }
+    _altMean *= _elevationHistogramStep;
+    if( _elevations.size() != 0.0 ) _altMean /= _elevations.size();
+
+    _altMin = 0.0;
+    for(  vector<int>::size_type i = 0; i < histogram.size(); i++ ) {
+        if( histogram[i] > 0 ) {
+            _altMin = i * _elevationHistogramStep;
+            break;
+        }
+    }
+
+    double alt_low_min = 0.0;
+    double n_max = 0.0;
+    sum = 0.0;
+    for(  vector<int>::size_type i = 0; i < histogram.size()-1; i++ ) {
+        sum += histogram[i];
+        if( histogram[i] > n_max ) n_max = histogram[i];
+        if( n_max > histogram[i+1] && sum > 0.3*_elevations.size()) {
+            alt_low_min = i * _elevationHistogramStep;
+            break;
+        }
+    }
+
+    _altLayered = 0.5 * (_altMin + _altOffset);
+
+#if 0
+append(alt_50_array, alt_med);
+#endif
+}
+
+/* --------------------- End of AreaSampler implementation ------------- */
+
+/* --------------------- TerrainSamplerImplementation -------------------------- */
+
+class TerrainSamplerImplementation : public TerrainSampler
+{
+public:
+    TerrainSamplerImplementation ( SGPropertyNode_ptr rootNode );
+    virtual ~TerrainSamplerImplementation ();
+    
+    virtual void init ();
+    virtual void postinit();
+    virtual void reinit ();
+    virtual void bind();
+    virtual void unbind();
+    virtual void update (double delta_time_sec);
+private:
+    inline string areaSubsystemName( unsigned i ) {
+      ostringstream name;
+      name <<  "area" << i;
+      return name.str();
+    }
+
+    SGPropertyNode_ptr _rootNode;
+    bool _enabled;
+    TiedPropertyList _tiedProperties;
+};
+
+TerrainSamplerImplementation::TerrainSamplerImplementation( SGPropertyNode_ptr rootNode ) :
+    _rootNode( rootNode ),
+    _enabled(true)
+{
+}
+
+TerrainSamplerImplementation::~TerrainSamplerImplementation()
+{
+}
+
+void TerrainSamplerImplementation::init()
+{
+    PropertyList areaNodes = _rootNode->getChildren( "area" );
+    
+    for( PropertyList::size_type i = 0; i < areaNodes.size(); i++ )
+        set_subsystem( areaSubsystemName(i), new AreaSampler( areaNodes[i] ) );
+
+    SGSubsystemGroup::init();
+}
+
+void TerrainSamplerImplementation::postinit()
+{
+    SGSubsystemGroup::bind();// 
+}
+
+void TerrainSamplerImplementation::reinit()
+{
+    for( unsigned i = 0;; i++ ) {
+        string subsystemName = areaSubsystemName(i);
+        SGSubsystem * subsys = get_subsystem( subsystemName );
+        if( subsys == NULL )
+            break;
+        remove_subsystem( subsystemName );
+    }
+    
+    init();
+}
+
+void TerrainSamplerImplementation::bind()
+{
+    SGSubsystemGroup::bind();
+    _tiedProperties.Tie( _rootNode->getNode("enabled",true), &_enabled );
+}
+
+void TerrainSamplerImplementation::unbind()
+{
+    _tiedProperties.Untie();
+    SGSubsystemGroup::unbind();
+}
+
+void TerrainSamplerImplementation::update( double dt )
+{
+    if( !(_enabled && dt > SGLimitsd::min()) )
+        return;
+    SGSubsystemGroup::update(dt);
+}
+
+/* ----------------------------------------------------------------------- */
+
+/* implementation of the TerrainSampler factory to hide the implementation
+   details */
+TerrainSampler * TerrainSampler::createInstance( SGPropertyNode_ptr rootNode )
+{
+    return new TerrainSamplerImplementation( rootNode );
+}
+
+} // namespace
+

diff --git a/src/Environment/terrainsampler.hxx b/src/Environment/terrainsampler.hxx
new file mode 100644 (file)
index 0000000..e9fa3c3
--- /dev/null
+++ b/src/Environment/terrainsampler.hxx
@@ -0,0 +1,36 @@
+// terrainsampler.hxx -- 
+//
+// Written by Torsten Dreyer, started July 2010
+// Based on local weather implementation in nasal from 
+// Thorsten Renk
+//
+// Copyright (C) 2010  Curtis Olson
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+#ifndef _TERRAIN_SAMPLER_HXX
+#define _TERRAIN_SAMPLER_HXX
+
+#include <simgear/structure/subsystem_mgr.hxx>
+
+namespace Environment {
+class TerrainSampler : public SGSubsystemGroup
+{
+public:
+       static TerrainSampler * createInstance( SGPropertyNode_ptr rootNode );
+};
+
+} // namespace
+#endif

diff --git a/src/Environment/tiedpropertylist.hxx b/src/Environment/tiedpropertylist.hxx
new file mode 100644 (file)
index 0000000..dbb9cc4
--- /dev/null
+++ b/src/Environment/tiedpropertylist.hxx
@@ -0,0 +1,80 @@
+#ifndef __TIEDPROPERTYLIST_HXX
+#define  __TIEDPROPERTYLIST_HXX
+#include <simgear/props/props.hxx>
+using simgear::PropertyList;
+
+// Maybe this goes into SimGear's props.hxx later?
+class TiedPropertyList : PropertyList {
+public:
+    TiedPropertyList() {}
+    TiedPropertyList( SGPropertyNode_ptr root ) { _root = root; }
+
+    void setRoot( SGPropertyNode_ptr root ) { _root = root; }
+    SGPropertyNode_ptr getRoot() const { return _root; }
+
+    template<typename T> SGPropertyNode_ptr Tie( SGPropertyNode_ptr node, const SGRawValue<T> &rawValue, bool useDefault = true  ) {
+        bool success = node->tie( rawValue, useDefault );
+        if( success ) {
+            SG_LOG( SG_ALL, SG_INFO, "Tied " << node->getPath() );
+            push_back( node );
+        } else {
+#if PROPS_STANDALONE
+            cerr << "Failed to tie property " << node->getPath() << endl;
+#else
+            SG_LOG(SG_GENERAL, SG_WARN, "Failed to tie property " << node->getPath() );
+#endif
+        }
+        return node;
+    }
+
+    template <class V> SGPropertyNode_ptr Tie( SGPropertyNode_ptr node, V * value, bool useDefault = true ) {
+        return Tie( node, SGRawValuePointer<V>(value), useDefault );
+    }
+
+    template <class V> SGPropertyNode_ptr Tie( const char * relative_path, V * value, bool useDefault = true ) {
+        return Tie( _root->getNode(relative_path,true), SGRawValuePointer<V>(value), useDefault );
+    }
+
+    template <class V> SGPropertyNode_ptr Tie( SGPropertyNode_ptr node, V (*getter)(), void (*setter)(V) = 0, bool useDefault = true ) {
+        return Tie(node, SGRawValueFunctions<V>(getter, setter), useDefault );
+    }
+
+    template <class V> SGPropertyNode_ptr Tie( const char * relative_path, V (*getter)(), void (*setter)(V) = 0, bool useDefault = true ) {
+        return Tie(_root->getNode(relative_path, true), SGRawValueFunctions<V>(getter, setter), useDefault );
+    }
+
+    template <class V> SGPropertyNode_ptr Tie( SGPropertyNode_ptr node, int index, V (*getter)(int), void (*setter)(int, V) = 0, bool useDefault = true) {
+        return Tie( node, SGRawValueFunctionsIndexed<V>(index, getter, setter), useDefault );
+    }
+
+    template <class V> SGPropertyNode_ptr Tie( const char * relative_path, int index, V (*getter)(int), void (*setter)(int, V) = 0, bool useDefault = true) {
+        return Tie( _root->getNode( relative_path, true ), SGRawValueFunctionsIndexed<V>(index, getter, setter), useDefault );
+    }
+
+    template <class T, class V> SGPropertyNode_ptr Tie( SGPropertyNode_ptr node, T * obj, V (T::*getter)() const, void (T::*setter)(V) = 0, bool useDefault = true) {
+        return Tie( node, SGRawValueMethods<T,V>(*obj, getter, setter), useDefault );
+    }
+
+    template <class T, class V> SGPropertyNode_ptr Tie( const char * relative_path, T * obj, V (T::*getter)() const, void (T::*setter)(V) = 0, bool useDefault = true) {
+        return Tie( _root->getNode( relative_path, true), SGRawValueMethods<T,V>(*obj, getter, setter), useDefault );
+    }
+
+    template <class T, class V> SGPropertyNode_ptr Tie( SGPropertyNode_ptr node, T * obj, int index, V (T::*getter)(int) const, void (T::*setter)(int, V) = 0, bool useDefault = true) {
+        return Tie( node, SGRawValueMethodsIndexed<T,V>(*obj, index, getter, setter), useDefault);
+    }
+
+    template <class T, class V> SGPropertyNode_ptr Tie( const char * relative_path, T * obj, int index, V (T::*getter)(int) const, void (T::*setter)(int, V) = 0, bool useDefault = true) {
+        return Tie( _root->getNode( relative_path, true ), SGRawValueMethodsIndexed<T,V>(*obj, index, getter, setter), useDefault);
+    }
+
+    void Untie() {
+        while( size() > 0 ) {
+            SG_LOG( SG_ALL, SG_INFO, "untie of " << back()->getPath() );
+            back()->untie();
+            pop_back();
+        }
+    }
+private:
+    SGPropertyNode_ptr _root;
+};
+#endif

diff --git a/src/FDM/ExternalPipe/ExternalPipe.cxx b/src/FDM/ExternalPipe/ExternalPipe.cxx
index 2be480971a4bc00768aff3a98f0b5f3aac287ad8..abe6569601a4a98b81d943647a23eeff558c398d 100644 (file)
--- a/src/FDM/ExternalPipe/ExternalPipe.cxx
+++ b/src/FDM/ExternalPipe/ExternalPipe.cxx
@@ -31,6 +31,7 @@
 #  include <unistd.h>           // unlink()
 #endif
 
+#include <cstring>
 #include <stdio.h>              // FILE*, fopen(), fread(), fwrite(), et. al.
 #include <iostream>             // for cout, endl
 
@@ -428,47 +429,48 @@ void FGExternalPipe::update_binary( double dt ) {
 
 
 // Process remote FDM "set" commands
-static void process_set_command( const string_list &tokens ) {
+
+void FGExternalPipe::process_set_command( const string_list &tokens ) {
     if ( tokens[1] == "geodetic_position" ) {
         double lat_rad = atof( tokens[2].c_str() );
         double lon_rad = atof( tokens[3].c_str() );
         double alt_m   = atof( tokens[4].c_str() );
-        cur_fdm_state->_updateGeodeticPosition( lat_rad, lon_rad,
+        _updateGeodeticPosition( lat_rad, lon_rad,
                                                 alt_m * SG_METER_TO_FEET );
 
-        double agl_m = alt_m - cur_fdm_state->get_Runway_altitude_m();
-        cur_fdm_state->_set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
+        double agl_m = alt_m - get_Runway_altitude_m();
+        _set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
     } else if ( tokens[1] == "euler_angles" ) {
         double phi_rad   = atof( tokens[2].c_str() );
         double theta_rad = atof( tokens[3].c_str() );
         double psi_rad   = atof( tokens[4].c_str() );
-        cur_fdm_state->_set_Euler_Angles( phi_rad, theta_rad, psi_rad );
+        _set_Euler_Angles( phi_rad, theta_rad, psi_rad );
     } else if ( tokens[1] == "euler_rates" ) {
         double phidot   = atof( tokens[2].c_str() );
         double thetadot = atof( tokens[3].c_str() );
         double psidot   = atof( tokens[4].c_str() );
-        cur_fdm_state->_set_Euler_Rates( phidot, thetadot, psidot );
+        _set_Euler_Rates( phidot, thetadot, psidot );
     } else if ( tokens[1] == "ned" ) {
        double north_fps = atof( tokens[2].c_str() );
        double east_fps = atof( tokens[3].c_str() );
        double down_fps = atof( tokens[4].c_str() );
-       cur_fdm_state->_set_Velocities_Local( north_fps, east_fps, down_fps );
+       _set_Velocities_Local( north_fps, east_fps, down_fps );
     } else if ( tokens[1] == "alpha" ) {
-        cur_fdm_state->_set_Alpha( atof(tokens[2].c_str()) );
+        _set_Alpha( atof(tokens[2].c_str()) );
     } else if ( tokens[1] == "beta" ) {
-        cur_fdm_state->_set_Beta( atof(tokens[2].c_str()) );
+        _set_Beta( atof(tokens[2].c_str()) );
 
 #if 0
-    cur_fdm_state->_set_V_calibrated_kts( net->vcas );
-    cur_fdm_state->_set_Climb_Rate( net->climb_rate );
-    cur_fdm_state->_set_Velocities_Local( net->v_north,
+    _set_V_calibrated_kts( net->vcas );
+    _set_Climb_Rate( net->climb_rate );
+    _set_Velocities_Local( net->v_north,
                                           net->v_east,
                                           net->v_down );
-    cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
+    _set_Velocities_Wind_Body( net->v_wind_body_north,
                                               net->v_wind_body_east,
                                               net->v_wind_body_down );
 
-    cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
+    _set_Accels_Pilot_Body( net->A_X_pilot,
                                            net->A_Y_pilot,
                                            net->A_Z_pilot );
 #endif

diff --git a/src/FDM/ExternalPipe/ExternalPipe.hxx b/src/FDM/ExternalPipe/ExternalPipe.hxx
index d5e03967b11adc2248466153ce254726025ee84e..866967c12e3531aed284f0d47323be7bb5ca6873 100644 (file)
--- a/src/FDM/ExternalPipe/ExternalPipe.hxx
+++ b/src/FDM/ExternalPipe/ExternalPipe.hxx
@@ -62,6 +62,7 @@ private:
     void update_binary( double dt );
     void update_property( double dt );
 
+    void process_set_command( const string_list &tokens );
 public:
 
     // Constructor

diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp
index 6851223810d1208eaca2be7bc291c05f934a3963..5226a3e37ab8f7c901a90563424d1ff2c1f7ea87 100644 (file)
--- a/src/FDM/JSBSim/FGFDMExec.cpp
+++ b/src/FDM/JSBSim/FGFDMExec.cpp
@@ -42,7 +42,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFDMExec.h"
-#include "FGState.h"
 #include "models/FGAtmosphere.h"
 #include "models/atmosphere/FGMSIS.h"
 #include "models/atmosphere/FGMars.h"
@@ -72,7 +71,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.79 2010/07/25 13:52:20 jberndt Exp $";
 static const char *IdHdr = ID_FDMEXEC;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -111,7 +110,6 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
   Frame           = 0;
   Error           = 0;
   GroundCallback  = 0;
-  State           = 0;
   Atmosphere      = 0;
   FCS             = 0;
   Propulsion      = 0;
@@ -129,11 +127,17 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
   Trim            = 0;
   Script          = 0;
 
+  RootDir = "";
+
   modelLoaded = false;
   IsChild = false;
   holding = false;
   Terminate = false;
 
+  sim_time = 0.0;
+  dT = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
+                  // run in standalone mode with no initialization file.
+
   IdFDM = FDMctr; // The main (parent) JSBSim instance is always the "zeroth"
   FDMctr++;       // instance. "child" instances are loaded last.
 
@@ -169,6 +173,9 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
   instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim);
   instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions);
   instance->Tie("simulation/terminate", (int *)&Terminate);
+  instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime);
+  instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
+
   Constructing = false;
 }
 
@@ -217,15 +224,11 @@ bool FGFDMExec::Allocate(void)
   Auxiliary       = new FGAuxiliary(this);
   Input           = new FGInput(this);
 
-  State           = new FGState(this); // This must be done here, as the FGState
-                                       // class needs valid pointers to the above
-                                       // model classes
-
   // Schedule a model. The second arg (the integer) is the pass number. For
   // instance, the atmosphere model could get executed every fifth pass it is called.
   
   Schedule(Input,           1);
-  Schedule(Atmosphere,      30);
+  Schedule(Atmosphere,      1);
   Schedule(FCS,             1);
   Schedule(Propulsion,      1);
   Schedule(MassBalance,     1);
@@ -267,7 +270,6 @@ bool FGFDMExec::DeAllocate(void)
   delete Aircraft;
   delete Propagate;
   delete Auxiliary;
-  delete State;
   delete Script;
 
   for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i];
@@ -280,7 +282,6 @@ bool FGFDMExec::DeAllocate(void)
 
   Error       = 0;
 
-  State           = 0;
   Input           = 0;
   Atmosphere      = 0;
   FCS             = 0;
@@ -324,13 +325,13 @@ bool FGFDMExec::Run(void)
   }
 
   // returns true if success, false if complete
-  if (Script != 0 && !State->IntegrationSuspended()) success = Script->RunScript();
+  if (Script != 0 && !IntegrationSuspended()) success = Script->RunScript();
 
   vector <FGModel*>::iterator it;
   for (it = Models.begin(); it != Models.end(); ++it) (*it)->Run();
 
   Frame++;
-  if (!Holding()) State->IncrTime();
+  if (!Holding()) IncrTime();
   if (Terminate) success = false;
 
   return (success);
@@ -341,14 +342,49 @@ bool FGFDMExec::Run(void)
 
 bool FGFDMExec::RunIC(void)
 {
-  State->SuspendIntegration();
-  State->Initialize(IC);
+  SuspendIntegration(); // saves the integration rate, dt, then sets it to 0.0.
+  Initialize(IC);
   Run();
-  State->ResumeIntegration();
+  ResumeIntegration(); // Restores the integration rate to what it was.
 
   return true;
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::Initialize(FGInitialCondition *FGIC)
+{
+  Propagate->SetInitialState( FGIC );
+
+  Atmosphere->Run();
+  Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
+                          FGIC->GetWindEFpsIC(),
+                          FGIC->GetWindDFpsIC() );
+
+  FGColumnVector3 vAeroUVW;
+  vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
+
+  double alpha, beta;
+  if (vAeroUVW(eW) != 0.0)
+    alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
+  else
+    alpha = 0.0;
+  if (vAeroUVW(eV) != 0.0)
+    beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
+  else
+    beta = 0.0;
+
+  Auxiliary->SetAB(alpha, beta);
+
+  double Vt = vAeroUVW.Magnitude();
+  Auxiliary->SetVt(Vt);
+
+  Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
+
+  double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
+  Auxiliary->Setqbar(qbar);
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //
 // A private, internal function call for Tie-ing to a property, so it needs an
@@ -388,20 +424,6 @@ void FGFDMExec::SetGroundCallback(FGGroundCallback* p)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-double FGFDMExec::GetSimTime(void)
-{
-  return (State->Getsim_time());
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-double FGFDMExec::GetDeltaT(void)
-{
-  return (State->Getdt());
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
 vector <string> FGFDMExec::EnumerateFDMs(void)
 {
   vector <string> FDMList;
@@ -417,12 +439,12 @@ vector <string> FGFDMExec::EnumerateFDMs(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGFDMExec::LoadScript(string script)
+bool FGFDMExec::LoadScript(string script, double deltaT)
 {
   bool result;
 
   Script = new FGScript(this);
-  result = Script->LoadScript(script);
+  result = Script->LoadScript(RootDir + script, deltaT);
 
   return result;
 }
@@ -432,9 +454,9 @@ bool FGFDMExec::LoadScript(string script)
 bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
                 string model, bool addModelToPath)
 {
-  FGFDMExec::AircraftPath = AircraftPath;
-  FGFDMExec::EnginePath = EnginePath;
-  FGFDMExec::SystemsPath = SystemsPath;
+  FGFDMExec::AircraftPath = RootDir + AircraftPath;
+  FGFDMExec::EnginePath = RootDir + EnginePath;
+  FGFDMExec::SystemsPath = RootDir + SystemsPath;
 
   return LoadModel(model, addModelToPath);
 }
@@ -445,7 +467,6 @@ bool FGFDMExec::LoadModel(string model, bool addModelToPath)
 {
   string token;
   string aircraftCfgFileName;
-  string separator = "/";
   Element* element = 0L;
   bool result = false; // initialize result to false, indicating input file not yet read
 
@@ -458,8 +479,8 @@ bool FGFDMExec::LoadModel(string model, bool addModelToPath)
   }
 
   FullAircraftPath = AircraftPath;
-  if (addModelToPath) FullAircraftPath += separator + model;
-  aircraftCfgFileName = FullAircraftPath + separator + model + ".xml";
+  if (addModelToPath) FullAircraftPath += "/" + model;
+  aircraftCfgFileName = FullAircraftPath + "/" + model + ".xml";
 
   if (modelLoaded) {
     DeAllocate();
@@ -645,6 +666,9 @@ bool FGFDMExec::LoadModel(string model, bool addModelToPath)
     modelLoaded = true;
 
     if (debug_lvl > 0) {
+      MassBalance->Run(); // Update all mass properties for the report.
+      MassBalance->GetMassPropertiesReport();
+
       cout << endl << fgblue << highint
            << "End of vehicle configuration loading." << endl
            << "-------------------------------------------------------------------------------"
@@ -893,15 +917,17 @@ bool FGFDMExec::SetOutputDirectives(string fname)
   bool result;
 
   FGOutput* Output = new FGOutput(this);
-  Output->SetDirectivesFile(fname);
+  Output->SetDirectivesFile(RootDir + fname);
   Output->InitModel();
-  Schedule(Output,       1);
+  Schedule(Output, 1);
   result = Output->Load(0);
-  Outputs.push_back(Output);
 
-  typedef int (FGOutput::*iOPMF)(void) const;
-  string outputProp = CreateIndexedPropertyName("simulation/output",Outputs.size()-1);
-  instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate);
+  if (result) {
+    Outputs.push_back(Output);
+    typedef int (FGOutput::*iOPMF)(void) const;
+    string outputProp = CreateIndexedPropertyName("simulation/output",Outputs.size()-1);
+    instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate);
+  }
 
   return result;
 }
@@ -918,11 +944,11 @@ void FGFDMExec::DoTrim(int mode)
     cerr << endl << "Illegal trimming mode!" << endl << endl;
     return;
   }
-  saved_time = State->Getsim_time();
+  saved_time = sim_time;
   FGTrim trim(this, (JSBSim::TrimMode)mode);
   if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
   trim.Report();
-  State->Setsim_time(saved_time);
+  sim_time = saved_time;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -936,7 +962,7 @@ void FGFDMExec::DoTrimAnalysis(int mode)
     cerr << endl << "Illegal trimming mode!" << endl << endl;
     return;
   }
-  saved_time = State->Getsim_time();
+  saved_time = sim_time;
 
   FGTrimAnalysis trimAnalysis(this, (JSBSim::TrimAnalysisMode)mode);
 
@@ -950,7 +976,7 @@ void FGFDMExec::DoTrimAnalysis(int mode)
   if ( !result ) cerr << endl << "Trim Failed" << endl << endl;
 
   trimAnalysis.Report();
-  State->Setsim_time(saved_time);
+  Setsim_time(saved_time);
 
   EnableOutput();
   cout << "\nOutput: " << GetOutputFileName() << endl;
@@ -1025,7 +1051,7 @@ void FGFDMExec::Debug(int from)
   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
     if (from == 2) {
       cout << "================== Frame: " << Frame << "  Time: "
-           << State->Getsim_time() << " dt: " << State->Getdt() << endl;
+           << sim_time << " dt: " << dT << endl;
     }
   }
   if (debug_lvl & 8 ) { // Runtime state variables

diff --git a/src/FDM/JSBSim/FGFDMExec.h b/src/FDM/JSBSim/FGFDMExec.h
index c1fbbb8ef1a17f228582a9d6557223bf01b66d2b..8c91cb2c9ce09430404a0103387788ccd005532b 100644 (file)
--- a/src/FDM/JSBSim/FGFDMExec.h
+++ b/src/FDM/JSBSim/FGFDMExec.h
@@ -60,7 +60,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FDMEXEC "$Id$"
+#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.52 2010/07/04 13:50:21 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -169,7 +169,7 @@ CLASS DOCUMENTATION
                                 property actually maps toa function call of DoTrim().
 
     @author Jon S. Berndt
-    @version $Revision$
+    @version $Revision: 1.52 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -270,23 +270,23 @@ public:
   /** Loads a script
       @param Script the full path name and file name for the script to be loaded.
       @return true if successfully loadsd; false otherwise. */
-  bool LoadScript(string Script);
+  bool LoadScript(string Script, double deltaT);
 
   /** Sets the path to the engine config file directories.
       @param path path to the directory under which engine config
       files are kept, for instance "engine"  */
-  bool SetEnginePath(string path)   { EnginePath = path; return true; }
+  bool SetEnginePath(string path)   { EnginePath = RootDir + path; return true; }
 
   /** Sets the path to the aircraft config file directories.
       @param path path to the aircraft directory. For instance:
       "aircraft". Under aircraft, then, would be directories for various
       modeled aircraft such as C172/, x15/, etc.  */
-  bool SetAircraftPath(string path) { AircraftPath = path; return true; }
+  bool SetAircraftPath(string path) { AircraftPath = RootDir + path; return true; }
   
   /** Sets the path to the systems config file directories.
       @param path path to the directory under which systems config
       files are kept, for instance "systems"  */
-  bool SetSystemsPath(string path)   { SystemsPath = path; return true; }
+  bool SetSystemsPath(string path)   { SystemsPath = RootDir + path; return true; }
   
   /// @name Top-level executive State and Model retrieval mechanism
   //@{
@@ -318,8 +318,6 @@ public:
   inline FGInput* GetInput(void)              {return Input;}
   /// Returns the FGGroundCallback pointer.
   inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
-  /// Returns the FGState pointer.
-  inline FGState* GetState(void)              {return State;}
   /// Retrieves the script object
   inline FGScript* GetScript(void) {return Script;}
   // Returns a pointer to the FGInitialCondition object
@@ -351,19 +349,19 @@ public:
 
   /// Returns the model name.
   string GetModelName(void) { return modelName; }
-
+/*
   /// Returns the current time.
   double GetSimTime(void);
 
   /// Returns the current frame time (delta T).
   double GetDeltaT(void);
-  
+*/  
   /// Returns a pointer to the property manager object.
   FGPropertyManager* GetPropertyManager(void);
   /// Returns a vector of strings representing the names of all loaded models (future)
   vector <string> EnumerateFDMs(void);
   /// Gets the number of child FDMs.
-  int GetFDMCount(void) {return ChildFDMList.size();}
+  int GetFDMCount(void) {return (int)ChildFDMList.size();}
   /// Gets a particular child FDM.
   childData* GetChildFDM(int i) {return ChildFDMList[i];}
   /// Marks this instance of the Exec object as a "child" object.
@@ -454,6 +452,8 @@ public:
   // Print the contents of the property catalog for the loaded aircraft.
   void PrintPropertyCatalog(void);
 
+  vector<string>& GetPropertyCatalog(void) {return PropertyCatalog;}
+
   /// Use the MSIS atmosphere model.
   void UseAtmosphereMSIS(void);
 
@@ -465,12 +465,61 @@ public:
   void SetTrimMode(int mode){ ta_mode = mode; }
   int GetTrimMode(void) const { return ta_mode; }
 
+  /// Returns the cumulative simulation time in seconds.
+  double GetSimTime(void) const { return sim_time; }
+
+  /// Returns the simulation delta T.
+  double GetDeltaT(void) {return dT;}
+
+  /// Suspends the simulation and sets the delta T to zero.
+  void SuspendIntegration(void) {saved_dT = dT; dT = 0.0;}
+
+  /// Resumes the simulation by resetting delta T to the correct value.
+  void ResumeIntegration(void)  {dT = saved_dT;}
+
+  /** Returns the simulation suspension state.
+      @return true if suspended, false if executing  */
+  bool IntegrationSuspended(void) {return dT == 0.0;}
+
+  /** Sets the current sim time.
+      @param cur_time the current time
+      @return the current simulation time.      */
+  double Setsim_time(double cur_time) {
+    sim_time = cur_time;
+    return sim_time;
+  }
+
+  /** Sets the integration time step for the simulation executive.
+      @param delta_t the time step in seconds.     */
+  void Setdt(double delta_t) { dT = delta_t; }
+
+  /** Sets the root directory where JSBSim starts looking for its system directories.
+      @param rootDir the string containing the root directory. */
+  void SetRootDir(string rootDir) {RootDir = rootDir;}
+
+  /** Retrieves teh Root Directory.
+      @return the string representing the root (base) JSBSim directory. */
+  string GetRootDir(void) const {return RootDir;}
+
+  /** Increments the simulation time.
+      @return the new simulation time.     */
+  double IncrTime(void) {
+    sim_time += dT;
+    return sim_time;
+  }
+
+  /** Retrieves the current debug level setting. */
+  int GetDebugLevel(void) const {return debug_lvl;};
+
 private:
   static unsigned int FDMctr;
   int Error;
   unsigned int Frame;
   unsigned int IdFDM;
   unsigned short Terminate;
+  double dT;
+  double saved_dT;
+  double sim_time;
   bool holding;
   bool Constructing;
   bool modelLoaded;
@@ -482,6 +531,7 @@ private:
   string SystemsPath;
   string CFGVersion;
   string Release;
+  string RootDir;
 
   bool trim_status;
   int ta_mode;
@@ -489,7 +539,6 @@ private:
   static FGPropertyManager *master;
 
   FGGroundCallback*   GroundCallback;
-  FGState*            State;
   FGAtmosphere*       Atmosphere;
   FGFCS*              FCS;
   FGPropulsion*       Propulsion;
@@ -521,6 +570,7 @@ private:
   void ResetToInitialConditions(int mode);
   bool Allocate(void);
   bool DeAllocate(void);
+  void Initialize(FGInitialCondition *FGIC);
 
   void Debug(int from);
 };

diff --git a/src/FDM/JSBSim/FGJSBBase.cpp b/src/FDM/JSBSim/FGJSBBase.cpp
index f07a4f08158fecbd18c6718e3926a2a995bc9be3..a361a37d256732250ebef9803ba2fd9c8e5b23f1 100644 (file)
--- a/src/FDM/JSBSim/FGJSBBase.cpp
+++ b/src/FDM/JSBSim/FGJSBBase.cpp
@@ -44,7 +44,7 @@ INCLUDES
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGJSBBase.cpp,v 1.29 2010/03/18 13:19:21 jberndt Exp $";
 static const char *IdHdr = ID_JSBBASE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -77,8 +77,8 @@ CLASS IMPLEMENTATION
     char FGJSBBase::fgdef[6]    = {'\0' };
 #endif
 
-const double FGJSBBase::radtodeg = 57.29578;
-const double FGJSBBase::degtorad = 1.745329E-2;
+const double FGJSBBase::radtodeg = 57.295779513082320876798154814105;
+const double FGJSBBase::degtorad = 0.017453292519943295769236907684886;
 const double FGJSBBase::hptoftlbssec = 550.0;
 const double FGJSBBase::psftoinhg = 0.014138;
 const double FGJSBBase::psftopa = 47.88;

diff --git a/src/FDM/JSBSim/FGJSBBase.h b/src/FDM/JSBSim/FGJSBBase.h
index d4ceb2c97ad3f59de484d340e28f13ea780031f6..2049a3cadb5ec2af5e8d4e76ae164e4d80bb7bf8 100644 (file)
--- a/src/FDM/JSBSim/FGJSBBase.h
+++ b/src/FDM/JSBSim/FGJSBBase.h
@@ -63,7 +63,7 @@ namespace std
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_JSBBASE "$Id$"
+#define ID_JSBBASE "$Id: FGJSBBase.h,v 1.30 2010/07/01 23:13:19 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -79,7 +79,7 @@ CLASS DOCUMENTATION
 *   This class provides universal constants, utility functions, messaging
 *   functions, and enumerated constants to JSBSim.
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGJSBBase.h,v 1.30 2010/07/01 23:13:19 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -310,7 +310,7 @@ protected:
 
   static std::queue <Message> Messages;
 
-  void Debug(int from) {};
+  void Debug(int) {};
 
   static unsigned int messageId;
 

diff --git a/src/FDM/JSBSim/FGState.cpp b/src/FDM/JSBSim/FGState.cpp
index 372d01e79b4fd2f931a63f61a76a255b6e55f0e8..08e38a690cf9639e34511e76d19b0806fdcd1476 100644 (file)
--- a/src/FDM/JSBSim/FGState.cpp
+++ b/src/FDM/JSBSim/FGState.cpp
@@ -45,7 +45,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGState.cpp,v 1.15 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_STATE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/FGState.h b/src/FDM/JSBSim/FGState.h
index 9fd627ebae40eb43382247bbf3937639e75f3fc0..220f042fd2b066e07db3dff8ca15d293f8a6281f 100644 (file)
--- a/src/FDM/JSBSim/FGState.h
+++ b/src/FDM/JSBSim/FGState.h
@@ -62,7 +62,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_STATE "$Id$"
+#define ID_STATE "$Id: FGState.h,v 1.15 2009/10/02 10:30:07 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -78,7 +78,7 @@ CLASS DOCUMENTATION
     <h3>Properties</h3>
     @property sim-time-sec (read only) cumulative simulation in seconds.
     @author Jon S. Berndt
-    @version $Revision$
+    @version $Revision: 1.15 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/JSBSim.cxx b/src/FDM/JSBSim/JSBSim.cxx
index 15daa8e22953ae67fbe69e106f4d254df3b738c1..a915539cc8025cee7420c88704ec5d17962dfe46 100644 (file)
--- a/src/FDM/JSBSim/JSBSim.cxx
+++ b/src/FDM/JSBSim/JSBSim.cxx
@@ -5,20 +5,20 @@
 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
 //
 // This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
+// modify it under the terms of the GNU Lesser General Public License as
 // published by the Free Software Foundation; either version 2 of the
 // License, or (at your option) any later version.
 //
 // This program is distributed in the hope that it will be useful, but
 // WITHOUT ANY WARRANTY; without even the implied warranty of
 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
+// Lesser General Public License for more details.
 //
-// You should have received a copy of the GNU General Public License
+// You should have received a copy of the GNU Lesser General Public License
 // along with this program; if not, write to the Free Software
 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 //
-// $Id$
+// $Id: JSBSim.cxx,v 1.62 2010/07/14 05:50:40 ehofman Exp $
 
 
 #ifdef HAVE_CONFIG_H
@@ -38,7 +38,6 @@
 
 #include <FDM/flight.hxx>
 
-#include <Aircraft/aircraft.hxx>
 #include <Aircraft/controls.hxx>
 #include <Main/globals.hxx>
 #include <Main/fg_props.hxx>
@@ -46,7 +45,6 @@
 #include "JSBSim.hxx"
 #include <FDM/JSBSim/FGFDMExec.h>
 #include <FDM/JSBSim/FGJSBBase.h>
-#include <FDM/JSBSim/FGState.h>
 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
 #include <FDM/JSBSim/initialization/FGTrim.h>
 #include <FDM/JSBSim/models/FGModel.h>
@@ -59,6 +57,8 @@
 #include <FDM/JSBSim/models/FGMassBalance.h>
 #include <FDM/JSBSim/models/FGAerodynamics.h>
 #include <FDM/JSBSim/models/FGLGear.h>
+#include <FDM/JSBSim/models/FGGroundReactions.h>
+#include <FDM/JSBSim/models/FGPropulsion.h>
 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
@@ -103,7 +103,7 @@ public:
     double contact[3], normal[3], vel[3], agl = 0;
     mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
                            vel, &agl);
-    n = FGColumnVector3( -normal[0], -normal[1], -normal[2] );
+    n = FGColumnVector3( normal[0], normal[1], normal[2] );
     v = FGColumnVector3( vel[0], vel[1], vel[2] );
     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
     return agl;
@@ -148,7 +148,6 @@ FGJSBsim::FGJSBsim( double dt )
     // Register ground callback.
     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
 
-    State           = fdmex->GetState();
     Atmosphere      = fdmex->GetAtmosphere();
     FCS             = fdmex->GetFCS();
     MassBalance     = fdmex->GetMassBalance();
@@ -171,7 +170,13 @@ FGJSBsim::FGJSBsim( double dt )
     SGPath systems_path( fgGetString("/sim/aircraft-dir") );
     systems_path.append( "Systems" );
 
-    State->Setdt( dt );
+// deprecate sim-time-sec for simulation/sim-time-sec
+// remove alias with increased configuration file version number (2.1 or later)
+    SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
+    fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
+// end of sim-time-sec deprecation patch
+
+    fdmex->Setdt( dt );
 
     result = fdmex->LoadModel( aircraft_path.str(),
                                engine_path.str(),
@@ -301,8 +306,6 @@ FGJSBsim::~FGJSBsim(void)
 
 void FGJSBsim::init()
 {
-    double tmp;
-
     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 
     // Explicitly call the superclass's
@@ -333,6 +336,21 @@ void FGJSBsim::init()
      << ", " << fdmex->GetAtmosphere()->GetPressure()
      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 
+// deprecate egt_degf for egt-degf to have consistent naming
+// TODO: raise log-level to ALERT in summer 2010, 
+// remove alias in fall 2010, 
+// remove this code in winter 2010
+    for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
+      SGPropertyNode * node = fgGetNode("engines/engine", i, true);
+      SGPropertyNode * egtn = node->getNode( "egt_degf" );
+      if( egtn != NULL ) {
+        SG_LOG(SG_FLIGHT,SG_WARN,
+               "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
+        node->getNode("egt-degf", true)->alias( egtn );
+      }
+    }
+// end of egt_degf deprecation patch
+
     if (fgGetBool("/sim/presets/running")) {
           for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
@@ -442,7 +460,7 @@ void FGJSBsim::update( double dt )
       cart = FGLocation(lon, lat, alt+slr);
     }
     double cart_pos[3] = { cart(1), cart(2), cart(3) };
-    double t0 = State->Getsim_time();
+    double t0 = fdmex->GetSimTime();
     bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
                                              groundCacheRadius );
     if (!cache_ok) {
@@ -470,7 +488,7 @@ void FGJSBsim::update( double dt )
     if ( needTrim ) {
       if ( startup_trim->getBoolValue() ) {
         double contact[3], d[3], agl;
-        get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact,
+        get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
                    d, d, &agl);
         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
@@ -489,7 +507,7 @@ void FGJSBsim::update( double dt )
 
     for ( i=0; i < multiloop; i++ ) {
       fdmex->Run();
-      update_external_forces(State->Getsim_time() + i * State->Getdt());      
+      update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());      
     }
 
     FGJSBBase::Message* msg;
@@ -784,7 +802,7 @@ bool FGJSBsim::copy_from_JSBsim()
         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
         node->setDoubleValue("n1", eng->GetN1());
         node->setDoubleValue("n2", eng->GetN2());
-        node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
+        node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
         node->setBoolValue("augmentation", eng->GetAugmentation());
         node->setBoolValue("water-injection", eng->GetInjection());
         node->setBoolValue("ignition", eng->GetIgnition());
@@ -828,6 +846,8 @@ bool FGJSBsim::copy_from_JSBsim()
         node->setDoubleValue("rpm", eng->getRPM());
         } // end FGElectric code block
         break;
+      case FGEngine::etUnknown:
+        break;
       }
 
       { // FGEngine code block
@@ -899,7 +919,7 @@ bool FGJSBsim::copy_from_JSBsim()
 
     // force a sim crashed if crashed (altitude AGL < 0)
     if (get_Altitude_AGL() < -100.0) {
-         State->SuspendIntegration();
+         fdmex->SuspendIntegration();
          crashed = true;
     }
 
@@ -987,7 +1007,7 @@ void FGJSBsim::set_Altitude(double alt)
     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
     SG_LOG(SG_FLIGHT, SG_INFO,
-          "Terrain elevation: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
+          "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
     fgic->SetLatitudeRadIC( lat_geoc );
     fgic->SetAltitudeASLFtIC(alt);
     needTrim=true;
@@ -1149,9 +1169,6 @@ void FGJSBsim::do_trim(void)
   } else {
     trimmed->setBoolValue(true);
   }
-//  if (FGJSBBase::debug_lvl > 0)
-//      State->ReportState();
-
   delete fgtrim;
 
   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
@@ -1268,7 +1285,6 @@ void FGJSBsim::update_external_forces(double t_off)
     FGColumnVector3 hook_tip_body = hook_root_body;
     hook_tip_body(1) -= hook_length * cos_fi;
     hook_tip_body(3) += hook_length * sin_fi;    
-    bool hook_tip_valid = true;
     
     double contact[3];
     double ground_normal[3];

diff --git a/src/FDM/JSBSim/JSBSim.hxx b/src/FDM/JSBSim/JSBSim.hxx
index d6f5f1b8c510e92a7b34f6bcbffef7792e4ea7a9..38c952bd260fdcd46965aa2a1c61625540706f6b 100644 (file)
--- a/src/FDM/JSBSim/JSBSim.hxx
+++ b/src/FDM/JSBSim/JSBSim.hxx
@@ -8,16 +8,16 @@
 ------ Copyright (C) 1999 - 2000  Curtis L. Olson (curt@flightgear.org) ------
 
  This program is free software; you can redistribute it and/or
- modify it under the terms of the GNU General Public License as
+ modify it under the terms of the GNU Lesser General Public License as
  published by the Free Software Foundation; either version 2 of the
  License, or (at your option) any later version.
 
  This program is distributed in the hope that it will be useful, but
  WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- General Public License for more details.
+ Lesser General Public License for more details.
 
- You should have received a copy of the GNU General Public License
+ You should have received a copy of the GNU Lesser General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 
@@ -38,7 +38,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #undef MAX_ENGINES
-#include <Aircraft/aircraft.hxx>
 #include "math/FGColumnVector3.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -87,7 +86,7 @@ CLASS DOCUMENTATION
     documentation for main for direction on running JSBSim apart from FlightGear.
     @author Curtis L. Olson (original)
     @author Tony Peden (Maintained and refined)
-    @version $Id$
+    @version $Id: JSBSim.hxx,v 1.13 2010/07/07 20:46:36 andgi Exp $
     @see main in file JSBSim.cpp (use main() wrapper for standalone usage)
 */
 

diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
index 7eb3f7f6661b01346b66a01d38c083b415ac1d15..2d8f8a67393192c06d109c72541be98852a91c57 100644 (file)
--- a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
+++ b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp
@@ -56,12 +56,13 @@ INCLUDES
 #include <iostream>
 #include <fstream>
 #include <cstdlib>
+#include "input_output/string_utilities.h"
 
 using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGInitialCondition.cpp,v 1.40 2010/06/02 04:05:13 jberndt Exp $";
 static const char *IdHdr = ID_INITIALCONDITION;
 
 //******************************************************************************
@@ -704,23 +705,22 @@ double FGInitialCondition::calcVcas(double Mach) {
   double psl=fdmex->GetAtmosphere()->GetPressureSL();
   double rhosl=fdmex->GetAtmosphere()->GetDensitySL();
   double pt,A,B,D,vcas;
-  if(Mach < 0) Mach=0;
-  if(Mach < 1)    //calculate total pressure assuming isentropic flow
+
+  if (Mach < 0) Mach=0;
+  if (Mach < 1)    //calculate total pressure assuming isentropic flow
     pt=p*pow((1 + 0.2*Mach*Mach),3.5);
   else {
     // shock in front of pitot tube, we'll assume its normal and use
     // the Rayleigh Pitot Tube Formula, i.e. the ratio of total
-    // pressure behind the shock to the static pressure in front
-
-
-    //the normal shock assumption should not be a bad one -- most supersonic
-    //aircraft place the pitot probe out front so that it is the forward
-    //most point on the aircraft.  The real shock would, of course, take
-    //on something like the shape of a rounded-off cone but, here again,
-    //the assumption should be good since the opening of the pitot probe
-    //is very small and, therefore, the effects of the shock curvature
-    //should be small as well. AFAIK, this approach is fairly well accepted
-    //within the aerospace community
+    // pressure behind the shock to the static pressure in front of
+    // the normal shock assumption should not be a bad one -- most supersonic
+    // aircraft place the pitot probe out front so that it is the forward
+    // most point on the aircraft.  The real shock would, of course, take
+    // on something like the shape of a rounded-off cone but, here again,
+    // the assumption should be good since the opening of the pitot probe
+    // is very small and, therefore, the effects of the shock curvature
+    // should be small as well. AFAIK, this approach is fairly well accepted
+    // within the aerospace community
 
     B = 5.76*Mach*Mach/(5.6*Mach*Mach - 0.8);
 
@@ -842,8 +842,6 @@ double FGInitialCondition::GetWindDirDegIC(void) const {
 
 bool FGInitialCondition::Load(string rstfile, bool useStoredPath)
 {
-  int n;
-
   string sep = "/";
   if( useStoredPath ) {
     init_file_name = fdmex->GetFullAircraftPath() + sep + rstfile + ".xml";
@@ -864,6 +862,26 @@ bool FGInitialCondition::Load(string rstfile, bool useStoredPath)
     exit(-1);
   }
 
+  double version = document->GetAttributeValueAsNumber("version");
+  if (version == HUGE_VAL) {
+    return Load_v1(); // Default to the old version
+  } else if (version >= 3.0) {
+    cerr << "Only initialization file formats 1 and 2 are currently supported" << endl;
+    exit (-1);
+  } else if (version >= 2.0) {
+    return Load_v2();
+  } else if (version >= 1.0) {
+    return Load_v1();
+  } 
+
+}
+
+//******************************************************************************
+
+bool FGInitialCondition::Load_v1(void)
+{
+  int n;
+
   if (document->FindElement("latitude"))
     SetLatitudeDegIC(document->FindElementValueAsNumberConvertTo("latitude", "DEG"));
   if (document->FindElement("longitude"))
@@ -941,6 +959,249 @@ bool FGInitialCondition::Load(string rstfile, bool useStoredPath)
 
 //******************************************************************************
 
+bool FGInitialCondition::Load_v2(void)
+{
+  int n;
+  FGColumnVector3 vLoc, vOrient;
+  bool result = true;
+  FGInertial* Inertial = fdmex->GetInertial();
+  FGPropagate* Propagate = fdmex->GetPropagate();
+
+  if (document->FindElement("earth_position_angle")) {
+    double epa = document->FindElementValueAsNumberConvertTo("earth_position_angle", "RAD");
+    Inertial->SetEarthPositionAngle(epa);
+  }
+
+  // Initialize vehicle position
+  //
+  // Allowable frames:
+  // - ECI (Earth Centered Inertial)
+  // - ECEF (Earth Centered, Earth Fixed)
+
+  Element* position = document->FindElement("position");
+  if (position) {
+    vLoc = position->FindElementTripletConvertTo("FT");
+    string frame = position->GetAttributeValue("frame");
+    frame = to_lower(frame);
+    if (frame == "eci") {
+      // Need to transform vLoc to ECEF for storage and use in FGLocation.
+      vLoc = Propagate->GetTi2ec()*vLoc;
+    } else if (frame == "ecef") {
+      // Move vLoc query until after lat/lon/alt query to eliminate spurious warning msgs.
+      if (vLoc.Magnitude() == 0.0) {
+        Propagate->SetLatitudeDeg(position->FindElementValueAsNumberConvertTo("latitude", "DEG"));
+        Propagate->SetLongitudeDeg(position->FindElementValueAsNumberConvertTo("longitude", "DEG"));
+        if (position->FindElement("radius")) {
+          radius_to_vehicle = position->FindElementValueAsNumberConvertTo("radius", "FT");
+          SetAltitudeASLFtIC(radius_to_vehicle - sea_level_radius);
+        } else if (position->FindElement("altitudeAGL")) {
+          SetAltitudeAGLFtIC(position->FindElementValueAsNumberConvertTo("altitudeAGL", "FT"));
+        } else if (position->FindElement("altitudeMSL")) {
+          SetAltitudeASLFtIC(position->FindElementValueAsNumberConvertTo("altitudeMSL", "FT"));
+        } else {
+          cerr << endl << "  No altitude or radius initial condition is given." << endl;
+          result = false;
+        }
+      }
+    } else {
+      cerr << endl << "  Neither ECI nor ECEF frame is specified for initial position." << endl;
+      result = false;
+    }
+  } else {
+    cerr << endl << "  Initial position not specified in this initialization file." << endl;
+    result = false;
+  }
+
+  // End of position initialization
+
+  // Initialize vehicle orientation
+  // Allowable frames
+  // - ECI (Earth Centered Inertial)
+  // - ECEF (Earth Centered, Earth Fixed)
+  // - Local
+  //
+  // Need to convert the provided orientation to an ECI orientation, using 
+  // the given orientation and knowledge of the Earth position angle.
+  // This could be done using matrices (where in the subscript "b/a",
+  // it is meant "b with respect to a", and where b=body frame, 
+  // i=inertial frame, and e=ecef frame) as:
+  //
+  // C_b/i =  C_b/e * C_e/i
+  //
+  // Using quaternions (note reverse ordering compared to matrix representation):
+  //
+  // Q_b/i = Q_e/i * Q_b/e
+  //
+  // Use the specific matrices as needed. The above example of course is for the whole
+  // body to inertial orientation.
+  // The new orientation angles can be extracted from the matrix or the quaternion.
+  // ToDo: Do we need to deal with normalization of the quaternions here?
+
+  Element* orientation_el = document->FindElement("orientation");
+  if (orientation_el) {
+    string frame = orientation_el->GetAttributeValue("frame");
+    frame = to_lower(frame);
+    vOrient = orientation_el->FindElementTripletConvertTo("RAD");
+    FGQuaternion QuatI2Body;
+    if (frame == "eci") {
+
+      QuatI2Body = FGQuaternion(vOrient);
+
+    } else if (frame == "ecef") {
+
+      // In this case we are given the Euler angles representing the orientation of
+      // the body with respect to the ECEF system, represented by the C_b/e Matrix.
+      // We want the body orientation with respect to the inertial system:
+      //
+      // C_b/i =  C_b/e * C_e/i
+      //
+      // Using quaternions (note reverse ordering compared to matrix representation):
+      //
+      // Q_b/i = Q_e/i * Q_b/e
+
+      FGQuaternion QuatEC2Body(vOrient); // Store relationship of Body frame wrt ECEF frame, Q_b/e
+      FGQuaternion QuatI2EC = Propagate->GetTi2ec(); // Get Q_e/i from matrix
+      QuatI2Body = QuatI2EC * QuatEC2Body; // Q_b/i = Q_e/i * Q_b/e 
+
+    } else if (frame == "local") {
+
+      // In this case, we are supplying the Euler angles for the vehicle with
+      // respect to the local (NED frame), also called the navigation frame.
+      // This is the most common way of initializing the orientation of
+      // aircraft. The matrix representation is:
+      //
+      // C_b/i = C_b/n * C_n/e * C_e/i
+      //
+      // Or, using quaternions (note reverse ordering compared to matrix representation):
+      //
+      // Q_b/i = Q_e/i * Q_n/e * Q_b/n
+
+      FGQuaternion QuatLocal2Body = FGQuaternion(vOrient); // Store relationship of Body frame wrt local (NED) frame, Q_b/n
+      FGQuaternion QuatEC2Local = Propagate->GetTec2l();   // Get Q_n/e from matrix
+      FGQuaternion QuatI2EC = Propagate->GetTi2ec(); // Get Q_e/i from matrix
+      QuatI2Body = QuatI2EC * QuatEC2Local * QuatLocal2Body; // Q_b/i = Q_e/i * Q_n/e * Q_b/n
+
+    } else {
+
+      cerr << endl << fgred << "  Orientation frame type: \"" << frame
+           << "\" is not supported!" << reset << endl << endl;
+      result = false;
+
+    }
+
+    Propagate->SetInertialOrientation(QuatI2Body);
+  }
+
+  // Initialize vehicle velocity
+  // Allowable frames
+  // - ECI (Earth Centered Inertial)
+  // - ECEF (Earth Centered, Earth Fixed)
+  // - Local
+  // - Body
+  // The vehicle will be defaulted to (0,0,0) in the Body frame if nothing is provided.
+  
+  Element* velocity_el = document->FindElement("velocity");
+  FGColumnVector3 vInertialVelocity;
+  FGColumnVector3 vInitVelocity = FGColumnVector3(0.0, 0.0, 0.0);
+  if (velocity_el) {
+
+    string frame = velocity_el->GetAttributeValue("frame");
+    frame = to_lower(frame);
+    FGColumnVector3 vInitVelocity = velocity_el->FindElementTripletConvertTo("FT/SEC");
+    FGColumnVector3 omega_cross_r = Inertial->omega() * Propagate->GetInertialPosition();
+
+    if (frame == "eci") {
+      vInertialVelocity = vInitVelocity;
+    } else if (frame == "ecef") {
+      FGMatrix33 mTec2i = Propagate->GetTec2i(); // Get C_i/e
+      vInertialVelocity = mTec2i * vInitVelocity + omega_cross_r;
+    } else if (frame == "local") {
+      FGMatrix33 mTl2i = Propagate->GetTl2i();
+      vInertialVelocity = mTl2i * vInitVelocity + omega_cross_r;
+    } else if (frame == "body") {
+      FGMatrix33 mTb2i = Propagate->GetTb2i();
+      vInertialVelocity = mTb2i * vInitVelocity + omega_cross_r;
+    } else {
+
+      cerr << endl << fgred << "  Velocity frame type: \"" << frame
+           << "\" is not supported!" << reset << endl << endl;
+      result = false;
+
+    }
+
+  } else {
+
+    FGMatrix33 mTb2i = Propagate->GetTb2i();
+    vInertialVelocity = mTb2i * vInitVelocity + (Inertial->omega() * Propagate->GetInertialPosition());
+
+  }
+
+  Propagate->SetInertialVelocity(vInertialVelocity);
+
+  // Allowable frames
+  // - ECI (Earth Centered Inertial)
+  // - ECEF (Earth Centered, Earth Fixed)
+  // - Body
+  
+  FGColumnVector3 vInertialRate;
+  Element* attrate_el = document->FindElement("attitude_rate");
+  if (attrate_el) {
+
+    string frame = attrate_el->GetAttributeValue("frame");
+    frame = to_lower(frame);
+    FGColumnVector3 vAttRate = attrate_el->FindElementTripletConvertTo("RAD/SEC");
+
+    if (frame == "eci") {
+      vInertialRate = vAttRate;
+    } else if (frame == "ecef") {
+//      vInertialRate = vAttRate + Inertial->omega(); 
+    } else if (frame == "body") {
+    //Todo: determine local frame rate
+      FGMatrix33 mTb2l = Propagate->GetTb2l();
+//      vInertialRate = mTb2l*vAttRate + Inertial->omega();
+    } else if (!frame.empty()) { // misspelling of frame
+      
+      cerr << endl << fgred << "  Attitude rate frame type: \"" << frame
+           << "\" is not supported!" << reset << endl << endl;
+      result = false;
+
+    } else if (frame.empty()) {
+    
+    }
+    
+  } else { // Body frame attitude rate assumed 0 relative to local.
+/*
+    //Todo: determine local frame rate
+
+    FGMatrix33 mTi2l = Propagate->GetTi2l();
+    vVel = mTi2l * vInertialVelocity;
+
+    // Compute the local frame ECEF velocity
+    vVel = Tb2l * VState.vUVW;
+
+    FGColumnVector3 vOmegaLocal = FGColumnVector3(
+       radInv*vVel(eEast),
+      -radInv*vVel(eNorth),
+      -radInv*vVel(eEast)*VState.vLocation.GetTanLatitude() );
+*/  
+  }
+
+  // Check to see if any engines are specified to be initialized in a running state
+  FGPropulsion* propulsion = fdmex->GetPropulsion();
+  Element* running_elements = document->FindElement("running");
+  while (running_elements) {
+    n = int(running_elements->GetDataAsNumber());
+    propulsion->InitRunning(n);
+    running_elements = document->FindNextElement("running");
+  }
+
+  // fdmex->RunIC();
+
+  return result;
+}
+
+//******************************************************************************
+
 void FGInitialCondition::bind(void){
   PropertyManager->Tie("ic/vc-kts", this,
                        &FGInitialCondition::GetVcalibratedKtsIC,

diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.h b/src/FDM/JSBSim/initialization/FGInitialCondition.h
index 898acc3fdf90aef649112ad590523f1c0dadfad6..b5c8c281924e284b5f49af57e62ac7fbcbe9e016 100644 (file)
--- a/src/FDM/JSBSim/initialization/FGInitialCondition.h
+++ b/src/FDM/JSBSim/initialization/FGInitialCondition.h
@@ -56,7 +56,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_INITIALCONDITION "$Id$"
+#define ID_INITIALCONDITION "$Id: FGInitialCondition.h,v 1.20 2010/02/15 03:22:57 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -202,7 +202,7 @@ CLASS DOCUMENTATION
    @property ic/r-rad_sec (read/write) Yaw rate initial condition in radians/second
 
    @author Tony Peden
-   @version "$Id$"
+   @version "$Id: FGInitialCondition.h,v 1.20 2010/02/15 03:22:57 jberndt Exp $"
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -647,6 +647,9 @@ private:
   FGFDMExec *fdmex;
   FGPropertyManager *PropertyManager;
 
+  bool Load_v1(void);
+  bool Load_v2(void);
+
   bool Constructing;
   bool getAlpha(void);
   bool getTheta(void);

diff --git a/src/FDM/JSBSim/initialization/FGTrim.cpp b/src/FDM/JSBSim/initialization/FGTrim.cpp
index 2f425b769c920f1374cf95f22cec6f59429404a5..6b0cd81c05f665e568067d08ed859a6b7c2682bc 100644 (file)
--- a/src/FDM/JSBSim/initialization/FGTrim.cpp
+++ b/src/FDM/JSBSim/initialization/FGTrim.cpp
@@ -51,6 +51,8 @@ INCLUDES
 #include "models/FGGroundReactions.h"
 #include "models/FGInertial.h"
 #include "models/FGAerodynamics.h"
+#include "models/FGPropulsion.h"
+#include "models/propulsion/FGEngine.h"
 #include "math/FGColumnVector3.h"
 
 #if _MSC_VER
@@ -61,7 +63,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGTrim.cpp,v 1.13 2010/04/23 17:23:40 dpculp Exp $";
 static const char *IdHdr = ID_TRIM;
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -239,6 +241,8 @@ bool FGTrim::DoTrim(void) {
 
   fdmex->DisableOutput();
 
+  setEngineTrimMode(true);
+
   fgic->SetPRadpsIC(0.0);
   fgic->SetQRadpsIC(0.0);
   fgic->SetRRadpsIC(0.0);
@@ -354,6 +358,7 @@ bool FGTrim::DoTrim(void) {
   for(i=0;i < fdmex->GetGroundReactions()->GetNumGearUnits();i++){
     fdmex->GetGroundReactions()->GetGearUnit(i)->SetReport(true);
   }
+  setEngineTrimMode(false);
   fdmex->EnableOutput();
   return !trim_failed;
 }
@@ -620,6 +625,15 @@ void FGTrim::setDebug(void) {
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+void FGTrim::setEngineTrimMode(bool mode) {
+  FGPropulsion* prop = fdmex->GetPropulsion();
+  for (unsigned int i=0; i<prop->GetNumEngines(); i++) {
+    prop->GetEngine(i)->SetTrimMode(mode);
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGTrim::SetMode(TrimMode tt) {
     ClearStates();
     mode=tt;

diff --git a/src/FDM/JSBSim/initialization/FGTrim.h b/src/FDM/JSBSim/initialization/FGTrim.h
index 420f3fda2be3eca0c99180a4fe85c9e72787b74f..0d6e3092cdd260745df07ada44d3edfa6082bf19 100644 (file)
--- a/src/FDM/JSBSim/initialization/FGTrim.h
+++ b/src/FDM/JSBSim/initialization/FGTrim.h
@@ -60,7 +60,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_TRIM "$Id$"
+#define ID_TRIM "$Id: FGTrim.h,v 1.7 2010/04/23 17:23:40 dpculp Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -120,7 +120,7 @@ CLASS DOCUMENTATION
     @endcode
     
     @author Tony Peden
-    @version "$Id$"
+    @version "$Id: FGTrim.h,v 1.7 2010/04/23 17:23:40 dpculp Exp $"
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -176,7 +176,7 @@ private:
   void setupTurn(void);
 
   void updateRates(void);
-
+  void setEngineTrimMode(bool mode);
   void setDebug(void);
 
 public:

diff --git a/src/FDM/JSBSim/initialization/FGTrimAxis.cpp b/src/FDM/JSBSim/initialization/FGTrimAxis.cpp
index 186b9b1df354abf8c67fc3472a486f2735f62628..e0378793fb68141b0dd5fd822b2a5db215debb2d 100644 (file)
--- a/src/FDM/JSBSim/initialization/FGTrimAxis.cpp
+++ b/src/FDM/JSBSim/initialization/FGTrimAxis.cpp
@@ -55,7 +55,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGTrimAxis.cpp,v 1.10 2010/07/08 11:36:28 jberndt Exp $";
 static const char *IdHdr = ID_TRIMAXIS;
 
 /*****************************************************************************/
@@ -434,6 +434,10 @@ void FGTrimAxis::setThrottlesPct(void) {
 /*****************************************************************************/
 
 void FGTrimAxis::AxisReport(void) {
+  // Save original cout format characteristics
+  std::ios_base::fmtflags originalFormat = cout.flags();
+  std::streamsize originalPrecision = cout.precision();
+  std::streamsize originalWidth = cout.width();
   cout << "  " << setw(20) << GetControlName() << ": ";
   cout << setw(6) << setprecision(2) << GetControl()*control_convert << ' ';
   cout << setw(5) << GetStateName() << ": ";
@@ -444,6 +448,10 @@ void FGTrimAxis::AxisReport(void) {
      cout << "  Passed" << endl;
   else
      cout << "  Failed" << endl;
+  // Restore original cout format characteristics
+  cout.flags(originalFormat);
+  cout.precision(originalPrecision);
+  cout.width(originalWidth);
 }
 
 /*****************************************************************************/

diff --git a/src/FDM/JSBSim/initialization/FGTrimAxis.h b/src/FDM/JSBSim/initialization/FGTrimAxis.h
index ac3d45f8f308b947a100c3edd892df3444ff97d9..9fc7cebb9b5dab021c7834db3f13cd2e99ad81ca 100644 (file)
--- a/src/FDM/JSBSim/initialization/FGTrimAxis.h
+++ b/src/FDM/JSBSim/initialization/FGTrimAxis.h
@@ -48,7 +48,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_TRIMAXIS "$Id$"
+#define ID_TRIMAXIS "$Id: FGTrimAxis.h,v 1.4 2006/10/01 22:47:47 jberndt Exp $"
 
 #define DEFAULT_TOLERANCE 0.001
 

diff --git a/src/FDM/JSBSim/input_output/FGGroundCallback.cpp b/src/FDM/JSBSim/input_output/FGGroundCallback.cpp
index d1484115c034a612afd0154d649461e0d5293e58..bf1cfb1b592c5eaa9fc46b5864774e0ead9dd135 100644 (file)
--- a/src/FDM/JSBSim/input_output/FGGroundCallback.cpp
+++ b/src/FDM/JSBSim/input_output/FGGroundCallback.cpp
@@ -71,10 +71,11 @@ double FGGroundCallback::GetAGLevel(double t, const FGLocation& loc,
                                     FGColumnVector3& vel) const
 {
   vel = FGColumnVector3(0.0, 0.0, 0.0);
-  normal = (-1/FGColumnVector3(loc).Magnitude())*FGColumnVector3(loc);
-  double radius = loc.GetRadius();
-  double agl = GetAltitude(loc);
-  contact = ((radius-agl)/radius)*FGColumnVector3(loc);
+  normal = FGColumnVector3(loc).Normalize();
+  double loc_radius = loc.GetRadius();  // Get the radius of the given location
+                                        // (e.g. the CG)
+  double agl = loc_radius - mReferenceRadius;
+  contact = (mReferenceRadius/loc_radius)*FGColumnVector3(loc);
   return agl;
 }
 

diff --git a/src/FDM/JSBSim/input_output/FGGroundCallback.h b/src/FDM/JSBSim/input_output/FGGroundCallback.h
index 4def8c1ca35f556104cbc8694452405ebf72b976..63955a4d07674817ad3dc30db01c4cac282264f6 100644 (file)
--- a/src/FDM/JSBSim/input_output/FGGroundCallback.h
+++ b/src/FDM/JSBSim/input_output/FGGroundCallback.h
@@ -45,7 +45,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_GROUNDCALLBACK "$Id$"
+#define ID_GROUNDCALLBACK "$Id: FGGroundCallback.h,v 1.8 2009/10/02 10:30:09 jberndt Exp $"
 
 namespace JSBSim {
 
@@ -59,7 +59,7 @@ CLASS DOCUMENTATION
     ball formed earth.
 
     @author Mathias Froehlich
-    @version $Id$
+    @version $Id: FGGroundCallback.h,v 1.8 2009/10/02 10:30:09 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/input_output/FGPropertyManager.cpp b/src/FDM/JSBSim/input_output/FGPropertyManager.cpp
index 991badb909c112bc7c4b48fac8861628bc04eb4b..11e566965259e1b58ec854de18892233a718b209 100755 (executable)
--- a/src/FDM/JSBSim/input_output/FGPropertyManager.cpp
+++ b/src/FDM/JSBSim/input_output/FGPropertyManager.cpp
@@ -74,7 +74,7 @@ FGPropertyManager::GetNode (const string &path, bool create)
 {
   SGPropertyNode* node=this->getNode(path.c_str(), create);
   if (node == 0 && !suppress_warning) {
-    cout << "FGPropertyManager::GetNode() No node found for " << path << endl;
+    cerr << "FGPropertyManager::GetNode() No node found for " << path << endl;
   }
   return (FGPropertyManager*)node;
 }
@@ -152,6 +152,19 @@ string FGPropertyManager::GetFullyQualifiedName(void) {
 
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGPropertyManager::GetRelativeName( const string &path )
+{
+  string temp_string = GetFullyQualifiedName();
+  size_t len = path.length();
+  if ( (len > 0) && (temp_string.substr(0,len) == path) ) {
+    temp_string = temp_string.erase(0,len);
+  }
+  return temp_string;
+}
+
+
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -243,8 +256,8 @@ void FGPropertyManager::SetArchivable (const string &name, bool state )
 {
   SGPropertyNode * node = getNode(name.c_str());
   if (node == 0)
-    cout <<
-           "Attempt to set archive flag for non-existant property "
+    cerr <<
+           "Attempt to set archive flag for non-existent property "
            << name << endl;
   else
     node->setAttribute(SGPropertyNode::ARCHIVE, state);
@@ -256,7 +269,7 @@ void FGPropertyManager::SetReadable (const string &name, bool state )
 {
   SGPropertyNode * node = getNode(name.c_str());
   if (node == 0)
-    cout <<
+    cerr <<
            "Attempt to set read flag for non-existant property "
            << name << endl;
   else
@@ -269,7 +282,7 @@ void FGPropertyManager::SetWritable (const string &name, bool state )
 {
   SGPropertyNode * node = getNode(name.c_str());
   if (node == 0)
-    cout <<
+    cerr <<
            "Attempt to set write flag for non-existant property "
            << name << endl;
   else
@@ -281,7 +294,7 @@ void FGPropertyManager::SetWritable (const string &name, bool state )
 void FGPropertyManager::Untie (const string &name)
 {
   if (!untie(name.c_str()))
-    cout << "Failed to untie property " << name << endl;
+    cerr << "Failed to untie property " << name << endl;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -289,7 +302,7 @@ void FGPropertyManager::Untie (const string &name)
 void FGPropertyManager::Tie (const string &name, bool *pointer, bool useDefault)
 {
   if (!tie(name.c_str(), SGRawValuePointer<bool>(pointer), useDefault))
-    cout << "Failed to tie property " << name << " to a pointer" << endl;
+    cerr << "Failed to tie property " << name << " to a pointer" << endl;
   else if (debug_lvl & 0x20)
     cout << name << endl;
 }
@@ -300,7 +313,7 @@ void FGPropertyManager::Tie (const string &name, int *pointer,
                                           bool useDefault )
 {
   if (!tie(name.c_str(), SGRawValuePointer<int>(pointer), useDefault))
-    cout << "Failed to tie property " << name << " to a pointer" << endl;
+    cerr << "Failed to tie property " << name << " to a pointer" << endl;
   else if (debug_lvl & 0x20)
     cout << name << endl;
 }
@@ -311,7 +324,7 @@ void FGPropertyManager::Tie (const string &name, long *pointer,
                                           bool useDefault )
 {
   if (!tie(name.c_str(), SGRawValuePointer<long>(pointer), useDefault))
-    cout << "Failed to tie property " << name << " to a pointer" << endl;
+    cerr << "Failed to tie property " << name << " to a pointer" << endl;
   else if (debug_lvl & 0x20)
     cout << name << endl;
 }
@@ -322,7 +335,7 @@ void FGPropertyManager::Tie (const string &name, float *pointer,
                                           bool useDefault )
 {
   if (!tie(name.c_str(), SGRawValuePointer<float>(pointer), useDefault))
-    cout << "Failed to tie property " << name << " to a pointer" << endl;
+    cerr << "Failed to tie property " << name << " to a pointer" << endl;
   else if (debug_lvl & 0x20)
     cout << name << endl;
 }
@@ -332,7 +345,7 @@ void FGPropertyManager::Tie (const string &name, float *pointer,
 void FGPropertyManager::Tie (const string &name, double *pointer, bool useDefault)
 {
   if (!tie(name.c_str(), SGRawValuePointer<double>(pointer), useDefault))
-    cout << "Failed to tie property " << name << " to a pointer" << endl;
+    cerr << "Failed to tie property " << name << " to a pointer" << endl;
   else if (debug_lvl & 0x20)
     cout << name << endl;
 }

diff --git a/src/FDM/JSBSim/input_output/FGPropertyManager.h b/src/FDM/JSBSim/input_output/FGPropertyManager.h
index 2db5408e33806115cf077c9d6d5336b8ea58d5e1..c29b5a412e55b9a72e786a2d675e4efeb1acd133 100644 (file)
--- a/src/FDM/JSBSim/input_output/FGPropertyManager.h
+++ b/src/FDM/JSBSim/input_output/FGPropertyManager.h
@@ -53,7 +53,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PROPERTYMANAGER "$Id$"
+#define ID_PROPERTYMANAGER "$Id: FGPropertyManager.h,v 1.17 2010/07/08 11:36:28 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -129,6 +129,15 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      */
     std::string GetFullyQualifiedName(void);
 
+    /**
+     * Get the qualified name of a node relative to given base path,
+     * otherwise the fully qualified name.
+     * This function is very slow, so is probably useful for debugging only.
+     *
+     * @param path The path to strip off, if found.
+     */
+    std::string GetRelativeName( const std::string &path = "/fdm/jsbsim/" );
+
     /**
      * Get a bool value for a property.
      *

diff --git a/src/FDM/JSBSim/input_output/FGScript.cpp b/src/FDM/JSBSim/input_output/FGScript.cpp
index dde76de95828c5e904bf4684ac9d44e2dc9857d6..bd940bb4c4c4264a1bcf25747dea30f2b7cff30e 100755 (executable)
--- a/src/FDM/JSBSim/input_output/FGScript.cpp
+++ b/src/FDM/JSBSim/input_output/FGScript.cpp
@@ -42,17 +42,19 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGScript.h"
+#include "input_output/FGXMLElement.h"
 #include "input_output/FGXMLParse.h"
 #include "initialization/FGTrim.h"
 
 #include <iostream>
 #include <cstdlib>
+#include <iomanip>
 
 using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGScript.cpp,v 1.41 2010/07/08 11:36:28 jberndt Exp $";
 static const char *IdHdr = ID_FGSCRIPT;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -67,8 +69,8 @@ CLASS IMPLEMENTATION
 
 FGScript::FGScript(FGFDMExec* fgex) : FDMExec(fgex)
 {
-  State = FDMExec->GetState();
   PropertyManager=FDMExec->GetPropertyManager();
+
   Debug(0);
 }
 
@@ -89,7 +91,7 @@ FGScript::~FGScript()
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-bool FGScript::LoadScript( string script )
+bool FGScript::LoadScript(string script, double deltaT)
 {
   string aircraft="", initialize="", comparison = "", prop_name="";
   string notifyPropertyName="";
@@ -135,10 +137,18 @@ bool FGScript::LoadScript( string script )
   // Set sim timing
 
   StartTime = run_element->GetAttributeValueAsNumber("start");
-  State->Setsim_time(StartTime);
+  FDMExec->Setsim_time(StartTime);
   EndTime   = run_element->GetAttributeValueAsNumber("end");
-  dt        = run_element->GetAttributeValueAsNumber("dt");
-  State->Setdt(dt);
+
+  if (deltaT == 0.0)
+    dt = run_element->GetAttributeValueAsNumber("dt");
+  else {
+    dt = deltaT;
+    cout << endl << "Overriding simulation step size from the command line. New step size is: "
+         << deltaT << " seconds (" << 1/deltaT << " Hz)" << endl << endl;
+  }
+
+  FDMExec->Setdt(dt);
   
   // read aircraft and initialization files
 
@@ -175,7 +185,7 @@ bool FGScript::LoadScript( string script )
     if (output_file.empty()) {
       cerr << "No logging directives file was specified." << endl;
     } else {
-      FDMExec->SetOutputDirectives(output_file);
+      if (!FDMExec->SetOutputDirectives(output_file)) return false;
     }
   }
 
@@ -226,7 +236,12 @@ bool FGScript::LoadScript( string script )
     // Process the conditions
     condition_element = event_element->FindElement("condition");
     if (condition_element != 0) {
-      newCondition = new FGCondition(condition_element, PropertyManager);
+      try {
+        newCondition = new FGCondition(condition_element, PropertyManager);
+      } catch(string str) {
+        cout << endl << fgred << str << reset << endl << endl;
+        return false;
+      }
       newEvent->Condition = newCondition;
     } else {
       cerr << "No condition specified in script event " << newEvent->Name << endl;
@@ -320,7 +335,7 @@ bool FGScript::RunScript(void)
   unsigned i, j;
   unsigned event_ctr = 0;
 
-  double currentTime = State->Getsim_time();
+  double currentTime = FDMExec->GetSimTime();
   double newSetValue = 0;
 
   if (currentTime > EndTime) return false; //Script done!
@@ -409,7 +424,7 @@ bool FGScript::RunScript(void)
         cout << endl << "  Event " << event_ctr << " (" << Events[ev_ctr].Name << ")"
              << " executed at time: " << currentTime << endl;
         for (j=0; j<Events[ev_ctr].NotifyProperties.size();j++) {
-          cout << "    " << Events[ev_ctr].NotifyProperties[j]->GetName()
+          cout << "    " << Events[ev_ctr].NotifyProperties[j]->GetRelativeName()
                << " = " << Events[ev_ctr].NotifyProperties[j]->getDoubleValue() << endl;
         }
         cout << endl;
@@ -453,7 +468,8 @@ void FGScript::Debug(int from)
       cout << endl;
       cout << "Script: \"" << ScriptName << "\"" << endl;
       cout << "  begins at " << StartTime << " seconds and runs to " << EndTime
-           << " seconds with dt = " << State->Getdt() << endl;
+        << " seconds with dt = " << setprecision(6) << FDMExec->GetDeltaT() << " (" <<
+        ceil(1.0/FDMExec->GetDeltaT()) << " Hz)" << endl;
       cout << endl;
 
       for (unsigned int i=0; i<local_properties.size(); i++) {
@@ -476,7 +492,10 @@ void FGScript::Debug(int from)
 
         Events[i].Condition->PrintCondition();
 
-        cout << endl << "  Actions taken:" << endl << "    {";
+        cout << endl << "  Actions taken";
+        if (Events[i].Delay > 0.0)
+          cout << " (after a delay of " << Events[i].Delay << " secs)";
+        cout << ":" << endl << "    {";
         for (unsigned j=0; j<Events[i].SetValue.size(); j++) {
           if (Events[i].SetValue[j] == 0.0 && Events[i].Functions[j] != 0L) {
             if (Events[i].SetParam[j] == 0) {
@@ -486,7 +505,7 @@ void FGScript::Debug(int from)
                    << reset << endl;
               exit(-1);
             }
-            cout << endl << "      set " << Events[i].SetParam[j]->GetName()
+            cout << endl << "      set " << Events[i].SetParam[j]->GetRelativeName("/fdm/jsbsim/")
                  << " to function value";
           } else {
             if (Events[i].SetParam[j] == 0) {
@@ -496,7 +515,7 @@ void FGScript::Debug(int from)
                    << reset << endl;
               exit(-1);
             }
-            cout << endl << "      set " << Events[i].SetParam[j]->GetName()
+            cout << endl << "      set " << Events[i].SetParam[j]->GetRelativeName("/fdm/jsbsim/")
                  << " to " << Events[i].SetValue[j];
           }
 
@@ -529,8 +548,21 @@ void FGScript::Debug(int from)
           if (Events[i].Action[j] == FG_RAMP || Events[i].Action[j] == FG_EXP)
             cout << " with time constant " << Events[i].TC[j] << ")";
         }
-        cout << endl << "    }" << endl << endl;
-
+        cout << endl << "    }" << endl;
+
+        // Print notifications
+        if (Events[i].Notify) {
+          if (Events[i].NotifyProperties.size() > 0) {
+            cout << "  Notifications" << ":" << endl << "    {" << endl;
+            for (unsigned j=0; j<Events[i].NotifyProperties.size();j++) {
+              cout << "      "
+                  << Events[i].NotifyProperties[j]->GetRelativeName("/fdm/jsbsim/")
+                   << endl;
+            }
+            cout << "    }" << endl;
+          }
+        }
+        cout << endl;
       }
     }
   }

diff --git a/src/FDM/JSBSim/input_output/FGScript.h b/src/FDM/JSBSim/input_output/FGScript.h
index 4dc5c8cf9eddea44611835e96e627762cb5786be..9f8d3ef8e84984bab04bd7857f64fa9ec717ee6d 100644 (file)
--- a/src/FDM/JSBSim/input_output/FGScript.h
+++ b/src/FDM/JSBSim/input_output/FGScript.h
@@ -38,7 +38,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGJSBBase.h"
-#include "FGState.h"
 #include "FGFDMExec.h"
 #include "math/FGFunction.h"
 #include "math/FGCondition.h"
@@ -49,7 +48,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FGSCRIPT "$Id$"
+#define ID_FGSCRIPT "$Id: FGScript.h,v 1.18 2010/04/11 13:44:42 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -158,7 +157,7 @@ CLASS DOCUMENTATION
     comes the "run" section, where the conditions are
     described in &quot;event&quot; clauses.</p>
     @author Jon S. Berndt
-    @version "$Id$"
+    @version "$Id: FGScript.h,v 1.18 2010/04/11 13:44:42 jberndt Exp $"
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -175,10 +174,13 @@ public:
   ~FGScript();
 
   /** Loads a script to drive JSBSim (usually in standalone mode).
-      The language is the Script Directives for JSBSim.
+      The language is the Script Directives for JSBSim. If a simulation step size
+      has been supplied on the command line, it will be override the script-
+      specified simulation step size.
       @param script the filename (including path name, if any) for the script.
+      @param deltaT a simulation step size from the command line
       @return true if successful */
-  bool LoadScript( string script );
+  bool LoadScript(string script, double deltaT);
 
   /** This function is called each pass through the executive Run() method IF
       scripting is enabled.
@@ -259,7 +261,6 @@ private:
   vector <LocalProps*> local_properties;
 
   FGFDMExec* FDMExec;
-  FGState* State;
   FGPropertyManager* PropertyManager;
   void Debug(int from);
 };

diff --git a/src/FDM/JSBSim/input_output/FGXMLElement.cpp b/src/FDM/JSBSim/input_output/FGXMLElement.cpp
index df541fa3aaee1b8af04d9adc0b2c464d3a32d24e..0c3e91063d96e7f3dabfde3cc92ded234a9a57f1 100755 (executable)
--- a/src/FDM/JSBSim/input_output/FGXMLElement.cpp
+++ b/src/FDM/JSBSim/input_output/FGXMLElement.cpp
@@ -42,7 +42,7 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGXMLElement.cpp,v 1.29 2010/03/18 13:18:31 jberndt Exp $";
 static const char *IdHdr = ID_XMLELEMENT;
 
 bool Element::converterIsInitialized = false;
@@ -114,7 +114,10 @@ Element::Element(const string& nm)
     convert["KTS"]["FT/SEC"] = 1.68781;
     convert["FT/SEC"]["KTS"] = 1.0/convert["KTS"]["FT/SEC"];
     convert["M/S"]["FT/S"] = 3.2808399;
+    convert["M/SEC"]["FT/SEC"] = 3.2808399;
     convert["FT/S"]["M/S"] = 1.0/convert["M/S"]["FT/S"];
+    convert["M/SEC"]["FT/SEC"] = 3.2808399;
+    convert["FT/SEC"]["M/SEC"] = 1.0/convert["M/SEC"]["FT/SEC"];
     // Torque
     convert["FT*LBS"]["N*M"] = 1.35581795;
     convert["N*M"]["FT*LBS"] = 1/convert["FT*LBS"]["N*M"];
@@ -185,6 +188,7 @@ Element::Element(const string& nm)
     convert["FT/SEC"]["FT/SEC"] = 1.00;
     convert["KTS"]["KTS"] = 1.00;
     convert["M/S"]["M/S"] = 1.0;
+    convert["M/SEC"]["M/SEC"] = 1.0;
     // Torque
     convert["FT*LBS"]["FT*LBS"] = 1.00;
     convert["N*M"]["N*M"] = 1.00;

diff --git a/src/FDM/JSBSim/input_output/FGXMLElement.h b/src/FDM/JSBSim/input_output/FGXMLElement.h
index 75add86b77d83ab441d31d25b2d50931a278c06d..21af97275d2251a8af575465723b0ab2e57ddcd5 100755 (executable)
--- a/src/FDM/JSBSim/input_output/FGXMLElement.h
+++ b/src/FDM/JSBSim/input_output/FGXMLElement.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_XMLELEMENT "$Id$"
+#define ID_XMLELEMENT "$Id: FGXMLElement.h,v 1.16 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -136,7 +136,7 @@ CLASS DOCUMENTATION
     - GAL = gallon (U.S. liquid) 
 
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGXMLElement.h,v 1.16 2009/10/24 22:59:30 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/input_output/FGXMLFileRead.h b/src/FDM/JSBSim/input_output/FGXMLFileRead.h
index 204c4013851ba52cd56130e2bc9fd79513918152..d7366db7c996745e7eb34ab728564e50b908f6e9 100755 (executable)
--- a/src/FDM/JSBSim/input_output/FGXMLFileRead.h
+++ b/src/FDM/JSBSim/input_output/FGXMLFileRead.h
@@ -43,7 +43,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_XMLFILEREAD "$Id$"
+#define ID_XMLFILEREAD "$Id: FGXMLFileRead.h,v 1.5 2009/11/28 20:12:47 andgi Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/input_output/FGXMLParse.cpp b/src/FDM/JSBSim/input_output/FGXMLParse.cpp
index 7eefba94f8f5e3b93fa5e41e3bf348145e266d51..90fe0e7b90d7b7b5882cb4b384ea66139de0c332 100755 (executable)
--- a/src/FDM/JSBSim/input_output/FGXMLParse.cpp
+++ b/src/FDM/JSBSim/input_output/FGXMLParse.cpp
@@ -40,7 +40,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGXMLParse.cpp,v 1.10 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_XMLPARSE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/input_output/FGXMLParse.h b/src/FDM/JSBSim/input_output/FGXMLParse.h
index 5fdd92b06dd8a15b50e1b1b2cf56fb19699bbcfd..350e3e6a7894c01918f59e132dbc422bdba834cc 100755 (executable)
--- a/src/FDM/JSBSim/input_output/FGXMLParse.h
+++ b/src/FDM/JSBSim/input_output/FGXMLParse.h
@@ -40,7 +40,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_XMLPARSE "$Id$"
+#define ID_XMLPARSE "$Id: FGXMLParse.h,v 1.7 2009/10/24 22:59:30 jberndt Exp $"
 #define VALID_CHARS """`!@#$%^&*()_+`1234567890-={}[];':,.<>/?abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -57,7 +57,7 @@ CLASS DOCUMENTATION
 
 /** Encapsulates an XML parser based on the EasyXML parser from the SimGear library.
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGXMLParse.h,v 1.7 2009/10/24 22:59:30 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/input_output/FGfdmSocket.cpp b/src/FDM/JSBSim/input_output/FGfdmSocket.cpp
index 85cb88c4f9c25c70e7695afb2b9f458e8ca8ec96..d1edb67394876a630d64a7fd39311f8437d78143 100644 (file)
--- a/src/FDM/JSBSim/input_output/FGfdmSocket.cpp
+++ b/src/FDM/JSBSim/input_output/FGfdmSocket.cpp
@@ -52,7 +52,7 @@ using std::string;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGfdmSocket.cpp,v 1.27 2010/05/13 03:07:59 jberndt Exp $";
 static const char *IdHdr = ID_FDMSOCKET;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -77,7 +77,9 @@ FGfdmSocket::FGfdmSocket(const string& address, int port, int protocol)
       cout << "Could not get host net address by name..." << endl;
     }
   } else {
-    if ((host = gethostbyaddr(address.c_str(), address.size(), PF_INET)) == NULL) {
+    unsigned int ip;
+    ip = inet_addr(address.c_str());
+    if ((host = gethostbyaddr((char*)&ip, address.size(), PF_INET)) == NULL) {
       cout << "Could not get host net address by number..." << endl;
     }
   }

diff --git a/src/FDM/JSBSim/input_output/FGfdmSocket.h b/src/FDM/JSBSim/input_output/FGfdmSocket.h
index 46b41ad56f5f8c93f91df468e1ee6cbaeac895c1..4c9e34b3ca77a07bd46701fb8b5fc11bcff02b80 100644 (file)
--- a/src/FDM/JSBSim/input_output/FGfdmSocket.h
+++ b/src/FDM/JSBSim/input_output/FGfdmSocket.h
@@ -51,6 +51,7 @@ INCLUDES
   #include <unistd.h>
   #include <sys/socket.h>
   #include <netinet/in.h>
+  #include <arpa/inet.h>
   #include <netdb.h>
   #include <errno.h>
   #include <sys/ioctl.h>
@@ -64,7 +65,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FDMSOCKET "$Id$"
+#define ID_FDMSOCKET "$Id: FGfdmSocket.h,v 1.19 2010/05/13 03:07:59 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/input_output/string_utilities.h b/src/FDM/JSBSim/input_output/string_utilities.h
index bc3a152a9e105df37b06c890254c61862156cab8..f2dc22090272ddb1480cc4a8edde9a398ab3f76b 100644 (file)
--- a/src/FDM/JSBSim/input_output/string_utilities.h
+++ b/src/FDM/JSBSim/input_output/string_utilities.h
@@ -45,7 +45,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_STRINGUTILS "$Id$"
+#define ID_STRINGUTILS "$Id: string_utilities.h,v 1.13 2010/07/07 11:59:48 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -64,18 +64,19 @@ CLASS DECLARATION
   extern std::string& trim_left(std::string& str);
   extern std::string& trim_right(std::string& str);
   extern std::string& trim(std::string& str);
+  extern std::string& trim_all_space(std::string& str);
   extern std::string& to_upper(std::string& str);
   extern std::string& to_lower(std::string& str);
   extern bool is_number(const std::string& str);
   std::vector <std::string> split(std::string str, char d);
 #else
-  #include <ctype.h>
+  #include <cctype>
 
   using namespace std;
 
   string& trim_left(string& str)
   {
-    while (str.size() && !isgraph(str[0])) {
+    while (str.size() && isspace((unsigned char)str[0])) {
       str = str.erase(0,1);
     }
     return str;
@@ -83,7 +84,7 @@ CLASS DECLARATION
 
   string& trim_right(string& str)
   {
-    while (str.size() && !isgraph(str[str.size()-1])) {
+    while (str.size() && isspace((unsigned char)str[str.size()-1])) {
       str = str.erase(str.size()-1,1);
     }
     return str;
@@ -96,6 +97,17 @@ CLASS DECLARATION
     return str = trim_left(temp_str);
   }
 
+  string& trim_all_space(string& str)
+  {
+    for (size_t i=0; i<str.size(); i++) {
+      if (isspace((unsigned char)str[i])) {
+        str = str.erase(i,1);
+        --i;
+      }
+    }
+    return str;
+  }
+
   string& to_upper(string& str)
   {
     for (size_t i=0; i<str.size(); i++) str[i] = toupper(str[i]);

diff --git a/src/FDM/JSBSim/math/FGColumnVector3.cpp b/src/FDM/JSBSim/math/FGColumnVector3.cpp
index 8a85454e2ce5bb322500905e268f799cd75f3d05..5b91dcdb6f7066719a6661f6f1a180713eef9097 100644 (file)
--- a/src/FDM/JSBSim/math/FGColumnVector3.cpp
+++ b/src/FDM/JSBSim/math/FGColumnVector3.cpp
@@ -47,7 +47,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGColumnVector3.cpp,v 1.13 2010/08/08 00:19:21 jberndt Exp $";
 static const char *IdHdr = ID_COLUMNVECTOR3;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -65,9 +65,9 @@ FGColumnVector3::FGColumnVector3(void)
 string FGColumnVector3::Dump(const string& delimiter) const
 {
   ostringstream buffer;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(1) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(2) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(3);
+  buffer << std::setw(18) << std::setprecision(16) << data[0] << delimiter;
+  buffer << std::setw(18) << std::setprecision(16) << data[1] << delimiter;
+  buffer << std::setw(18) << std::setprecision(16) << data[2];
   return buffer.str();
 }
 
@@ -110,10 +110,7 @@ FGColumnVector3& FGColumnVector3::operator/=(const double scalar)
 
 double FGColumnVector3::Magnitude(void) const
 {
-  if (Entry(1) == 0.0 && Entry(2) == 0.0 && Entry(3) == 0.0)
-    return 0.0;
-  else
-    return sqrt( Entry(1)*Entry(1) +  Entry(2)*Entry(2) +  Entry(3)*Entry(3) );
+  return sqrt( data[0]*data[0] +  data[1]*data[1] +  data[2]*data[2] );
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/math/FGColumnVector3.h b/src/FDM/JSBSim/math/FGColumnVector3.h
index 2817f9571fd880a11fb910107a62225279a1c2e2..b92a474009523b35ee3932dbad9a837b5b29a703 100644 (file)
--- a/src/FDM/JSBSim/math/FGColumnVector3.h
+++ b/src/FDM/JSBSim/math/FGColumnVector3.h
@@ -47,7 +47,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_COLUMNVECTOR3 "$Id$"
+#define ID_COLUMNVECTOR3 "$Id: FGColumnVector3.h,v 1.12 2010/06/30 03:13:40 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -61,7 +61,7 @@ CLASS DOCUMENTATION
 
 /** This class implements a 3 element column vector.
     @author Jon S. Berndt, Tony Peden, et. al.
-    @version $Id$
+    @version $Id: FGColumnVector3.h,v 1.12 2010/06/30 03:13:40 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -84,7 +84,7 @@ public:
     data[0] = X;
     data[1] = Y;
     data[2] = Z;
-    Debug(0);
+//    Debug(0);
   }
 
   /** Copy constructor.
@@ -94,25 +94,25 @@ public:
     data[0] = v.data[0];
     data[1] = v.data[1];
     data[2] = v.data[2];
-    Debug(0);
+//    Debug(0);
   }
 
   /// Destructor.
-  ~FGColumnVector3(void) { Debug(1); }
+  ~FGColumnVector3(void) { /* Debug(1); */ }
 
   /** Read access the entries of the vector.
       @param idx the component index.
       Return the value of the matrix entry at the given index.
       Indices are counted starting with 1.
       Note that the index given in the argument is unchecked.   */
-  double operator()(unsigned int idx) const { return Entry(idx); }
+  double operator()(unsigned int idx) const { return data[idx-1]; }
 
   /** Write access the entries of the vector.
       @param idx the component index.
       Return a reference to the vector entry at the given index.
       Indices are counted starting with 1.
       Note that the index given in the argument is unchecked.   */
-  double& operator()(unsigned int idx) { return Entry(idx); }
+  double& operator()(unsigned int idx) { return data[idx-1]; }
 
   /** Read access the entries of the vector.
       @param idx the component index.
@@ -166,7 +166,7 @@ public:
       @return The resulting vector from the multiplication with that scalar.
       Multiply the vector with the scalar given in the argument.   */
   FGColumnVector3 operator*(const double scalar) const {
-    return FGColumnVector3(scalar*Entry(1), scalar*Entry(2), scalar*Entry(3));
+    return FGColumnVector3(scalar*data[0], scalar*data[1], scalar*data[2]);
   }
 
   /** Multiply by 1/scalar.
@@ -181,42 +181,42 @@ public:
       Compute and return the cross product of the current vector with
       the given argument.   */
   FGColumnVector3 operator*(const FGColumnVector3& V) const {
-    return FGColumnVector3( Entry(2) * V(3) - Entry(3) * V(2),
-                            Entry(3) * V(1) - Entry(1) * V(3),
-                            Entry(1) * V(2) - Entry(2) * V(1) );
+    return FGColumnVector3( data[1] * V(3) - data[2] * V(2),
+                            data[2] * V(1) - data[0] * V(3),
+                            data[0] * V(2) - data[1] * V(1) );
   }
 
   /// Addition operator.
   FGColumnVector3 operator+(const FGColumnVector3& B) const {
-    return FGColumnVector3( Entry(1) + B(1), Entry(2) + B(2), Entry(3) + B(3) );
+    return FGColumnVector3( data[0] + B(1), data[1] + B(2), data[2] + B(3) );
   }
 
   /// Subtraction operator.
   FGColumnVector3 operator-(const FGColumnVector3& B) const {
-    return FGColumnVector3( Entry(1) - B(1), Entry(2) - B(2), Entry(3) - B(3) );
+    return FGColumnVector3( data[0] - B(1), data[1] - B(2), data[2] - B(3) );
   }
 
   /// Subtract an other vector.
   FGColumnVector3& operator-=(const FGColumnVector3 &B) {
-    Entry(1) -= B(1);
-    Entry(2) -= B(2);
-    Entry(3) -= B(3);
+    data[0] -= B(1);
+    data[1] -= B(2);
+    data[2] -= B(3);
     return *this;
   }
 
   /// Add an other vector.
   FGColumnVector3& operator+=(const FGColumnVector3 &B) {
-    Entry(1) += B(1);
-    Entry(2) += B(2);
-    Entry(3) += B(3);
+    data[0] += B(1);
+    data[1] += B(2);
+    data[2] += B(3);
     return *this;
   }
 
   /// Scale by a scalar.
   FGColumnVector3& operator*=(const double scalar) {
-    Entry(1) *= scalar;
-    Entry(2) *= scalar;
-    Entry(3) *= scalar;
+    data[0] *= scalar;
+    data[1] *= scalar;
+    data[2] *= scalar;
     return *this;
   }
 
@@ -237,7 +237,7 @@ public:
       Compute and return the euclidean norm of this vector projected into
       the coordinate axis plane idx1-idx2.   */
   double Magnitude(int idx1, int idx2) const {
-    return sqrt( Entry(idx1)*Entry(idx1) +  Entry(idx2)*Entry(idx2) );
+    return sqrt( data[idx1-1]*data[idx1-1] +  data[idx2-1]*data[idx2-1] );
   }
 
   /** Normalize.
@@ -245,19 +245,11 @@ public:
       is equal to zero it is left untouched.   */
   FGColumnVector3& Normalize(void);
 
-  // little trick here.
-  struct AssignRef {
-    AssignRef(FGColumnVector3& r, int i) : Ref(r), idx(i) {}
-    AssignRef operator<<(const double ff) {
-      Ref.Entry(idx) = ff;
-      return AssignRef(Ref, idx+1);
-    }
-    FGColumnVector3& Ref;
-    int idx;
-  };
-  AssignRef operator<<(const double ff) {
-    Entry(1) = ff;
-    return AssignRef(*this, 2);
+  /** Dot product of two vectors
+      Compute and return the euclidean dot (or scalar) product of two vectors
+      v1 and v2 */
+  friend inline double DotProduct(const FGColumnVector3& v1, const FGColumnVector3& v2) {
+    return v1(1)*v2(1) + v1(2)*v2(2) + v1(3)*v2(3);
   }
 
 private:

diff --git a/src/FDM/JSBSim/math/FGCondition.cpp b/src/FDM/JSBSim/math/FGCondition.cpp
index ff2f77543b89f92a9b3dc917a0519942efafda5f..2a1ffd47f2415b2e574451ba985e3a94fbd921ac 100644 (file)
--- a/src/FDM/JSBSim/math/FGCondition.cpp
+++ b/src/FDM/JSBSim/math/FGCondition.cpp
@@ -44,7 +44,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGCondition.cpp,v 1.13 2010/07/14 05:50:40 ehofman Exp $";
 static const char *IdHdr = ID_CONDITION;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -122,12 +122,27 @@ FGCondition::FGCondition(const string& test, FGPropertyManager* PropertyManager)
     exit(-1);
   }
 
-  TestParam1 = PropertyManager->GetNode(property1, true);
+  TestParam1 = PropertyManager->GetNode(property1, false);
+  if (!TestParam1) {
+      cerr << fgred << "  In condition: " << test << ". Unknown property "
+           << property1 << " referenced." << endl
+           << "Creating property.  Check usage." << reset << endl;
+      TestParam1 = PropertyManager->GetNode(property1, true);
+  }
   Comparison = mComparison[conditional];
+  if (Comparison == ecUndef) {
+       throw("Comparison operator: \""+conditional+"\" does not exist.  Please check the conditional.");
+  }
   if (is_number(property2)) {
     TestValue = atof(property2.c_str());
   } else {
-    TestParam2 = PropertyManager->GetNode(property2, true);
+    TestParam2 = PropertyManager->GetNode(property2, false);
+    if (!TestParam2) {
+        cerr << fgred << "  In condition: " << test << ". Unknown property "
+             << property2 << " referenced." << endl
+             << "Creating property.  Check usage." << reset << endl;
+        TestParam2 = PropertyManager->GetNode(property2, true);
+    }
   }
 }
 
@@ -252,9 +267,12 @@ void FGCondition::PrintCondition(void )
 
   } else {
     if (TestParam2 != 0L)
-      cout << "    " << TestParam1->GetName() << " " << conditional << " " << TestParam2->GetName();
+      cout << "    " << TestParam1->GetRelativeName() << " "
+                        << conditional << " "
+                        << TestParam2->GetRelativeName();
     else
-      cout << "    " << TestParam1->GetName() << " " << conditional << " " << TestValue;
+      cout << "    " << TestParam1->GetRelativeName() << " "
+                     << conditional << " " << TestValue;
   }
 }
 

diff --git a/src/FDM/JSBSim/math/FGCondition.h b/src/FDM/JSBSim/math/FGCondition.h
index 6272a8371cfa98add3f50e167d59bb0a8b9e4f97..2cd75bdfbf2a9761547e42c5a1aefc0c17a07dc8 100644 (file)
--- a/src/FDM/JSBSim/math/FGCondition.h
+++ b/src/FDM/JSBSim/math/FGCondition.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_CONDITION "$Id$"
+#define ID_CONDITION "$Id: FGCondition.h,v 1.5 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/math/FGFunction.cpp b/src/FDM/JSBSim/math/FGFunction.cpp
index e45e6d9aa23c1a14181e4a9371fb2f2f9ad9e44b..183654e2e54b0217aef2598a7b791947db0f199d 100755 (executable)
--- a/src/FDM/JSBSim/math/FGFunction.cpp
+++ b/src/FDM/JSBSim/math/FGFunction.cpp
@@ -43,7 +43,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFunction.cpp,v 1.32 2010/03/18 13:21:24 jberndt Exp $";
 static const char *IdHdr = ID_FUNCTION;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -265,7 +265,10 @@ double FGFunction::GetValue(void) const
     }
     break;
   case eQuotient:
-    temp /= Parameters[1]->GetValue();
+    if (Parameters[1]->GetValue() != 0.0)
+      temp /= Parameters[1]->GetValue();
+    else
+      temp = HUGE_VAL;
     break;
   case ePow:
     temp = pow(temp,Parameters[1]->GetValue());

diff --git a/src/FDM/JSBSim/math/FGFunction.h b/src/FDM/JSBSim/math/FGFunction.h
index d122ffe20755952aa66a38b2704cbf067e51bde4..91a811f9acacf7972e4fe1d04b2965bd2e6465af 100755 (executable)
--- a/src/FDM/JSBSim/math/FGFunction.h
+++ b/src/FDM/JSBSim/math/FGFunction.h
@@ -42,7 +42,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FUNCTION "$Id$"
+#define ID_FUNCTION "$Id: FGFunction.h,v 1.21 2009/11/18 04:49:02 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/math/FGLocation.cpp b/src/FDM/JSBSim/math/FGLocation.cpp
index 42619b93fbac45f03566f36174389a78578b551f..f3c4d88bc91e15bfad0b04eb90569c3ebcff295b 100644 (file)
--- a/src/FDM/JSBSim/math/FGLocation.cpp
+++ b/src/FDM/JSBSim/math/FGLocation.cpp
@@ -45,7 +45,7 @@ INCLUDES
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGLocation.cpp,v 1.21 2010/07/02 01:48:12 jberndt Exp $";
 static const char *IdHdr = ID_LOCATION;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -64,6 +64,19 @@ FGLocation::FGLocation(void)
   e = 1.0;
   eps2 = -1.0;
   f = 1.0;
+  epa = 0.0;
+
+  mLon = mLat = mRadius = mGeodLat = GeodeticAltitude = 0.0;
+  
+//  initial_longitude = 0.0;
+
+  mTl2ec.InitMatrix();
+  mTec2l.InitMatrix();
+  mTi2ec.InitMatrix();
+  mTec2i.InitMatrix();
+  mTi2l.InitMatrix();
+  mTl2i.InitMatrix();
+  mECLoc.InitMatrix();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -76,7 +89,7 @@ FGLocation::FGLocation(double lon, double lat, double radius)
   double cosLat = cos(lat);
   double sinLon = sin(lon);
   double cosLon = cos(lon);
-  initial_longitude = lon;
+
   a = 0.0;
   b = 0.0;
   a2 = 0.0;
@@ -85,9 +98,15 @@ FGLocation::FGLocation(double lon, double lat, double radius)
   e = 1.0;
   eps2 = -1.0;
   f = 1.0;
+  epa = 0.0;
   mECLoc = FGColumnVector3( radius*cosLat*cosLon,
                             radius*cosLat*sinLon,
                             radius*sinLat );
+  mLon = mLat = mRadius = mGeodLat = GeodeticAltitude = 0.0;
+  
+//  initial_longitude = 0.0
+
+  ComputeDerived();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -159,7 +178,7 @@ void FGLocation::SetPosition(double lon, double lat, double radius)
   double cosLat = cos(lat);
   double sinLon = sin(lon);
   double cosLon = cos(lon);
-  initial_longitude = lon;
+//  initial_longitude = lon;
   mECLoc = FGColumnVector3( radius*cosLat*cosLon,
                             radius*cosLat*sinLon,
                             radius*sinLat );
@@ -176,7 +195,7 @@ void FGLocation::SetPositionGeodetic(double lon, double lat, double height)
   mLon = lon;
   GeodeticAltitude = height;
 
-  initial_longitude = mLon;
+//  initial_longitude = mLon;
 
   double RN = a / sqrt(1.0 - e2*sin(mGeodLat)*sin(mGeodLat));
 
@@ -204,25 +223,23 @@ void FGLocation::SetEllipse(double semimajor, double semiminor)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 // Compute the ECEF to ECI transformation matrix using Stevens and Lewis "Aircraft
-// Control and Simulation", second edition, eqn. 1.4-12, pg. 39
+// Control and Simulation", second edition, eqn. 1.4-12, pg. 39. In Stevens and Lewis
+// notation, this is C_i/e, a transformation from ECEF to ECI.
 
-const FGMatrix33& FGLocation::GetTec2i(double epa)
+const FGMatrix33& FGLocation::GetTec2i(void)
 {
-  double mu = epa - initial_longitude;
-  mTec2i = FGMatrix33( cos(mu), -sin(mu), 0.0,
-                       sin(mu),  cos(mu), 0.0,
-                            0.0,     0.0, 1.0 );
   return mTec2i;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This is given in Stevens and Lewis "Aircraft
+// Control and Simulation", second edition, eqn. 1.4-12, pg. 39
+// The notation in Stevens and Lewis is: C_e/i. This represents a transformation
+// from ECI to ECEF - and the orientation of the ECEF frame relative to the ECI
+// frame.
 
-const FGMatrix33& FGLocation::GetTi2ec(double epa)
+const FGMatrix33& FGLocation::GetTi2ec(void)
 {
-  double mu = epa - initial_longitude;
-  mTi2ec = FGMatrix33( cos(mu), sin(mu), 0.0,
-                      -sin(mu), cos(mu), 0.0,
-                           0.0,      0.0, 1.0 );
   return mTi2ec;
 }
 
@@ -235,7 +252,8 @@ void FGLocation::ComputeDerivedUnconditional(void) const
 
   // The distance of the location to the Z-axis, which is the axis
   // through the poles.
-  double rxy = sqrt(mECLoc(eX)*mECLoc(eX) + mECLoc(eY)*mECLoc(eY));
+  double r02 = mECLoc(eX)*mECLoc(eX) + mECLoc(eY)*mECLoc(eY);
+  double rxy = sqrt(r02);
 
   // Compute the sin/cos values of the longitude
   double sinLon, cosLon;
@@ -270,23 +288,42 @@ void FGLocation::ComputeDerivedUnconditional(void) const
 
   // Compute the transform matrices from and to the earth centered frame.
   // See Stevens and Lewis, "Aircraft Control and Simulation", Second Edition,
-  // Eqn. 1.4-13, page 40. 
+  // Eqn. 1.4-13, page 40. In Stevens and Lewis notation, this is C_n/e - the 
+  // orientation of the navigation (local) frame relative to the ECEF frame,
+  // and a transformation from ECEF to nav (local) frame.
+
   mTec2l = FGMatrix33( -cosLon*sinLat, -sinLon*sinLat,  cosLat,
                            -sinLon   ,     cosLon    ,    0.0 ,
                        -cosLon*cosLat, -sinLon*cosLat, -sinLat  );
 
+  // In Stevens and Lewis notation, this is C_e/n - the 
+  // orientation of the ECEF frame relative to the nav (local) frame,
+  // and a transformation from nav (local) to ECEF frame.
+
   mTl2ec = mTec2l.Transposed();
-  
+
+  // Calculate the inertial to ECEF and transpose matrices
+  double cos_epa = cos(epa);
+  double sin_epa = sin(epa);
+  mTi2ec = FGMatrix33( cos_epa, sin_epa, 0.0,
+                      -sin_epa, cos_epa, 0.0,
+                           0.0,      0.0, 1.0 );
+  mTec2i = mTi2ec.Transposed();
+
+  // Now calculate the local (or nav, or ned) frame to inertial transform matrix,
+  // and the inverse.
+  mTl2i = mTec2i * mTl2ec;
+  mTi2l = mTl2i.Transposed();
+
   // Calculate the geodetic latitude base on AIAA Journal of Guidance and Control paper,
   // "Improved Method for Calculating Exact Geodetic Latitude and Altitude", and
   // "Improved Method for Calculating Exact Geodetic Latitude and Altitude, Revisited",
   // author: I. Sofair
 
   if (a != 0.0 && b != 0.0) {
-    double c, p, q, s, t, u, v, w, z, p2, u2, r02, r0;
+    double c, p, q, s, t, u, v, w, z, p2, u2, r0;
     double Ne, P, Q0, Q, signz0, sqrt_q; 
     p  = fabs(mECLoc(eZ))/eps2;
-    r02 = mECLoc(eX)*mECLoc(eX) + mECLoc(eY)*mECLoc(eY);
     s  = r02/(e2*eps2);
     p2 = p*p;
     q  = p2 - b2 + s;
@@ -306,7 +343,7 @@ void FGLocation::ComputeDerivedUnconditional(void) const
       z  = signz0*sqrt_q*(w+sqrt(sqrt(t*t+v)-u*w-0.5*t-0.25));
       Ne = a*sqrt(1+eps2*z*z/b2);
       mGeodLat = asin((eps2+1.0)*(z/Ne));
-      r0 = sqrt(r02);
+      r0 = rxy;
       GeodeticAltitude = r0*cos(mGeodLat) + mECLoc(eZ)*sin(mGeodLat) - a2/Ne;
     }
   }

diff --git a/src/FDM/JSBSim/math/FGLocation.h b/src/FDM/JSBSim/math/FGLocation.h
index b61ffa966cbbc287553edf15dd8523732ce09776..2112557de1e5725353ce3bbc665600530246033c 100644 (file)
--- a/src/FDM/JSBSim/math/FGLocation.h
+++ b/src/FDM/JSBSim/math/FGLocation.h
@@ -48,7 +48,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_LOCATION "$Id$"
+#define ID_LOCATION "$Id: FGLocation.h,v 1.23 2010/08/04 07:28:21 ehofman Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -60,79 +60,89 @@ namespace JSBSim {
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-/** Holds an arbitrary location in the earth centered reference frame.
-    This coordinate frame has its center in the middle of the earth.
-    Its x-axis points from the center of the earth towards a location
-    with zero latitude and longitude on the earths surface. The y-axis
-    points from the center of the earth towards a location with zero
-    latitude and 90deg longitude on the earths surface. The z-axis
-    points from the earths center to the geographic north pole.
-
-    This class provides access functions to set and get the location as
-    either the simple x, y and z values in ft or longitude/latitude and
-    the radial distance of the location from the earth center.
-
-    It is common to associate a parent frame with a location. This
-    frame is usually called the local horizontal frame or simply the local
-    frame. This frame has its x/y plane parallel to the surface of the earth
-    (with the assumption of a spherical earth). The x-axis points
-    towards north, the y-axis points towards east and the z-axis
-    points to the center of the earth.
-
-    Since this frame is determined by the location, this class also
-    provides the rotation matrices required to transform from the
-    earth centered frame to the local horizontal frame and back. There
-    are also conversion functions for conversion of position vectors
-    given in the one frame to positions in the other frame.
-
-    The earth centered reference frame is *NOT* an inertial frame
-    since it rotates with the earth.
-
-    The coordinates in the earth centered frame are the master values.
-    All other values are computed from these master values and are
-    cached as long as the location is changed by access through a
-    non-const member function. Values are cached to improve performance.
-    It is best practice to work with a natural set of master values.
-    Other parameters that are derived from these master values are calculated
-    only when needed, and IF they are needed and calculated, then they are
-    cached (stored and remembered) so they do not need to be re-calculated
-    until the master values they are derived from are themselves changed
-    (and become stale).
-
-    Accuracy and round off:
-
-    Given that we model a vehicle near the earth, the earths surface
-    radius is about 2*10^7, ft and that we use double values for the
-    representation of the location, we have an accuracy of about
-    1e-16*2e7ft/1=2e-9ft left. This should be sufficient for our needs.
-    Note that this is the same relative accuracy we would have when we
-    compute directly with lon/lat/radius. For the radius value this
-    is clear. For the lon/lat pair this is easy to see. Take for
-    example KSFO located at about 37.61deg north 122.35deg west, which
-    corresponds to 0.65642rad north and 2.13541rad west. Both values
-    are of magnitude of about 1. But 1ft corresponds to about
-    1/(2e7*2*pi)=7.9577e-09rad. So the left accuracy with this
-    representation is also about 1*1e-16/7.9577e-09=1.2566e-08 which
-    is of the same magnitude as the representation chosen here.
-
-    The advantage of this representation is that it is a linear space
-    without singularities. The singularities are the north and south
-    pole and most notably the non-steady jump at -pi to pi. It is
-    harder to track this jump correctly especially when we need to
-    work with error norms and derivatives of the equations of motion
-    within the time-stepping code. Also, the rate of change is of the
-    same magnitude for all components in this representation which is
-    an advantage for numerical stability in implicit time-stepping too.
-
-    Note: The latitude is a GEOCENTRIC value. FlightGear
-    converts latitude to a geodetic value and uses that. In order to get best
-    matching relative to a map, geocentric latitude must be converted to geodetic.
+/** FGLocation holds an arbitrary location in the Earth centered Earth fixed
+    reference frame (ECEF). This coordinate frame has its center in the middle
+    of the earth. The X-axis points from the center of the Earth towards a
+    location with zero latitude and longitude on the Earth surface. The Y-axis
+    points from the center of the Earth towards a location with zero latitude
+    and 90 deg East longitude on the Earth surface. The Z-axis points from the
+    Earth center to the geographic north pole.
+
+    This class provides access functions to set and get the location as either
+    the simple X, Y and Z values in ft or longitude/latitude and the radial
+    distance of the location from the Earth center.
+
+    It is common to associate a parent frame with a location. This frame is
+    usually called the local horizontal frame or simply the local frame. It is
+    also called the NED frame (North, East, Down), as well as the Navigation
+    frame. This frame has its X/Y plane parallel to the surface of the Earth
+    (with the assumption of a spherical Earth). The X-axis points towards north,
+    the Y-axis points east and the Z-axis points to the center of the Earth.
+
+    Since the local frame is determined by the location (and NOT by the
+    orientation of the  vehicle IN any frame), this class also provides the
+    rotation matrices required to transform from the Earth centered (ECEF) frame
+    to the local horizontal frame and back. This class also "owns" the
+    transformations that go from the inertial frame (Earth-centered Inertial, or
+    ECI) to and from the ECEF frame, as well as to and from the local frame.
+    Again, this is because the ECI, ECEF, and local frames do not involve the
+    actual orientation of the vehicle - only the location on the Earth surface,
+    and the angular difference between the ECI and ECEF frames. There are
+    conversion functions for conversion of position vectors given in the one
+    frame to positions in the other frame.
+
+    The Earth centered reference frame is NOT an inertial frame since it rotates
+    with the Earth.
+
+    The coordinates in the Earth centered frame are the master values. All other
+    values are computed from these master values and are cached as long as the
+    location is changed by access through a non-const member function. Values
+    are cached to improve performance. It is best practice to work with a
+    natural set of master values. Other parameters that are derived from these
+    master values are calculated only when needed, and IF they are needed and
+    calculated, then they are cached (stored and remembered) so they do not need
+    to be re-calculated until the master values they are derived from are
+    themselves changed (and become stale).
+
+    Accuracy and round off
+
+    Given,
+
+    -that we model a vehicle near the Earth
+    -that the Earth surface radius is about 2*10^7, ft
+    -that we use double values for the representation of the location
+    
+    we have an accuracy of about
+    
+    1e-16*2e7ft/1 = 2e-9 ft
+    
+    left. This should be sufficient for our needs. Note that this is the same
+    relative accuracy we would have when we compute directly with
+    lon/lat/radius. For the radius value this is clear. For the lon/lat pair
+    this is easy to see. Take for example KSFO located at about 37.61 deg north
+    122.35 deg west, which corresponds to 0.65642 rad north and 2.13541 rad
+    west. Both values are of magnitude of about 1. But 1 ft corresponds to about
+    1/(2e7*2*pi) = 7.9577e-09 rad. So the left accuracy with this representation
+    is also about 1*1e-16/7.9577e-09 = 1.2566e-08 which is of the same magnitude
+    as the representation chosen here.
+
+    The advantage of this representation is that it is a linear space without
+    singularities. The singularities are the north and south pole and most
+    notably the non-steady jump at -pi to pi. It is harder to track this jump
+    correctly especially when we need to work with error norms and derivatives
+    of the equations of motion within the time-stepping code. Also, the rate of
+    change is of the same magnitude for all components in this representation
+    which is an advantage for numerical stability in implicit time-stepping.
+
+    Note: The latitude is a GEOCENTRIC value. FlightGear converts latitude to a
+    geodetic value and uses that. In order to get best matching relative to a
+    map, geocentric latitude must be converted to geodetic.
 
     @see Stevens and Lewis, "Aircraft Control and Simulation", Second edition
     @see W. C. Durham "Aircraft Dynamics & Control", section 2.2
 
     @author Mathias Froehlich
-    @version $Id$
+    @version $Id: FGLocation.h,v 1.23 2010/08/04 07:28:21 ehofman Exp $
   */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -244,6 +254,13 @@ public:
       and semiminor axis lengths */
   void SetEllipse(double semimajor, double semiminor);
 
+  /** Sets the Earth position angle.
+      This is the relative orientation of the ECEF frame with respect to the
+      Inertial frame.
+      @param EPA Earth fixed frame (ECEF) rotation offset about the axis with
+                 respect to the Inertial (ECI) frame in radians. */
+  void SetEarthPositionAngle(double EPA) {epa = EPA; mCacheValid = false; ComputeDerived();}
+
   /** Get the longitude.
       @return the longitude in rad of the location represented with this
       class instance. The returned values are in the range between
@@ -309,6 +326,7 @@ public:
       @return the distance of the location represented with this class
       instance to the center of the earth in ft. The radius value is
       always positive. */
+  //double GetRadius() const { return mECLoc.Magnitude(); } // may not work with FlightGear
   double GetRadius() const { ComputeDerived(); return mRadius; }
 
   /** Transform matrix from local horizontal to earth centered frame.
@@ -324,12 +342,16 @@ public:
   /** Transform matrix from inertial to earth centered frame.
       Returns a const reference to the rotation matrix of the transform from
       the inertial frame to the earth centered frame (ECI to ECEF). */
-  const FGMatrix33& GetTi2ec(double epa);
+  const FGMatrix33& GetTi2ec(void);
 
   /** Transform matrix from the earth centered to inertial frame.
       Returns a const reference to the rotation matrix of the transform from
       the earth centered frame to the inertial frame (ECEF to ECI). */
-  const FGMatrix33& GetTec2i(double epa);
+  const FGMatrix33& GetTec2i(void);
+
+  const FGMatrix33& GetTi2l(void) const {return mTi2l;}
+
+  const FGMatrix33& GetTl2i(void) const {return mTl2i;}
 
   /** Conversion from Local frame coordinates to a location in the
       earth centered and fixed frame.
@@ -354,14 +376,14 @@ public:
       Return the value of the matrix entry at the given index.
       Indices are counted starting with 1.
       Note that the index given in the argument is unchecked. */
-  double operator()(unsigned int idx) const { return Entry(idx); }
+  double operator()(unsigned int idx) const { return mECLoc.Entry(idx); }
 
   /** Write access the entries of the vector.
       @param idx the component index.
       @return a reference to the vector entry at the given index.
       Indices are counted starting with 1.
       Note that the index given in the argument is unchecked. */
-  double& operator()(unsigned int idx) { return Entry(idx); }
+  double& operator()(unsigned int idx) { mCacheValid = false; return mECLoc.Entry(idx); }
 
   /** Read access the entries of the vector.
       @param idx the component index.
@@ -385,6 +407,12 @@ public:
     mCacheValid = false; return mECLoc.Entry(idx);
   }
 
+  /** Sets this location via the supplied vector.
+      The location can be set by an Earth-centered, Earth-fixed (ECEF) frame
+      position vector. The cache is marked as invalid, so any future requests
+      for selected important data will cause the parameters to be calculated.
+      @param v the ECEF column vector in feet. 
+      @return a reference to the FGLocation object. */
   const FGLocation& operator=(const FGColumnVector3& v)
   {
     mECLoc(eX) = v(eX);
@@ -395,6 +423,9 @@ public:
     return *this;
   }
 
+  /** Sets this location via the supplied location object.
+      @param v A location object reference. 
+      @return a reference to the FGLocation object. */
   const FGLocation& operator=(const FGLocation& l)
   {
     mECLoc = l.mECLoc;
@@ -422,31 +453,47 @@ public:
 
     return *this;
   }
+
+  /** This operator returns true if the ECEF location vectors for the two
+      location objects are equal. */
   bool operator==(const FGLocation& l) const {
     return mECLoc == l.mECLoc;
   }
+
+  /** This operator returns true if the ECEF location vectors for the two
+      location objects are not equal. */
   bool operator!=(const FGLocation& l) const { return ! operator==(l); }
+
+  /** This operator adds the ECEF position vectors.
+      The supplied vector (right side) is added to the ECEF position vector
+      on the left side of the equality, and a pointer to this object is
+      returned. */
   const FGLocation& operator+=(const FGLocation &l) {
     mCacheValid = false;
     mECLoc += l.mECLoc;
     return *this;
   }
+
   const FGLocation& operator-=(const FGLocation &l) {
     mCacheValid = false;
     mECLoc -= l.mECLoc;
     return *this;
   }
+
   const FGLocation& operator*=(double scalar) {
     mCacheValid = false;
     mECLoc *= scalar;
     return *this;
   }
+
   const FGLocation& operator/=(double scalar) {
     return operator*=(1.0/scalar);
   }
+
   FGLocation operator+(const FGLocation& l) const {
     return FGLocation(mECLoc + l.mECLoc);
   }
+
   FGLocation operator-(const FGLocation& l) const {
     return FGLocation(mECLoc - l.mECLoc);
   }
@@ -500,7 +547,11 @@ private:
   mutable FGMatrix33 mTec2l;
   mutable FGMatrix33 mTi2ec;
   mutable FGMatrix33 mTec2i;
-  
+  mutable FGMatrix33 mTi2l;
+  mutable FGMatrix33 mTl2i;
+
+  double epa;
+
   /* Terms for geodetic latitude calculation. Values are from WGS84 model */
   double a;    // Earth semimajor axis in feet (6,378,137.0 meters)
   double b;    // Earth semiminor axis in feet (6,356,752.3142 meters)

diff --git a/src/FDM/JSBSim/math/FGMatrix33.cpp b/src/FDM/JSBSim/math/FGMatrix33.cpp
index 5eccfdfce13576107bd707316b10c1c8bbc12393..379b370048469bdf569c156b4a2f29a6fed7c345 100644 (file)
--- a/src/FDM/JSBSim/math/FGMatrix33.cpp
+++ b/src/FDM/JSBSim/math/FGMatrix33.cpp
@@ -48,7 +48,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGMatrix33.cpp,v 1.10 2010/07/01 23:13:19 jberndt Exp $";
 static const char *IdHdr = ID_MATRIX33;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -70,20 +70,94 @@ FGMatrix33::FGMatrix33(void)
 string FGMatrix33::Dump(const string& delimiter) const
 {
   ostringstream buffer;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(1,1) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(1,2) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(1,3) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(2,1) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(2,2) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(2,3) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(3,1) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(3,2) << delimiter;
-  buffer << std::setw(18) << std::setprecision(16) << Entry(3,3);
+  buffer << setw(12) << setprecision(10) << data[0] << delimiter;
+  buffer << setw(12) << setprecision(10) << data[3] << delimiter;
+  buffer << setw(12) << setprecision(10) << data[6] << delimiter;
+  buffer << setw(12) << setprecision(10) << data[1] << delimiter;
+  buffer << setw(12) << setprecision(10) << data[4] << delimiter;
+  buffer << setw(12) << setprecision(10) << data[7] << delimiter;
+  buffer << setw(12) << setprecision(10) << data[2] << delimiter;
+  buffer << setw(12) << setprecision(10) << data[5] << delimiter;
+  buffer << setw(12) << setprecision(10) << data[8];
   return buffer.str();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+string FGMatrix33::Dump(const string& delimiter, const string& prefix) const
+{
+  ostringstream buffer;
+
+  buffer << prefix << right << fixed << setw(9) << setprecision(6) << data[0] << delimiter;
+  buffer << right << fixed << setw(9) << setprecision(6) << data[3] << delimiter;
+  buffer << right << fixed << setw(9) << setprecision(6) << data[6] << endl;
+
+  buffer << prefix << right << fixed << setw(9) << setprecision(6) << data[1] << delimiter;
+  buffer << right << fixed << setw(9) << setprecision(6) << data[4] << delimiter;
+  buffer << right << fixed << setw(9) << setprecision(6) << data[7] << endl;
+
+  buffer << prefix << right << fixed << setw(9) << setprecision(6) << data[2] << delimiter;
+  buffer << right << fixed << setw(9) << setprecision(6) << data[5] << delimiter;
+  buffer << right << fixed << setw(9) << setprecision(6) << data[8];
+
+  buffer << setw(0) << left;
+
+  return buffer.str();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGQuaternion FGMatrix33::GetQuaternion(void)
+{
+  FGQuaternion Q;
+
+  double tempQ[4];
+  int idx;
+
+  tempQ[0] = 1.0 + data[0] + data[4] + data[8];
+  tempQ[1] = 1.0 + data[0] - data[4] - data[8];
+  tempQ[2] = 1.0 - data[0] + data[4] - data[8];
+  tempQ[3] = 1.0 - data[0] - data[4] + data[8];
+
+  // Find largest of the above
+  idx = 0;
+  for (int i=1; i<4; i++) if (tempQ[i] > tempQ[idx]) idx = i; 
+
+  switch(idx) {
+    case 0:
+      Q(1) = 0.50*sqrt(tempQ[0]);
+      Q(2) = 0.25*(data[7] - data[5])/Q(1);
+      Q(3) = 0.25*(data[2] - data[6])/Q(1);
+      Q(4) = 0.25*(data[3] - data[1])/Q(1);
+      break;
+    case 1:
+      Q(2) = 0.50*sqrt(tempQ[1]);
+      Q(1) = 0.25*(data[7] - data[5])/Q(2);
+      Q(3) = 0.25*(data[3] + data[1])/Q(2);
+      Q(4) = 0.25*(data[2] + data[6])/Q(2);
+      break;
+    case 2:
+      Q(3) = 0.50*sqrt(tempQ[2]);
+      Q(1) = 0.25*(data[2] - data[6])/Q(3);
+      Q(2) = 0.25*(data[3] + data[1])/Q(3);
+      Q(4) = 0.25*(data[7] + data[5])/Q(3);
+      break;
+    case 3:
+      Q(4) = 0.50*sqrt(tempQ[3]);
+      Q(1) = 0.25*(data[3] - data[1])/Q(4);
+      Q(2) = 0.25*(data[6] + data[2])/Q(4);
+      Q(3) = 0.25*(data[7] + data[5])/Q(4);
+      break;
+    default:
+      //error
+      break;
+  }
+
+  return (Q);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 ostream& operator<<(ostream& os, const FGMatrix33& M)
 {
   for (unsigned int i=1; i<=M.Rows(); i++) {
@@ -112,9 +186,9 @@ istream& operator>>(istream& is, FGMatrix33& M)
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 double FGMatrix33::Determinant(void) const {
-  return Entry(1,1)*Entry(2,2)*Entry(3,3) + Entry(1,2)*Entry(2,3)*Entry(3,1)
-    + Entry(1,3)*Entry(2,1)*Entry(3,2) - Entry(1,3)*Entry(2,2)*Entry(3,1)
-    - Entry(1,2)*Entry(2,1)*Entry(3,3) - Entry(2,3)*Entry(3,2)*Entry(1,1);
+  return data[0]*data[4]*data[8] + data[3]*data[7]*data[2]
+       + data[6]*data[1]*data[5] - data[6]*data[4]*data[2]
+       - data[3]*data[1]*data[8] - data[7]*data[5]*data[0];
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -123,21 +197,28 @@ FGMatrix33 FGMatrix33::Inverse(void) const {
   // Compute the inverse of a general matrix using Cramers rule.
   // I guess googling for cramers rule gives tons of references
   // for this. :)
-  double rdet = 1.0/Determinant();
-
-  double i11 = rdet*(Entry(2,2)*Entry(3,3)-Entry(2,3)*Entry(3,2));
-  double i21 = rdet*(Entry(2,3)*Entry(3,1)-Entry(2,1)*Entry(3,3));
-  double i31 = rdet*(Entry(2,1)*Entry(3,2)-Entry(2,2)*Entry(3,1));
-  double i12 = rdet*(Entry(1,3)*Entry(3,2)-Entry(1,2)*Entry(3,3));
-  double i22 = rdet*(Entry(1,1)*Entry(3,3)-Entry(1,3)*Entry(3,1));
-  double i32 = rdet*(Entry(1,2)*Entry(3,1)-Entry(1,1)*Entry(3,2));
-  double i13 = rdet*(Entry(1,2)*Entry(2,3)-Entry(1,3)*Entry(2,2));
-  double i23 = rdet*(Entry(1,3)*Entry(2,1)-Entry(1,1)*Entry(2,3));
-  double i33 = rdet*(Entry(1,1)*Entry(2,2)-Entry(1,2)*Entry(2,1));
-
-  return FGMatrix33( i11, i12, i13,
-                     i21, i22, i23,
-                     i31, i32, i33 );
+
+  if (Determinant() != 0.0) {
+    double rdet = 1.0/Determinant();
+
+    double i11 = rdet*(data[4]*data[8]-data[7]*data[5]);
+    double i21 = rdet*(data[7]*data[2]-data[1]*data[8]);
+    double i31 = rdet*(data[1]*data[5]-data[4]*data[2]);
+    double i12 = rdet*(data[6]*data[5]-data[3]*data[8]);
+    double i22 = rdet*(data[0]*data[8]-data[6]*data[2]);
+    double i32 = rdet*(data[3]*data[2]-data[0]*data[5]);
+    double i13 = rdet*(data[3]*data[7]-data[6]*data[4]);
+    double i23 = rdet*(data[6]*data[1]-data[0]*data[7]);
+    double i33 = rdet*(data[0]*data[4]-data[3]*data[1]);
+
+    return FGMatrix33( i11, i12, i13,
+                       i21, i22, i23,
+                       i31, i32, i33 );
+  } else {
+    return FGMatrix33( 0, 0, 0,
+                       0, 0, 0,
+                       0, 0, 0 );
+  }
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -154,15 +235,15 @@ void FGMatrix33::InitMatrix(void)
 
 FGMatrix33 FGMatrix33::operator-(const FGMatrix33& M) const
 {
-  return FGMatrix33( Entry(1,1) - M(1,1),
-                     Entry(1,2) - M(1,2),
-                     Entry(1,3) - M(1,3),
-                     Entry(2,1) - M(2,1),
-                     Entry(2,2) - M(2,2),
-                     Entry(2,3) - M(2,3),
-                     Entry(3,1) - M(3,1),
-                     Entry(3,2) - M(3,2),
-                     Entry(3,3) - M(3,3) );
+  return FGMatrix33( data[0] - M.data[0],
+                     data[3] - M.data[3],
+                     data[6] - M.data[6],
+                     data[1] - M.data[1],
+                     data[4] - M.data[4],
+                     data[7] - M.data[7],
+                     data[2] - M.data[2],
+                     data[5] - M.data[5],
+                     data[8] - M.data[8] );
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -186,30 +267,30 @@ FGMatrix33& FGMatrix33::operator-=(const FGMatrix33 &M)
 
 FGMatrix33 FGMatrix33::operator+(const FGMatrix33& M) const
 {
-  return FGMatrix33( Entry(1,1) + M(1,1),
-                     Entry(1,2) + M(1,2),
-                     Entry(1,3) + M(1,3),
-                     Entry(2,1) + M(2,1),
-                     Entry(2,2) + M(2,2),
-                     Entry(2,3) + M(2,3),
-                     Entry(3,1) + M(3,1),
-                     Entry(3,2) + M(3,2),
-                     Entry(3,3) + M(3,3) );
+  return FGMatrix33( data[0] + M.data[0],
+                     data[3] + M.data[3],
+                     data[6] + M.data[6],
+                     data[1] + M.data[1],
+                     data[4] + M.data[4],
+                     data[7] + M.data[7],
+                     data[2] + M.data[2],
+                     data[5] + M.data[5],
+                     data[8] + M.data[8] );
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGMatrix33& FGMatrix33::operator+=(const FGMatrix33 &M)
 {
-  Entry(1,1) += M(1,1);
-  Entry(1,2) += M(1,2);
-  Entry(1,3) += M(1,3);
-  Entry(2,1) += M(2,1);
-  Entry(2,2) += M(2,2);
-  Entry(2,3) += M(2,3);
-  Entry(3,1) += M(3,1);
-  Entry(3,2) += M(3,2);
-  Entry(3,3) += M(3,3);
+  data[0] += M.data[0];
+  data[3] += M.data[3];
+  data[6] += M.data[6];
+  data[1] += M.data[1];
+  data[4] += M.data[4];
+  data[7] += M.data[7];
+  data[2] += M.data[2];
+  data[5] += M.data[5];
+  data[8] += M.data[8];
 
   return *this;
 }
@@ -218,19 +299,19 @@ FGMatrix33& FGMatrix33::operator+=(const FGMatrix33 &M)
 
 FGMatrix33 FGMatrix33::operator*(const double scalar) const
 {
-  return FGMatrix33( scalar * Entry(1,1),
-                     scalar * Entry(1,2),
-                     scalar * Entry(1,3),
-                     scalar * Entry(2,1),
-                     scalar * Entry(2,2),
-                     scalar * Entry(2,3),
-                     scalar * Entry(3,1),
-                     scalar * Entry(3,2),
-                     scalar * Entry(3,3) );
+  return FGMatrix33( scalar * data[0],
+                     scalar * data[3],
+                     scalar * data[6],
+                     scalar * data[1],
+                     scalar * data[4],
+                     scalar * data[7],
+                     scalar * data[2],
+                     scalar * data[5],
+                     scalar * data[8] );
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+/*
 FGMatrix33 operator*(double scalar, FGMatrix33 &M)
 {
   return FGMatrix33( scalar * M(1,1),
@@ -243,20 +324,20 @@ FGMatrix33 operator*(double scalar, FGMatrix33 &M)
                      scalar * M(3,2),
                      scalar * M(3,3) );
 }
-
+*/
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGMatrix33& FGMatrix33::operator*=(const double scalar)
 {
-  Entry(1,1) *= scalar;
-  Entry(1,2) *= scalar;
-  Entry(1,3) *= scalar;
-  Entry(2,1) *= scalar;
-  Entry(2,2) *= scalar;
-  Entry(2,3) *= scalar;
-  Entry(3,1) *= scalar;
-  Entry(3,2) *= scalar;
-  Entry(3,3) *= scalar;
+  data[0] *= scalar;
+  data[3] *= scalar;
+  data[6] *= scalar;
+  data[1] *= scalar;
+  data[4] *= scalar;
+  data[7] *= scalar;
+  data[2] *= scalar;
+  data[5] *= scalar;
+  data[8] *= scalar;
 
   return *this;
 }
@@ -265,18 +346,17 @@ FGMatrix33& FGMatrix33::operator*=(const double scalar)
 
 FGMatrix33 FGMatrix33::operator*(const FGMatrix33& M) const
 {
-  // FIXME: Make compiler friendlier
   FGMatrix33 Product;
 
-  Product(1,1) = Entry(1,1)*M(1,1) + Entry(1,2)*M(2,1) + Entry(1,3)*M(3,1);
-  Product(1,2) = Entry(1,1)*M(1,2) + Entry(1,2)*M(2,2) + Entry(1,3)*M(3,2);
-  Product(1,3) = Entry(1,1)*M(1,3) + Entry(1,2)*M(2,3) + Entry(1,3)*M(3,3);
-  Product(2,1) = Entry(2,1)*M(1,1) + Entry(2,2)*M(2,1) + Entry(2,3)*M(3,1);
-  Product(2,2) = Entry(2,1)*M(1,2) + Entry(2,2)*M(2,2) + Entry(2,3)*M(3,2);
-  Product(2,3) = Entry(2,1)*M(1,3) + Entry(2,2)*M(2,3) + Entry(2,3)*M(3,3);
-  Product(3,1) = Entry(3,1)*M(1,1) + Entry(3,2)*M(2,1) + Entry(3,3)*M(3,1);
-  Product(3,2) = Entry(3,1)*M(1,2) + Entry(3,2)*M(2,2) + Entry(3,3)*M(3,2);
-  Product(3,3) = Entry(3,1)*M(1,3) + Entry(3,2)*M(2,3) + Entry(3,3)*M(3,3);
+  Product.data[0] = data[0]*M.data[0] + data[3]*M.data[1] + data[6]*M.data[2];
+  Product.data[3] = data[0]*M.data[3] + data[3]*M.data[4] + data[6]*M.data[5];
+  Product.data[6] = data[0]*M.data[6] + data[3]*M.data[7] + data[6]*M.data[8];
+  Product.data[1] = data[1]*M.data[0] + data[4]*M.data[1] + data[7]*M.data[2];
+  Product.data[4] = data[1]*M.data[3] + data[4]*M.data[4] + data[7]*M.data[5];
+  Product.data[7] = data[1]*M.data[6] + data[4]*M.data[7] + data[7]*M.data[8];
+  Product.data[2] = data[2]*M.data[0] + data[5]*M.data[1] + data[8]*M.data[2];
+  Product.data[5] = data[2]*M.data[3] + data[5]*M.data[4] + data[8]*M.data[5];
+  Product.data[8] = data[2]*M.data[6] + data[5]*M.data[7] + data[8]*M.data[8];
 
   return Product;
 }
@@ -288,20 +368,20 @@ FGMatrix33& FGMatrix33::operator*=(const FGMatrix33& M)
   // FIXME: Make compiler friendlier
   double a,b,c;
 
-  a = Entry(1,1); b=Entry(1,2); c=Entry(1,3);
-  Entry(1,1) = a*M(1,1) + b*M(2,1) + c*M(3,1);
-  Entry(1,2) = a*M(1,2) + b*M(2,2) + c*M(3,2);
-  Entry(1,3) = a*M(1,3) + b*M(2,3) + c*M(3,3);
+  a = data[0]; b=data[3]; c=data[6];
+  data[0] = a*M.data[0] + b*M.data[1] + c*M.data[2];
+  data[3] = a*M.data[3] + b*M.data[4] + c*M.data[5];
+  data[6] = a*M.data[6] + b*M.data[7] + c*M.data[8];
 
-  a = Entry(2,1); b=Entry(2,2); c=Entry(2,3);
-  Entry(2,1) = a*M(1,1) + b*M(2,1) + c*M(3,1);
-  Entry(2,2) = a*M(1,2) + b*M(2,2) + c*M(3,2);
-  Entry(2,3) = a*M(1,3) + b*M(2,3) + c*M(3,3);
+  a = data[1]; b=data[4]; c=data[7];
+  data[1] = a*M.data[0] + b*M.data[1] + c*M.data[2];
+  data[4] = a*M.data[3] + b*M.data[4] + c*M.data[5];
+  data[7] = a*M.data[6] + b*M.data[7] + c*M.data[8];
 
-  a = Entry(3,1); b=Entry(3,2); c=Entry(3,3);
-  Entry(3,1) = a*M(1,1) + b*M(2,1) + c*M(3,1);
-  Entry(3,2) = a*M(1,2) + b*M(2,2) + c*M(3,2);
-  Entry(3,3) = a*M(1,3) + b*M(2,3) + c*M(3,3);
+  a = data[2]; b=data[5]; c=data[8];
+  data[2] = a*M.data[0] + b*M.data[1] + c*M.data[2];
+  data[5] = a*M.data[3] + b*M.data[4] + c*M.data[5];
+  data[8] = a*M.data[6] + b*M.data[7] + c*M.data[8];
 
   return *this;
 }
@@ -314,15 +394,15 @@ FGMatrix33 FGMatrix33::operator/(const double scalar) const
 
   if ( scalar != 0 ) {
     double tmp = 1.0/scalar;
-    Quot(1,1) = Entry(1,1) * tmp;
-    Quot(1,2) = Entry(1,2) * tmp;
-    Quot(1,3) = Entry(1,3) * tmp;
-    Quot(2,1) = Entry(2,1) * tmp;
-    Quot(2,2) = Entry(2,2) * tmp;
-    Quot(2,3) = Entry(2,3) * tmp;
-    Quot(3,1) = Entry(3,1) * tmp;
-    Quot(3,2) = Entry(3,2) * tmp;
-    Quot(3,3) = Entry(3,3) * tmp;
+    Quot.data[0] = data[0] * tmp;
+    Quot.data[3] = data[3] * tmp;
+    Quot.data[6] = data[6] * tmp;
+    Quot.data[1] = data[1] * tmp;
+    Quot.data[4] = data[4] * tmp;
+    Quot.data[7] = data[7] * tmp;
+    Quot.data[2] = data[2] * tmp;
+    Quot.data[5] = data[5] * tmp;
+    Quot.data[8] = data[8] * tmp;
   } else {
     MatrixException mE;
     mE.Message = "Attempt to divide by zero in method FGMatrix33::operator/(const double scalar)";
@@ -337,15 +417,15 @@ FGMatrix33& FGMatrix33::operator/=(const double scalar)
 {
   if ( scalar != 0 ) {
     double tmp = 1.0/scalar;
-    Entry(1,1) *= tmp;
-    Entry(1,2) *= tmp;
-    Entry(1,3) *= tmp;
-    Entry(2,1) *= tmp;
-    Entry(2,2) *= tmp;
-    Entry(2,3) *= tmp;
-    Entry(3,1) *= tmp;
-    Entry(3,2) *= tmp;
-    Entry(3,3) *= tmp;
+    data[0] *= tmp;
+    data[3] *= tmp;
+    data[6] *= tmp;
+    data[1] *= tmp;
+    data[4] *= tmp;
+    data[7] *= tmp;
+    data[2] *= tmp;
+    data[5] *= tmp;
+    data[8] *= tmp;
   } else {
     MatrixException mE;
     mE.Message = "Attempt to divide by zero in method FGMatrix33::operator/=(const double scalar)";
@@ -358,29 +438,40 @@ FGMatrix33& FGMatrix33::operator/=(const double scalar)
 
 void FGMatrix33::T(void)
 {
-  for (unsigned int i=1; i<=3; i++) {
-    for (unsigned int j=i+1; j<=3; j++) {
-      double tmp = Entry(i,j);
-      Entry(i,j) = Entry(j,i);
-      Entry(j,i) = tmp;
-    }
-  }
+  double tmp;
+
+  tmp = data[3];
+  data[3] = data[1];
+  data[1] = tmp;
+
+  tmp = data[6];
+  data[6] = data[2];
+  data[2] = tmp;
+
+  tmp = data[7];
+  data[7] = data[5];
+  data[5] = tmp;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGColumnVector3 FGMatrix33::operator*(const FGColumnVector3& v) const {
-  double tmp1 = v(1)*Entry(1,1);
-  double tmp2 = v(1)*Entry(2,1);
-  double tmp3 = v(1)*Entry(3,1);
+FGColumnVector3 FGMatrix33::operator*(const FGColumnVector3& v) const
+{
+  double v1 = v(1);
+  double v2 = v(2);
+  double v3 = v(3);
+
+  double tmp1 = v1*data[0];  //[(col-1)*eRows+row-1]
+  double tmp2 = v1*data[1];
+  double tmp3 = v1*data[2];
 
-  tmp1 += v(2)*Entry(1,2);
-  tmp2 += v(2)*Entry(2,2);
-  tmp3 += v(2)*Entry(3,2);
+  tmp1 += v2*data[3];
+  tmp2 += v2*data[4];
+  tmp3 += v2*data[5];
 
-  tmp1 += v(3)*Entry(1,3);
-  tmp2 += v(3)*Entry(2,3);
-  tmp3 += v(3)*Entry(3,3);
+  tmp1 += v3*data[6];
+  tmp2 += v3*data[7];
+  tmp3 += v3*data[8];
 
   return FGColumnVector3( tmp1, tmp2, tmp3 );
 }

diff --git a/src/FDM/JSBSim/math/FGMatrix33.h b/src/FDM/JSBSim/math/FGMatrix33.h
index d07687ea9808de43b31aaa2c5ef00e4a9d3570d0..7af43031b26d7e52776e15788f9a460b090fd39e 100644 (file)
--- a/src/FDM/JSBSim/math/FGMatrix33.h
+++ b/src/FDM/JSBSim/math/FGMatrix33.h
@@ -50,7 +50,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_MATRIX33 "$Id$"
+#define ID_MATRIX33 "$Id: FGMatrix33.h,v 1.11 2010/06/30 03:13:40 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -59,6 +59,7 @@ FORWARD DECLARATIONS
 namespace JSBSim {
 
 class FGColumnVector3;
+class FGQuaternion;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
@@ -111,17 +112,17 @@ public:
       Create copy of the matrix given in the argument.
    */
   FGMatrix33(const FGMatrix33& M) {
-    Entry(1,1) = M.Entry(1,1);
-    Entry(2,1) = M.Entry(2,1);
-    Entry(3,1) = M.Entry(3,1);
-    Entry(1,2) = M.Entry(1,2);
-    Entry(2,2) = M.Entry(2,2);
-    Entry(3,2) = M.Entry(3,2);
-    Entry(1,3) = M.Entry(1,3);
-    Entry(2,3) = M.Entry(2,3);
-    Entry(3,3) = M.Entry(3,3);
-
-    Debug(0);
+    data[0] = M.data[0];
+    data[1] = M.data[1];
+    data[2] = M.data[2];
+    data[3] = M.data[3];
+    data[4] = M.data[4];
+    data[5] = M.data[5];
+    data[6] = M.data[6];
+    data[7] = M.data[7];
+    data[8] = M.data[8];
+
+//    Debug(0);
   }
 
   /** Initialization by given values.
@@ -141,28 +142,34 @@ public:
   FGMatrix33(double m11, double m12, double m13,
              double m21, double m22, double m23,
              double m31, double m32, double m33) {
-    Entry(1,1) = m11;
-    Entry(2,1) = m21;
-    Entry(3,1) = m31;
-    Entry(1,2) = m12;
-    Entry(2,2) = m22;
-    Entry(3,2) = m32;
-    Entry(1,3) = m13;
-    Entry(2,3) = m23;
-    Entry(3,3) = m33;
-
-    Debug(0);
+    data[0] = m11;
+    data[1] = m21;
+    data[2] = m31;
+    data[3] = m12;
+    data[4] = m22;
+    data[5] = m32;
+    data[6] = m13;
+    data[7] = m23;
+    data[8] = m33;
+
+    // Debug(0);
   }
 
   /** Destructor.
    */
-  ~FGMatrix33(void) { Debug(1); }
+  ~FGMatrix33(void) { /* Debug(1); */ }
 
   /** Prints the contents of the matrix.
       @param delimeter the item separator (tab or comma)
       @return a string with the delimeter-separated contents of the matrix  */
   std::string Dump(const std::string& delimeter) const;
 
+  /** Prints the contents of the matrix.
+      @param delimeter the item separator (tab or comma, etc.)
+      @param prefix an additional prefix that is used to indent the 3X3 matrix printout
+      @return a string with the delimeter-separated contents of the matrix  */
+  std::string Dump(const std::string& delimiter, const std::string& prefix) const;
+
   /** Read access the entries of the matrix.
       @param row Row index.
       @param col Column index.
@@ -171,7 +178,7 @@ public:
       column indices. Indices are counted starting with 1.
    */
   double operator()(unsigned int row, unsigned int col) const {
-    return Entry(row, col);
+    return data[(col-1)*eRows+row-1];
   }
 
   /** Write access the entries of the matrix.
@@ -184,7 +191,7 @@ public:
       column indices. Indices are counted starting with 1.
    */
   double& operator()(unsigned int row, unsigned int col) {
-    return Entry(row, col);
+    return data[(col-1)*eRows+row-1];
   }
 
   /** Read access the entries of the matrix.
@@ -237,9 +244,9 @@ public:
       @return the transposed matrix.
    */
   FGMatrix33 Transposed(void) const {
-    return FGMatrix33( Entry(1,1), Entry(2,1), Entry(3,1),
-                       Entry(1,2), Entry(2,2), Entry(3,2),
-                       Entry(1,3), Entry(2,3), Entry(3,3) );
+    return FGMatrix33( data[0], data[1], data[2],
+                       data[3], data[4], data[5],
+                       data[6], data[7], data[8] );
   }
 
   /** Transposes this matrix.
@@ -258,17 +265,21 @@ public:
   void InitMatrix(double m11, double m12, double m13,
                   double m21, double m22, double m23,
                   double m31, double m32, double m33) {
-    Entry(1,1) = m11;
-    Entry(2,1) = m21;
-    Entry(3,1) = m31;
-    Entry(1,2) = m12;
-    Entry(2,2) = m22;
-    Entry(3,2) = m32;
-    Entry(1,3) = m13;
-    Entry(2,3) = m23;
-    Entry(3,3) = m33;
+    data[0] = m11;
+    data[1] = m21;
+    data[2] = m31;
+    data[3] = m12;
+    data[4] = m22;
+    data[5] = m32;
+    data[6] = m13;
+    data[7] = m23;
+    data[8] = m33;
   }
 
+  /** Returns the quaternion associated with this direction cosine (rotation) matrix.
+  */
+  FGQuaternion GetQuaternion(void);
+  
   /** Determinant of the matrix.
       @return the determinant of the matrix.
    */
@@ -458,4 +469,6 @@ std::istream& operator>>(std::istream& is, FGMatrix33& M);
 
 } // namespace JSBSim
 
+#include "FGQuaternion.h"
+
 #endif

diff --git a/src/FDM/JSBSim/math/FGParameter.h b/src/FDM/JSBSim/math/FGParameter.h
index f1f42a8ed961859ae9db82135b17e9ae59c9aa62..85b43b1af2abb8929f5fd73a2d238f76c78c3a44 100755 (executable)
--- a/src/FDM/JSBSim/math/FGParameter.h
+++ b/src/FDM/JSBSim/math/FGParameter.h
@@ -40,7 +40,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PARAMETER "$Id$"
+#define ID_PARAMETER "$Id: FGParameter.h,v 1.5 2009/08/30 03:51:28 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/math/FGPropertyValue.cpp b/src/FDM/JSBSim/math/FGPropertyValue.cpp
index 111b078c8de475d3bd2ff3109dccb7d3c67aef63..66f89b89a6d9bde03658758e37f728ab7106ee52 100755 (executable)
--- a/src/FDM/JSBSim/math/FGPropertyValue.cpp
+++ b/src/FDM/JSBSim/math/FGPropertyValue.cpp
@@ -32,7 +32,7 @@ INCLUDES
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGPropertyValue.cpp,v 1.4 2009/08/30 03:51:28 jberndt Exp $";
 static const char *IdHdr = ID_PROPERTYVALUE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/math/FGPropertyValue.h b/src/FDM/JSBSim/math/FGPropertyValue.h
index 82803f55818e6cd2f1600829ef9e75eb50f5dec5..3466c66ba4e7cd52cad76c6b3daba56258784a62 100755 (executable)
--- a/src/FDM/JSBSim/math/FGPropertyValue.h
+++ b/src/FDM/JSBSim/math/FGPropertyValue.h
@@ -41,7 +41,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PROPERTYVALUE "$Id$"
+#define ID_PROPERTYVALUE "$Id: FGPropertyValue.h,v 1.6 2009/10/02 10:30:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/math/FGQuaternion.cpp b/src/FDM/JSBSim/math/FGQuaternion.cpp
index 74b63d8884848826f8e671e8b68dd6ed849bd19e..07868cfa0b0b58905efbdb807f79fe4079b8bcf0 100644 (file)
--- a/src/FDM/JSBSim/math/FGQuaternion.cpp
+++ b/src/FDM/JSBSim/math/FGQuaternion.cpp
@@ -40,6 +40,7 @@ SENTRY
 
 #include <string>
 #include <iostream>
+#include <iomanip>
 #include <cmath>
 using std::cerr;
 using std::cout;
@@ -56,18 +57,18 @@ using std::endl;
 
 namespace JSBSim {
   
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGQuaternion.cpp,v 1.16 2010/06/30 03:13:40 jberndt Exp $";
 static const char *IdHdr = ID_QUATERNION;
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 // Initialize from q
-FGQuaternion::FGQuaternion(const FGQuaternion& q)
-  : mCacheValid(q.mCacheValid) {
-  Entry(1) = q(1);
-  Entry(2) = q(2);
-  Entry(3) = q(3);
-  Entry(4) = q(4);
+FGQuaternion::FGQuaternion(const FGQuaternion& q) : mCacheValid(q.mCacheValid)
+{
+  data[0] = q(1);
+  data[1] = q(2);
+  data[2] = q(3);
+  data[3] = q(4);
   if (mCacheValid) {
     mT = q.mT;
     mTInv = q.mTInv;
@@ -80,8 +81,36 @@ FGQuaternion::FGQuaternion(const FGQuaternion& q)
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 // Initialize with the three euler angles
-FGQuaternion::FGQuaternion(double phi, double tht, double psi)
-  : mCacheValid(false) {
+FGQuaternion::FGQuaternion(double phi, double tht, double psi): mCacheValid(false)
+{
+  InitializeFromEulerAngles(phi, tht, psi);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGQuaternion::FGQuaternion(FGColumnVector3 vOrient): mCacheValid(false)
+{
+  double phi = vOrient(ePhi);
+  double tht = vOrient(eTht);
+  double psi = vOrient(ePsi);
+
+  InitializeFromEulerAngles(phi, tht, psi);
+}
+ 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//
+// This function computes the quaternion that describes the relationship of the
+// body frame with respect to another frame, such as the ECI or ECEF frames. The
+// Euler angles used represent a 3-2-1 (psi, theta, phi) rotation sequence from
+// the reference frame to the body frame. See "Quaternions and Rotation
+// Sequences", Jack B. Kuipers, sections 9.2 and 7.6. 
+
+void FGQuaternion::InitializeFromEulerAngles(double phi, double tht, double psi)
+{
+  mEulerAngles(ePhi) = phi;
+  mEulerAngles(eTht) = tht;
+  mEulerAngles(ePsi) = psi;
+
   double thtd2 = 0.5*tht;
   double psid2 = 0.5*psi;
   double phid2 = 0.5*phi;
@@ -99,10 +128,27 @@ FGQuaternion::FGQuaternion(double phi, double tht, double psi)
   double Sphid2Sthtd2 = Sphid2*Sthtd2;
   double Sphid2Cthtd2 = Sphid2*Cthtd2;
   
-  Entry(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
-  Entry(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
-  Entry(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
-  Entry(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
+  data[0] = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
+  data[1] = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
+  data[2] = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
+  data[3] = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
+
+  Normalize();
+}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Initialize with a direction cosine (rotation) matrix
+
+FGQuaternion::FGQuaternion(const FGMatrix33& m) : mCacheValid(false)
+{
+  data[0] = 0.50*sqrt(1.0 + m(1,1) + m(2,2) + m(3,3));
+  double t = 0.25/data[0];
+  data[1] = t*(m(2,3) - m(3,2));
+  data[2] = t*(m(3,1) - m(1,3));
+  data[3] = t*(m(1,2) - m(2,1));
+
+  ComputeDerivedUnconditional();
+
+  Normalize();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -111,37 +157,32 @@ FGQuaternion::FGQuaternion(double phi, double tht, double psi)
     angular velocities PQR.
     See Stevens and Lewis, "Aircraft Control and Simulation", Second Edition,
     Equation 1.3-36. 
+    Also see Jack Kuipers, "Quaternions and Rotation Sequences", Equation 11.12.
 */
-FGQuaternion FGQuaternion::GetQDot(const FGColumnVector3& PQR) const {
-  double norm = Magnitude();
-  if (norm == 0.0)
-    return FGQuaternion::zero();
-  double rnorm = 1.0/norm;
-
-  FGQuaternion QDot;
-  QDot(1) = -0.5*(Entry(2)*PQR(eP) + Entry(3)*PQR(eQ) + Entry(4)*PQR(eR));
-  QDot(2) =  0.5*(Entry(1)*PQR(eP) + Entry(3)*PQR(eR) - Entry(4)*PQR(eQ));
-  QDot(3) =  0.5*(Entry(1)*PQR(eQ) + Entry(4)*PQR(eP) - Entry(2)*PQR(eR));
-  QDot(4) =  0.5*(Entry(1)*PQR(eR) + Entry(2)*PQR(eQ) - Entry(3)*PQR(eP));
-  return rnorm*QDot;
+FGQuaternion FGQuaternion::GetQDot(const FGColumnVector3& PQR)
+{
+  return FGQuaternion(
+    -0.5*( data[1]*PQR(eP) + data[2]*PQR(eQ) + data[3]*PQR(eR)),
+     0.5*( data[0]*PQR(eP) - data[3]*PQR(eQ) + data[2]*PQR(eR)),
+     0.5*( data[3]*PQR(eP) + data[0]*PQR(eQ) - data[1]*PQR(eR)),
+     0.5*(-data[2]*PQR(eP) + data[1]*PQR(eQ) + data[0]*PQR(eR))
+  );
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGQuaternion::Normalize()
 {
-  // Note: this does not touch the cache
-  // since it does not change the orientation ...
-  
+  // Note: this does not touch the cache since it does not change the orientation
   double norm = Magnitude();
-  if (norm == 0.0)
-    return;
-  
+  if (norm == 0.0 || fabs(norm - 1.000) < 1e-10) return;
+
   double rnorm = 1.0/norm;
-  Entry(1) *= rnorm;
-  Entry(2) *= rnorm;
-  Entry(3) *= rnorm;
-  Entry(4) *= rnorm;
+
+  data[0] *= rnorm;
+  data[1] *= rnorm;
+  data[2] *= rnorm;
+  data[3] *= rnorm;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -150,45 +191,42 @@ void FGQuaternion::Normalize()
 void FGQuaternion::ComputeDerivedUnconditional(void) const
 {
   mCacheValid = true;
-  
-  // First normalize the 4-vector
-  double norm = Magnitude();
-  if (norm == 0.0)
-    return;
 
-  double rnorm = 1.0/norm;
-  double q1 = rnorm*Entry(1);
-  double q2 = rnorm*Entry(2);
-  double q3 = rnorm*Entry(3);
-  double q4 = rnorm*Entry(4);
+  double q0 = data[0]; // use some aliases/shorthand for the quat elements.
+  double q1 = data[1];
+  double q2 = data[2];
+  double q3 = data[3];
 
   // Now compute the transformation matrix.
+  double q0q0 = q0*q0;
   double q1q1 = q1*q1;
   double q2q2 = q2*q2;
   double q3q3 = q3*q3;
-  double q4q4 = q4*q4;
+  double q0q1 = q0*q1;
+  double q0q2 = q0*q2;
+  double q0q3 = q0*q3;
   double q1q2 = q1*q2;
   double q1q3 = q1*q3;
-  double q1q4 = q1*q4;
   double q2q3 = q2*q3;
-  double q2q4 = q2*q4;
-  double q3q4 = q3*q4;
   
-  mT(1,1) = q1q1 + q2q2 - q3q3 - q4q4;
-  mT(1,2) = 2.0*(q2q3 + q1q4);
-  mT(1,3) = 2.0*(q2q4 - q1q3);
-  mT(2,1) = 2.0*(q2q3 - q1q4);
-  mT(2,2) = q1q1 - q2q2 + q3q3 - q4q4;
-  mT(2,3) = 2.0*(q3q4 + q1q2);
-  mT(3,1) = 2.0*(q2q4 + q1q3);
-  mT(3,2) = 2.0*(q3q4 - q1q2);
-  mT(3,3) = q1q1 - q2q2 - q3q3 + q4q4;
-  // Since this is an orthogonal matrix, the inverse is simply
-  // the transpose.
+  mT(1,1) = q0q0 + q1q1 - q2q2 - q3q3; // This is found from Eqn. 1.3-32 in
+  mT(1,2) = 2.0*(q1q2 + q0q3);         // Stevens and Lewis
+  mT(1,3) = 2.0*(q1q3 - q0q2);
+  mT(2,1) = 2.0*(q1q2 - q0q3);
+  mT(2,2) = q0q0 - q1q1 + q2q2 - q3q3;
+  mT(2,3) = 2.0*(q2q3 + q0q1);
+  mT(3,1) = 2.0*(q1q3 + q0q2);
+  mT(3,2) = 2.0*(q2q3 - q0q1);
+  mT(3,3) = q0q0 - q1q1 - q2q2 + q3q3;
+
+  // Since this is an orthogonal matrix, the inverse is simply the transpose.
+
   mTInv = mT;
   mTInv.T();
   
   // Compute the Euler-angles
+  // Also see Jack Kuipers, "Quaternions and Rotation Sequences", section 7.8..
+
   if (mT(3,3) == 0.0)
     mEulerAngles(ePhi) = 0.5*M_PI;
   else
@@ -218,6 +256,55 @@ void FGQuaternion::ComputeDerivedUnconditional(void) const
   mEulerCosines(ePhi) = cos(mEulerAngles(ePhi));
   mEulerCosines(eTht) = cos(mEulerAngles(eTht));
   mEulerCosines(ePsi) = cos(mEulerAngles(ePsi));
+
+//  Debug(2);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//    The bitmasked value choices are as follows:
+//    unset: In this case (the default) JSBSim would only print
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
+
+void FGQuaternion::Debug(int from) const
+{
+  if (debug_lvl <= 0) return;
+
+  if (debug_lvl & 1) { // Standard console startup message output
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGQuaternion" << endl;
+    if (from == 1) cout << "Destroyed:    FGQuaternion" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
+    if (!EqualToRoundoff(Magnitude(), 1.0)) {
+      cout << "Quaternion magnitude differs from 1.0 !" << endl;
+      cout << "\tdelta from 1.0: " << std::scientific << Magnitude()-1.0 << endl;
+    }
+  }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
 }
 
 } // namespace JSBSim

diff --git a/src/FDM/JSBSim/math/FGQuaternion.h b/src/FDM/JSBSim/math/FGQuaternion.h
index 73c0e009a0833807242b1d1efb87e284caee9c62..104a52f39a5301ef9ba71bfc0d13d337e5aa5616 100644 (file)
--- a/src/FDM/JSBSim/math/FGQuaternion.h
+++ b/src/FDM/JSBSim/math/FGQuaternion.h
@@ -41,18 +41,18 @@ SENTRY
   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGJSBBase.h"
-#include "FGMatrix33.h"
 #include "FGColumnVector3.h"
-#include "input_output/FGPropertyManager.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   DEFINITIONS
   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_QUATERNION "$Id$"
+#define ID_QUATERNION "$Id: FGQuaternion.h,v 1.17 2010/06/30 03:13:40 jberndt Exp $"
 
 namespace JSBSim {
 
+class FGMatrix33;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   CLASS DOCUMENTATION
   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -88,14 +88,13 @@ namespace JSBSim {
   CLASS DECLARATION
   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGQuaternion
-  : virtual FGJSBBase {
+class FGQuaternion : virtual FGJSBBase {
 public:
   /** Default initializer.
       Default initializer, initializes the class with the identity rotation.  */
   FGQuaternion() : mCacheValid(false) {
-    Entry(1) = 1.0;
-    Entry(2) = Entry(3) = Entry(4) = 0.0;
+    data[0] = 1.0;
+    data[1] = data[2] = data[3] = 0.0;
   }
 
   /** Copy constructor.
@@ -110,6 +109,11 @@ public:
       @param psi The euler Z axis (heading) angle in radians  */
   FGQuaternion(double phi, double tht, double psi);
 
+  /** Initializer by euler angle vector.
+      Initialize the quaternion with the euler angle vector.
+      @param vOrient The euler axis angle vector in radians (phi, tht, psi) */
+  FGQuaternion(FGColumnVector3 vOrient);
+
   /** Initializer by one euler angle.
       Initialize the quaternion with the single euler angle where its index
       is given in the first argument.
@@ -117,43 +121,50 @@ public:
       @param angle The euler angle in radians  */
   FGQuaternion(int idx, double angle)
     : mCacheValid(false) {
+
     double angle2 = 0.5*angle;
 
     double Sangle2 = sin(angle2);
     double Cangle2 = cos(angle2);
 
     if (idx == ePhi) {
-      Entry(1) = Cangle2;
-      Entry(2) = Sangle2;
-      Entry(3) = 0.0;
-      Entry(4) = 0.0;
+      data[0] = Cangle2;
+      data[1] = Sangle2;
+      data[2] = 0.0;
+      data[3] = 0.0;
 
     } else if (idx == eTht) {
-      Entry(1) = Cangle2;
-      Entry(2) = 0.0;
-      Entry(3) = Sangle2;
-      Entry(4) = 0.0;
+      data[0] = Cangle2;
+      data[1] = 0.0;
+      data[2] = Sangle2;
+      data[3] = 0.0;
 
     } else {
-      Entry(1) = Cangle2;
-      Entry(2) = 0.0;
-      Entry(3) = 0.0;
-      Entry(4) = Sangle2;
+      data[0] = Cangle2;
+      data[1] = 0.0;
+      data[2] = 0.0;
+      data[3] = Sangle2;
 
     }
   }
 
+  /** Initializer by matrix.
+      Initialize the quaternion with the matrix representing a transform from one frame
+      to another using the standard aerospace sequence, Yaw-Pitch-Roll (3-2-1).
+      @param m the rotation matrix */
+  FGQuaternion(const FGMatrix33& m);
+
   /// Destructor.
   ~FGQuaternion() {}
 
   /** Quaternion derivative for given angular rates.
       Computes the quaternion derivative which results from the given
       angular velocities
-      @param PQR a constant reference to the body rate vector
+      @param PQR a constant reference to a rotation rate vector
       @return the quaternion derivative
       @see Stevens and Lewis, "Aircraft Control and Simulation", Second Edition,
            Equation 1.3-36. */
-  FGQuaternion GetQDot(const FGColumnVector3& PQR) const;
+  FGQuaternion GetQDot(const FGColumnVector3& PQR);
 
   /** Transformation matrix.
       @return a reference to the transformation/rotation matrix
@@ -220,7 +231,7 @@ public:
 
       Note that the index given in the argument is unchecked.
    */
-  double operator()(unsigned int idx) const { return Entry(idx); }
+  double operator()(unsigned int idx) const { return data[idx-1]; }
 
   /** Write access the entries of the vector.
 
@@ -231,7 +242,7 @@ public:
 
       Note that the index given in the argument is unchecked.
    */
-  double& operator()(unsigned int idx) { return Entry(idx); }
+  double& operator()(unsigned int idx) { mCacheValid = false; return data[idx-1]; }
 
   /** Read access the entries of the vector.
 
@@ -246,7 +257,7 @@ public:
 
       Note that the index given in the argument is unchecked.
   */
-  double Entry(unsigned int idx) const { return mData[idx-1]; }
+  double Entry(unsigned int idx) const { return data[idx-1]; }
 
   /** Write access the entries of the vector.
 
@@ -261,7 +272,10 @@ public:
 
       Note that the index given in the argument is unchecked.
   */
-  double& Entry(unsigned int idx) { mCacheValid = false; return mData[idx-1]; }
+  double& Entry(unsigned int idx) {
+    mCacheValid = false;
+   return data[idx-1];
+  }
 
   /** Assignment operator "=".
       Assign the value of q to the current object. Cached values are
@@ -270,10 +284,11 @@ public:
       @return reference to a quaternion object  */
   const FGQuaternion& operator=(const FGQuaternion& q) {
     // Copy the master values ...
-    Entry(1) = q(1);
-    Entry(2) = q(2);
-    Entry(3) = q(3);
-    Entry(4) = q(4);
+    data[0] = q(1);
+    data[1] = q(2);
+    data[2] = q(3);
+    data[3] = q(4);
+    ComputeDerived();
     // .. and copy the derived values if they are valid
     mCacheValid = q.mCacheValid;
     if (mCacheValid) {
@@ -286,12 +301,15 @@ public:
     return *this;
   }
 
+  /// Conversion from Quat to Matrix
+  operator FGMatrix33() const { return GetT(); }
+
   /** Comparison operator "==".
       @param q a quaternion reference
       @return true if both quaternions represent the same rotation.  */
   bool operator==(const FGQuaternion& q) const {
-    return Entry(1) == q(1) && Entry(2) == q(2)
-      && Entry(3) == q(3) && Entry(4) == q(4);
+    return data[0] == q(1) && data[1] == q(2)
+      && data[2] == q(3) && data[3] == q(4);
   }
 
   /** Comparison operator "!=".
@@ -300,10 +318,10 @@ public:
   bool operator!=(const FGQuaternion& q) const { return ! operator==(q); }
   const FGQuaternion& operator+=(const FGQuaternion& q) {
     // Copy the master values ...
-    Entry(1) += q(1);
-    Entry(2) += q(2);
-    Entry(3) += q(3);
-    Entry(4) += q(4);
+    data[0] += q(1);
+    data[1] += q(2);
+    data[2] += q(3);
+    data[3] += q(4);
     mCacheValid = false;
     return *this;
   }
@@ -313,10 +331,10 @@ public:
       @return a quaternion reference representing Q, where Q = Q - q. */
   const FGQuaternion& operator-=(const FGQuaternion& q) {
     // Copy the master values ...
-    Entry(1) -= q(1);
-    Entry(2) -= q(2);
-    Entry(3) -= q(3);
-    Entry(4) -= q(4);
+    data[0] -= q(1);
+    data[1] -= q(2);
+    data[2] -= q(3);
+    data[3] -= q(4);
     mCacheValid = false;
     return *this;
   }
@@ -325,10 +343,10 @@ public:
       @param scalar a multiplicative value.
       @return a quaternion reference representing Q, where Q = Q * scalar. */
   const FGQuaternion& operator*=(double scalar) {
-    Entry(1) *= scalar;
-    Entry(2) *= scalar;
-    Entry(3) *= scalar;
-    Entry(4) *= scalar;
+    data[0] *= scalar;
+    data[1] *= scalar;
+    data[2] *= scalar;
+    data[3] *= scalar;
     mCacheValid = false;
     return *this;
   }
@@ -344,16 +362,16 @@ public:
       @param q a quaternion to be summed.
       @return a quaternion representing Q, where Q = Q + q. */
   FGQuaternion operator+(const FGQuaternion& q) const {
-    return FGQuaternion(Entry(1)+q(1), Entry(2)+q(2),
-                        Entry(3)+q(3), Entry(4)+q(4));
+    return FGQuaternion(data[0]+q(1), data[1]+q(2),
+                        data[2]+q(3), data[3]+q(4));
   }
 
   /** Arithmetic operator "-".
       @param q a quaternion to be subtracted.
       @return a quaternion representing Q, where Q = Q - q. */
   FGQuaternion operator-(const FGQuaternion& q) const {
-    return FGQuaternion(Entry(1)-q(1), Entry(2)-q(2),
-                        Entry(3)-q(3), Entry(4)-q(4));
+    return FGQuaternion(data[0]-q(1), data[1]-q(2),
+                        data[2]-q(3), data[3]-q(4));
   }
 
   /** Arithmetic operator "*".
@@ -361,10 +379,10 @@ public:
       @param q a quaternion to be multiplied.
       @return a quaternion representing Q, where Q = Q * q. */
   FGQuaternion operator*(const FGQuaternion& q) const {
-    return FGQuaternion(Entry(1)*q(1)-Entry(2)*q(2)-Entry(3)*q(3)-Entry(4)*q(4),
-                        Entry(1)*q(2)+Entry(2)*q(1)+Entry(3)*q(4)-Entry(4)*q(3),
-                        Entry(1)*q(3)-Entry(2)*q(4)+Entry(3)*q(1)+Entry(4)*q(2),
-                        Entry(1)*q(4)+Entry(2)*q(3)-Entry(3)*q(2)+Entry(4)*q(1));
+    return FGQuaternion(data[0]*q(1)-data[1]*q(2)-data[2]*q(3)-data[3]*q(4),
+                        data[0]*q(2)+data[1]*q(1)+data[2]*q(4)-data[3]*q(3),
+                        data[0]*q(3)-data[1]*q(4)+data[2]*q(1)+data[3]*q(2),
+                        data[0]*q(4)+data[1]*q(3)-data[2]*q(2)+data[3]*q(1));
   }
 
   /** Arithmetic operator "*=".
@@ -372,14 +390,14 @@ public:
       @param q a quaternion to be multiplied.
       @return a quaternion reference representing Q, where Q = Q * q. */
   const FGQuaternion& operator*=(const FGQuaternion& q) {
-    double q0 = Entry(1)*q(1)-Entry(2)*q(2)-Entry(3)*q(3)-Entry(4)*q(4);
-    double q1 = Entry(1)*q(2)+Entry(2)*q(1)+Entry(3)*q(4)-Entry(4)*q(3);
-    double q2 = Entry(1)*q(3)-Entry(2)*q(4)+Entry(3)*q(1)+Entry(4)*q(2);
-    double q3 = Entry(1)*q(4)+Entry(2)*q(3)-Entry(3)*q(2)+Entry(4)*q(1);
-    Entry(1) = q0;
-    Entry(2) = q1;
-    Entry(3) = q2;
-    Entry(4) = q3;
+    double q0 = data[0]*q(1)-data[1]*q(2)-data[2]*q(3)-data[3]*q(4);
+    double q1 = data[0]*q(2)+data[1]*q(1)+data[2]*q(4)-data[3]*q(3);
+    double q2 = data[0]*q(3)-data[1]*q(4)+data[2]*q(1)+data[3]*q(2);
+    double q3 = data[0]*q(4)+data[1]*q(3)-data[2]*q(2)+data[3]*q(1);
+    data[0] = q0;
+    data[1] = q1;
+    data[2] = q2;
+    data[3] = q3;
     mCacheValid = false;
     return *this;
   }
@@ -391,12 +409,12 @@ public:
       the identity orientation.
   */
   FGQuaternion Inverse(void) const {
-    double norm = Magnitude();
+    double norm = SqrMagnitude();
     if (norm == 0.0)
       return *this;
     double rNorm = 1.0/norm;
-    return FGQuaternion( Entry(1)*rNorm, -Entry(2)*rNorm,
-                         -Entry(3)*rNorm, -Entry(4)*rNorm );
+    return FGQuaternion( data[0]*rNorm, -data[1]*rNorm,
+                         -data[2]*rNorm, -data[3]*rNorm );
   }
 
   /** Conjugate of the quaternion.
@@ -405,7 +423,7 @@ public:
       to the inverse iff the quaternion is normalized.
   */
   FGQuaternion Conjugate(void) const {
-    return FGQuaternion( Entry(1), -Entry(2), -Entry(3), -Entry(4) );
+    return FGQuaternion( data[0], -data[1], -data[2], -data[3] );
   }
 
   friend FGQuaternion operator*(double, const FGQuaternion&);
@@ -421,11 +439,11 @@ public:
       Compute and return the square of the euclidean norm of this vector.
   */
   double SqrMagnitude(void) const {
-    return Entry(1)*Entry(1)+Entry(2)*Entry(2)
-      +Entry(3)*Entry(3)+Entry(4)*Entry(4);
+    return  data[0]*data[0] + data[1]*data[1]
+          + data[2]*data[2] + data[3]*data[3];
   }
 
-  /** Normialze.
+  /** Normalize.
 
       Normalize the vector to have the Magnitude() == 1.0. If the vector
       is equal to zero it is left untouched.
@@ -439,7 +457,7 @@ public:
 private:
   /** Copying by assigning the vector valued components.  */
   FGQuaternion(double q1, double q2, double q3, double q4) : mCacheValid(false)
-    { Entry(1) = q1; Entry(2) = q2; Entry(3) = q3; Entry(4) = q4; }
+    { data[0] = q1; data[1] = q2; data[2] = q3; data[3] = q4; }
 
   /** Computation of derived values.
       This function recomputes the derived values like euler angles and
@@ -450,16 +468,15 @@ private:
       This function checks if the derived values like euler angles and
       transformation matrices are already computed. If so, it
       returns. If they need to be computed the real worker routine
-      \ref FGQuaternion::ComputeDerivedUnconditional(void) const
-      is called.
-      This function is inlined to avoid function calls in the fast path. */
+      FGQuaternion::ComputeDerivedUnconditional(void) const
+      is called. */
   void ComputeDerived(void) const {
     if (!mCacheValid)
       ComputeDerivedUnconditional();
   }
 
   /** The quaternion values itself. This is the master copy. */
-  double mData[4];
+  double data[4];
 
   /** A data validity flag.
       This class implements caching of the derived values like the
@@ -479,6 +496,10 @@ private:
   /** The cached sines and cosines of the euler angles.  */
   mutable FGColumnVector3 mEulerSines;
   mutable FGColumnVector3 mEulerCosines;
+
+  void Debug(int from) const;
+
+  void InitializeFromEulerAngles(double phi, double tht, double psi);
 };
 
 /** Scalar multiplication.
@@ -494,4 +515,6 @@ inline FGQuaternion operator*(double scalar, const FGQuaternion& q) {
 
 } // namespace JSBSim
 
+#include "FGMatrix33.h"
+
 #endif

diff --git a/src/FDM/JSBSim/math/FGRealValue.cpp b/src/FDM/JSBSim/math/FGRealValue.cpp
index 9d3deec3b4c60fac4ed1ab82f9685d391cc0757a..a30f9fccee4d4a21d464f86713b958cddcaae0e9 100755 (executable)
--- a/src/FDM/JSBSim/math/FGRealValue.cpp
+++ b/src/FDM/JSBSim/math/FGRealValue.cpp
@@ -32,7 +32,7 @@ INCLUDES
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGRealValue.cpp,v 1.4 2009/08/30 03:51:28 jberndt Exp $";
 static const char *IdHdr = ID_REALVALUE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/math/FGRealValue.h b/src/FDM/JSBSim/math/FGRealValue.h
index 626770c2616838ca117c28a5016564a7312c03eb..277c595c1b2f0a4aa8e0a3794b23c6a1a576d16b 100755 (executable)
--- a/src/FDM/JSBSim/math/FGRealValue.h
+++ b/src/FDM/JSBSim/math/FGRealValue.h
@@ -40,7 +40,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_REALVALUE "$Id$"
+#define ID_REALVALUE "$Id: FGRealValue.h,v 1.4 2009/08/30 03:51:28 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/math/FGRungeKutta.cpp b/src/FDM/JSBSim/math/FGRungeKutta.cpp
new file mode 100644 (file)
index 0000000..bc3dabc
--- /dev/null
+++ b/src/FDM/JSBSim/math/FGRungeKutta.cpp
@@ -0,0 +1,230 @@
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ Header:       FGRungeKutta.cpp
+ Author:       Thomas Kreitler
+ Date started: 04/9/2010
+
+ ------------- Copyright (C)  -------------
+
+ This program is free software; you can redistribute it and/or modify it under
+ the terms of the GNU Lesser General Public License as published by the Free Software
+ Foundation; either version 2 of the License, or (at your option) any later
+ version.
+
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
+ details.
+
+ You should have received a copy of the GNU Lesser General Public License along with
+ this program; if not, write to the Free Software Foundation, Inc., 59 Temple
+ Place - Suite 330, Boston, MA  02111-1307, USA.
+
+ Further information about the GNU Lesser General Public License can also be found on
+ the world wide web at http://www.gnu.org.
+
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+  INCLUDES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include <cstdio>
+#include <iostream>
+#include <cmath>
+
+#include "FGRungeKutta.h"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+  DEFINITIONS
+  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+using std::cout;
+using std::endl;
+
+namespace JSBSim {
+  
+static const char *IdSrc = "$Id: FGRungeKutta.cpp,v 1.1 2010/06/02 04:05:13 jberndt Exp $";
+static const char *IdHdr = ID_RUNGEKUTTA;
+
+const double FGRungeKutta::RealLimit = 1e30;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+FGRungeKutta::~FGRungeKutta() { };
+
+int FGRungeKutta::init(double x_start, double x_end, int intervals)
+{
+  x0 = x_start;
+  x1 = x_end;
+  h  = (x_end - x_start)/intervals;
+  safer_x1 = x1 - h*1e-6; // avoid 'intervals*h < x1'
+  h05 = h*0.5;
+  err = 0.0;
+  
+  if (x0>=x1) {
+    status &= eFaultyInit;
+  }
+  return status;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+/*
+   Make sure that a numerical result is within +/-RealLimit.
+   This is a hapless try to be portable.
+   (There will be at least one architecture/compiler combination 
+   where this will fail.)
+*/
+
+bool FGRungeKutta::sane_val(double x)
+{
+  // assuming +/- inf behave as expected and 'nan' comparisons yield to false
+  if ( x < RealLimit && x > -RealLimit ) return true;
+  return false;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGRungeKutta::evolve(double y_0, FGRungeKuttaProblem *pf)
+{
+  double x = x0;
+  double y = y_0;
+  pfo = pf;
+
+  iterations = 0;
+  
+  if (!trace_values) {
+    while (x<safer_x1) {
+      y  = approximate(x,y);
+      if (!sane_val(y)) { status &= eMathError; }
+      x += h;
+      iterations++;
+    }
+  } else {
+    while (x<safer_x1) {
+      cout << x << " " << y << endl;
+      y = approximate(x,y);
+      if (!sane_val(y)) { status &= eMathError; }
+      x += h;
+      iterations++;
+    }
+    cout << x << " " << y << endl;
+  }
+
+  x_end = x; // twimc, store the last x used.
+  return y;
+}
+
+
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+FGRK4::~FGRK4() { };
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGRK4::approximate(double x, double y)
+{
+  double k1,k2,k3,k4;
+
+  k1   =  pfo->pFunc(x      , y         ); 
+  k2   =  pfo->pFunc(x + h05, y + h05*k1);
+  k3   =  pfo->pFunc(x + h05, y + h05*k2);
+  k4   =  pfo->pFunc(x + h  , y + h  *k3);
+
+  y   +=  h/6.0 * ( k1 + 2.0*k2 + 2.0*k3 + k4 );
+
+  return y;
+}
+ 
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+// Butcher tableau
+const double FGRKFehlberg::A2[] = { 0.0,     1.0/4.0 };
+const double FGRKFehlberg::A3[] = { 0.0,     3.0/32.0,       9.0/32.0 };
+const double FGRKFehlberg::A4[] = { 0.0,  1932.0/2197.0, -7200.0/2197.0,   7296.0/2197.0 };
+const double FGRKFehlberg::A5[] = { 0.0,   439.0/216.0,     -8.0,          3680.0/513.0,    -845.0/4104.0  };
+const double FGRKFehlberg::A6[] = { 0.0,    -8.0/27.0,       2.0,         -3544.0/2565.0,   1859.0/4104.0,  -11.0/40.0 };
+
+const double FGRKFehlberg::C[]  = { 0.0, 0.0, 1.0/4.0, 3.0/8.0, 12.0/13.0, 1.0, 1.0/2.0 };
+
+const double FGRKFehlberg::B[]  = { 0.0,     16.0/135.0,   0.0,   6656.0/12825.0,  28561.0/56430.0,   -9.0/50.0,  2.0/55.0 };
+const double FGRKFehlberg::Bs[] = { 0.0,     25.0/216.0,   0.0,   1408.0/2565.0,    2197.0/4104.0,    -1.0/5.0,   0.0 };
+
+// use this if truncation is an issue
+// const double Ee[] = { 0.0, 1.0/360.0, 0.0, -128.0/4275.0, -2197.0/75240.0, 1.0/50.0, 2.0/55.0 };
+
+FGRKFehlberg::~FGRKFehlberg() { };
+
+double FGRKFehlberg::approximate(double x, double y)
+{
+
+  double k1,k2,k3,k4,k5,k6, as;
+
+  double y4_val;
+  double y5_val;
+  double abs_err;
+  double est_step;
+  int done = 0;
+
+
+  while (!done) {
+
+    err  =  h*h*h*h*h; // h might change
+
+    k1   =  pfo->pFunc(x          , y      ); 
+
+    as   =  h*A2[1]*k1;
+    k2   =  pfo->pFunc(x + C[2]*h , y + as ); 
+
+    as   =  h*(A3[1]*k1 + A3[2]*k2);
+    k3   =  pfo->pFunc(x + C[3]*h , y + as ); 
+
+    as   =  h*(A4[1]*k1 + A4[2]*k2 + A4[3]*k3);
+    k4   =  pfo->pFunc(x + C[4]*h , y + as ); 
+
+    as   =  h*(A5[1]*k1 + A5[2]*k2 + A5[3]*k3 + A5[4]*k4);
+    k5   =  pfo->pFunc(x + C[5]*h , y + as ); 
+
+    as   =  h*(A6[1]*k1 + A6[2]*k2 + A6[3]*k3 + A6[4]*k4 + A6[5]*k5);
+    k6   =  pfo->pFunc(x + C[6]*h , y + as ); 
+
+    /* B[2]*k2 and Bs[2]*k2 are zero */
+    y5_val  =  y + h * ( B[1]*k1 +  B[3]*k3 +  B[4]*k4 +  B[5]*k5 + B[6]*k6);
+    y4_val  =  y + h * (Bs[1]*k1 + Bs[3]*k3 + Bs[4]*k4 + Bs[5]*k5);
+
+    abs_err = fabs(y4_val-y5_val);
+    // same in green
+    // abs_err = h * (Ee[1] * k1 + Ee[3] * k3 + Ee[4] * k4 + Ee[5] * k5 + Ee[6] * k6);
+
+    // estimate step size 
+    if (abs_err > epsilon) {
+      est_step = sqrt(sqrt(epsilon*h/abs_err));
+    } else {
+      est_step=2.0*h; // cheat
+    }
+
+    // check if a smaller step size is proposed
+
+    if (shrink_avail>0 && est_step<h) {
+        h/=2.0;
+        shrink_avail--;
+    } else {
+      done = 1;
+    }
+
+  }
+
+  return y4_val;
+}
+
+
+} // namespace JSBSim

diff --git a/src/FDM/JSBSim/math/FGRungeKutta.h b/src/FDM/JSBSim/math/FGRungeKutta.h
new file mode 100644 (file)
index 0000000..6929577
--- /dev/null
+++ b/src/FDM/JSBSim/math/FGRungeKutta.h
@@ -0,0 +1,189 @@
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ Header:       FGRungeKutta.h
+ Author:       Thomas Kreitler
+ Date started: 04/9/2010
+
+ ------------- Copyright (C)  -------------
+
+ This program is free software; you can redistribute it and/or modify it under
+ the terms of the GNU Lesser General Public License as published by the Free Software
+ Foundation; either version 2 of the License, or (at your option) any later
+ version.
+
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
+ details.
+
+ You should have received a copy of the GNU Lesser General Public License along with
+ this program; if not, write to the Free Software Foundation, Inc., 59 Temple
+ Place - Suite 330, Boston, MA  02111-1307, USA.
+
+ Further information about the GNU Lesser General Public License can also be found on
+ the world wide web at http://www.gnu.org.
+
+HISTORY
+--------------------------------------------------------------------------------
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+SENTRY
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#ifndef FGRUNGEKUTTA_H
+#define FGRUNGEKUTTA_H
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+  INCLUDES
+  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+// #include "FGJSBBase.h" // later
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+  DEFINITIONS
+  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_RUNGEKUTTA "$Id: FGRungeKutta.h,v 1.1 2010/06/02 04:05:13 jberndt Exp $"
+
+namespace JSBSim {
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+
+/**
+   Minimalistic implementation of some Runge-Kutta methods. Runge-Kutta methods
+   are a standard for solving ordinary differential equation (ODE) initial
+   value problems. The code follows closely  the description given on
+   Wikipedia, see http://en.wikipedia.org/wiki/Runge%E2%80%93Kutta_methods.
+   
+   For more powerfull routines see GNU Scientific Library (GSL)
+   or GNU Plotutils 'ode'.
+*/
+
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DECLARATION: FGRungeKuttaProblem
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/**
+   Abstract base for the function to solve.
+*/
+class FGRungeKuttaProblem {
+  public:
+    virtual double pFunc(double x, double y) = 0;
+};
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DECLARATION: FGRungeKutta
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+/**
+   Abstract base.
+*/
+
+class FGRungeKutta {
+
+  public:
+
+    enum eStates { eNoError=0, eMathError=1, eFaultyInit=2, eEvolve=4, eUnknown=8} ;
+
+    int init(double x_start, double x_end, int intervals = 4);
+
+    double evolve(double y_0, FGRungeKuttaProblem *pf);
+
+    double getXEnd()      { return x_end; }
+    double getError()     { return err; }
+
+    int  getStatus()      { return status; }
+    int  getIterations()  { return iterations; }
+    void clearStatus()    { status = eNoError; }
+    void setTrace(bool t) { trace_values = t; }
+
+  protected:
+    // avoid accidents
+    FGRungeKutta():  status(eNoError), trace_values(false), iterations(0) {};
+    virtual ~FGRungeKutta();
+
+    FGRungeKuttaProblem *pfo;
+
+    double h;
+    double h05;  // h*0.5, halfwidth
+    double err;
+
+  private:
+
+    virtual double approximate(double x, double y) = 0;
+
+    bool sane_val(double x);
+
+    static const double RealLimit;
+
+    double x0, x1;
+    double safer_x1;
+    double x_end;
+
+    int status;
+    bool trace_values;
+    int iterations;
+
+};
+
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DECLARATION: FGRK4
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+/**
+  Classical RK4.
+*/
+
+class FGRK4 : public FGRungeKutta {
+    virtual ~FGRK4();
+  private:
+    double approximate(double x, double y);
+};
+
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DECLARATION: FGRKFehlberg
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/**
+   Runge-Kutta-Fehlberg method.
+   This is a semi adaptive implementation of rkf - the interval only
+   shrinks. As a result interval calculations remain trivial, but
+   sometimes too many calculations are performed.
+   Rationale: this code is not meant to be a universal pain-reliever
+   for ode's. Rather it provides some safety if the number of
+   intervals is set too low, or the problem function behaves a bit
+   nasty in rare conditions.
+*/
+
+
+class FGRKFehlberg : public FGRungeKutta {
+
+  public:
+    FGRKFehlberg() : shrink_avail(4), epsilon(1e-12) { };
+    virtual ~FGRKFehlberg();
+    double getEpsilon()          { return epsilon; }
+    int    getShrinkAvail()      { return shrink_avail; }
+    void   setEpsilon(double e)  { epsilon = e; }
+    void   setShrinkAvail(int s) { shrink_avail = s; }
+
+  private:
+
+    double approximate(double x, double y);
+
+    int    shrink_avail;
+    double epsilon;
+
+    static const double A2[], A3[], A4[], A5[], A6[];
+    static const double B[],  Bs[], C[];
+
+};
+
+
+} // namespace JSBSim
+
+#endif

diff --git a/src/FDM/JSBSim/math/FGTable.cpp b/src/FDM/JSBSim/math/FGTable.cpp
index f19669191c00f8d8fe725fa0317106d218886d7e..2d604dca21aff37c0b315fa9b91dbbce2af94096 100644 (file)
--- a/src/FDM/JSBSim/math/FGTable.cpp
+++ b/src/FDM/JSBSim/math/FGTable.cpp
@@ -47,7 +47,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGTable.cpp,v 1.21 2010/04/07 03:08:37 jberndt Exp $";
 static const char *IdHdr = ID_TABLE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -165,9 +165,7 @@ FGTable::FGTable(FGPropertyManager* propMan, Element* el) : PropertyManager(prop
       node = PropertyManager->GetNode(property_string);
 
       if (node == 0) {
-        cerr << "IndependenVar property, " << property_string
-             << " in Table definition is not defined." << endl;
-        abort();
+        throw("IndependenVar property, " + property_string + " in Table definition is not defined.");
       }
 
       lookup_axis = axisElement->GetAttributeValue("lookup");
@@ -177,6 +175,8 @@ FGTable::FGTable(FGPropertyManager* propMan, Element* el) : PropertyManager(prop
         lookupProperty[eColumn] = node;
       } else if (lookup_axis == string("table")) {
         lookupProperty[eTable] = node;
+      } else if (!lookup_axis.empty()) {
+        throw("Lookup table axis specification not understood: " + lookup_axis);
       } else { // assumed single dimension table; row lookup
         lookupProperty[eRow] = node;
       }

diff --git a/src/FDM/JSBSim/math/FGTable.h b/src/FDM/JSBSim/math/FGTable.h
index 1b0d22e16e5f4ca8cbb3c9d5ae48aadbbfc292f5..e96cf07fea67495d95fb4a47ece653055156ce6b 100644 (file)
--- a/src/FDM/JSBSim/math/FGTable.h
+++ b/src/FDM/JSBSim/math/FGTable.h
@@ -47,7 +47,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_TABLE "$Id$"
+#define ID_TABLE "$Id: FGTable.h,v 1.11 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -233,7 +233,7 @@ combustion_efficiency = Lookup_Combustion_Efficiency->GetValue(equivalence_ratio
 @endcode
 
 @author Jon S. Berndt
-@version $Id$
+@version $Id: FGTable.h,v 1.11 2009/10/24 22:59:30 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/math/Makefile.am b/src/FDM/JSBSim/math/Makefile.am
index ce92ff6eb5a32f729ffdaa1194c09562e7881ade..5ae295ede8374994b1bf46424a4a8dd26b328ac1 100644 (file)
--- a/src/FDM/JSBSim/math/Makefile.am
+++ b/src/FDM/JSBSim/math/Makefile.am
@@ -2,10 +2,10 @@ noinst_LIBRARIES = libMath.a
 
 libMath_a_SOURCES = FGColumnVector3.cpp FGFunction.cpp FGLocation.cpp FGMatrix33.cpp \
                     FGPropertyValue.cpp FGQuaternion.cpp FGRealValue.cpp FGTable.cpp \
-                    FGCondition.cpp
+                    FGCondition.cpp FGRungeKutta.cpp
 
 noinst_HEADERS = FGColumnVector3.h FGFunction.h FGLocation.h FGMatrix33.h \
                  FGParameter.h FGPropertyValue.h FGQuaternion.h FGRealValue.h FGTable.h  \
-                 FGCondition.h
+                 FGCondition.h FGRungeKutta.h
 
 INCLUDES = -I$(top_srcdir)/src/FDM/JSBSim

diff --git a/src/FDM/JSBSim/models/FGAerodynamics.cpp b/src/FDM/JSBSim/models/FGAerodynamics.cpp
index a793cce2f443df453b2cbc586688f02814c6b14c..d8c66df201305a18858220a6d5e635b3168ec251 100644 (file)
--- a/src/FDM/JSBSim/models/FGAerodynamics.cpp
+++ b/src/FDM/JSBSim/models/FGAerodynamics.cpp
@@ -52,7 +52,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGAerodynamics.cpp,v 1.31 2009/11/28 14:30:11 andgi Exp $";
 static const char *IdHdr = ID_AERODYNAMICS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/FGAerodynamics.h b/src/FDM/JSBSim/models/FGAerodynamics.h
index 8c26e527729d5d35e10668e05b6abe992f58a361..0f966d8459b236f37d4abc46eb57ffca57f65de6 100644 (file)
--- a/src/FDM/JSBSim/models/FGAerodynamics.h
+++ b/src/FDM/JSBSim/models/FGAerodynamics.h
@@ -52,7 +52,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_AERODYNAMICS "$Id$"
+#define ID_AERODYNAMICS "$Id: FGAerodynamics.h,v 1.20 2009/11/12 13:08:11 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -109,7 +109,7 @@ CLASS DOCUMENTATION
     Systems may NOT be combined, or a load error will occur.
 
     @author Jon S. Berndt, Tony Peden
-    @version $Revision$
+    @version $Revision: 1.20 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -214,7 +214,6 @@ private:
   typedef std::map<std::string,int> AxisIndex;
   AxisIndex AxisIdx;
   FGFunction* AeroRPShift;
-  std::vector <FGFunction*> variables;
   typedef vector <FGFunction*> CoeffArray;
   CoeffArray* Coeff;
   FGColumnVector3 vFnative;

diff --git a/src/FDM/JSBSim/models/FGAircraft.cpp b/src/FDM/JSBSim/models/FGAircraft.cpp
index 75f9fba590b680eeb7b79a6273d8228e26fd2145..d292316d6f25445e07a3d15e6b6e82b10eddc7c1 100644 (file)
--- a/src/FDM/JSBSim/models/FGAircraft.cpp
+++ b/src/FDM/JSBSim/models/FGAircraft.cpp
@@ -68,7 +68,7 @@ DEFINITIONS
 GLOBAL DATA
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGAircraft.cpp,v 1.27 2010/07/27 23:18:19 jberndt Exp $";
 static const char *IdHdr = ID_AIRCRAFT;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -123,6 +123,9 @@ bool FGAircraft::Run(void)
     vForces += GroundReactions->GetForces();
     vForces += ExternalReactions->GetForces();
     vForces += BuoyantForces->GetForces();
+  } else {
+    const FGMatrix33& mTl2b = Propagate->GetTl2b();
+    vForces = mTl2b * FGColumnVector3(0,0,-MassBalance->GetWeight());
   }
 
   vMoments.InitMatrix();
@@ -136,10 +139,10 @@ bool FGAircraft::Run(void)
 
   vBodyAccel = vForces/MassBalance->GetMass();
 
-  vNcg = vBodyAccel/Inertial->gravity();
+  vNcg = vBodyAccel/Inertial->SLgravity();
 
   vNwcg = Aerodynamics->GetTb2w() * vNcg;
-  vNwcg(3) = -1*vNwcg(3) + 1;
+  vNwcg(3) = 1.0 - vNwcg(3);
 
   RunPostFunctions();
 

diff --git a/src/FDM/JSBSim/models/FGAircraft.h b/src/FDM/JSBSim/models/FGAircraft.h
index a66665c061c7df63305609752f7f9921dd983f7d..a03656895c1db137e2e88b2f8eabf10bd3b1d4b9 100644 (file)
--- a/src/FDM/JSBSim/models/FGAircraft.h
+++ b/src/FDM/JSBSim/models/FGAircraft.h
@@ -49,7 +49,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_AIRCRAFT "$Id$"
+#define ID_AIRCRAFT "$Id: FGAircraft.h,v 1.15 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -90,7 +90,7 @@ CLASS DOCUMENTATION
 @endcode
 
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGAircraft.h,v 1.15 2009/10/24 22:59:30 jberndt Exp $
     @see Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
           Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420  Naval Postgraduate
           School, January 1994

diff --git a/src/FDM/JSBSim/models/FGAtmosphere.cpp b/src/FDM/JSBSim/models/FGAtmosphere.cpp
index 8acb17c1b42056c7c112169b7023c5294727a8f8..2db1c65d931a312ef3db0bf1891722f11231422f 100644 (file)
--- a/src/FDM/JSBSim/models/FGAtmosphere.cpp
+++ b/src/FDM/JSBSim/models/FGAtmosphere.cpp
@@ -48,11 +48,11 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGAtmosphere.h"
-#include "FGState.h"
-#include "FGFDMExec.h"
 #include "FGAircraft.h"
 #include "FGPropagate.h"
 #include "FGInertial.h"
+#include "FGAuxiliary.h"
+#include "FGFDMExec.h"
 #include "input_output/FGPropertyManager.h"
 #include <iostream>
 #include <cstdlib>
@@ -61,7 +61,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGAtmosphere.cpp,v 1.35 2010/08/11 11:51:33 jberndt Exp $";
 static const char *IdHdr = ID_ATMOSPHERE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -277,7 +277,9 @@ void FGAtmosphere::Calculate(double altitude)
 void FGAtmosphere::CalculateDerived(void)
 {
   T_dev = (*temperature) - GetTemperature(h);
-  density_altitude = h + T_dev * 66.7;
+
+  if (T_dev == 0.0) density_altitude = h;
+  else              density_altitude = 518.4/0.00357 * (1.0 - pow(GetDensityRatio(),0.235));
 
   if (turbType != ttNone) Turbulence();
 
@@ -383,7 +385,7 @@ void FGAtmosphere::SetWindPsi(double dir)
 
 void FGAtmosphere::Turbulence(void)
 {
-  double DeltaT = rate*State->Getdt();
+  double DeltaT = rate*FDMExec->GetDeltaT();
 
   switch (turbType) {
   case ttStandard: {

diff --git a/src/FDM/JSBSim/models/FGAtmosphere.h b/src/FDM/JSBSim/models/FGAtmosphere.h
index 2a7443e5d02c8557e3b9a142beffc9901a76f01b..84d3f072a33857c063152dc63f0315eddad232b9 100644 (file)
--- a/src/FDM/JSBSim/models/FGAtmosphere.h
+++ b/src/FDM/JSBSim/models/FGAtmosphere.h
@@ -49,7 +49,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_ATMOSPHERE "$Id$"
+#define ID_ATMOSPHERE "$Id: FGAtmosphere.h,v 1.22 2009/10/02 10:30:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -63,7 +63,7 @@ CLASS DOCUMENTATION
 
 /** Models the 1976 Standard Atmosphere.
     @author Tony Peden, Jon Berndt
-    @version $Id$
+    @version $Id: FGAtmosphere.h,v 1.22 2009/10/02 10:30:09 jberndt Exp $
     @see Anderson, John D. "Introduction to Flight, Third Edition", McGraw-Hill,
          1989, ISBN 0-07-001641-0
 */

diff --git a/src/FDM/JSBSim/models/FGAuxiliary.cpp b/src/FDM/JSBSim/models/FGAuxiliary.cpp
index 815a1b400d09e0e0790f2ffc83b687c62743f2e8..ededdc1ccb5aaa56c1d30791e18e2c87075cb4b1 100755 (executable)
--- a/src/FDM/JSBSim/models/FGAuxiliary.cpp
+++ b/src/FDM/JSBSim/models/FGAuxiliary.cpp
@@ -4,7 +4,7 @@
  Author:       Tony Peden, Jon Berndt
  Date started: 01/26/99
  Purpose:      Calculates additional parameters needed by the visual system, etc.
- Called by:    FGSimExec
+ Called by:    FGFDMExec
 
  ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
 
@@ -59,7 +59,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGAuxiliary.cpp,v 1.42 2010/07/27 23:18:19 jberndt Exp $";
 static const char *IdHdr = ID_AUXILIARY;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -167,22 +167,10 @@ bool FGAuxiliary::Run()
     vEulerRates(ePhi) = vPQR(eP) + vEulerRates(ePsi)*sTht;
   }
 
-// 12/16/2005, JSB: For ground handling purposes, at this time, let's ramp
-// in the effects of wind from 10 fps to 30 fps when there is weight on the
-// landing gear wheels.
-
-  if (GroundReactions->GetWOW() && vUVW(eU) < 10) {
-    vAeroPQR = vPQR;
-    vAeroUVW = vUVW;
-  } else if (GroundReactions->GetWOW() && vUVW(eU) < 30) {
-    double factor = (vUVW(eU) - 10.0)/20.0;
-    vAeroPQR = vPQR - factor*Atmosphere->GetTurbPQR();
-    vAeroUVW = vUVW - factor*Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
-  } else {
-    FGColumnVector3 wind = Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
-    vAeroPQR = vPQR - Atmosphere->GetTurbPQR();
-    vAeroUVW = vUVW - wind;
-  }
+// Combine the wind speed with aircraft speed to obtain wind relative speed
+  FGColumnVector3 wind = Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
+  vAeroPQR = vPQR - Atmosphere->GetTurbPQR();
+  vAeroUVW = vUVW - wind;
 
   Vt = vAeroUVW.Magnitude();
   if ( Vt > 0.05) {
@@ -249,15 +237,16 @@ bool FGAuxiliary::Run()
 
   vPilotAccel.InitMatrix();
   if ( Vt > 1.0 ) {
-     vAircraftAccel = Aerodynamics->GetForces()
-                    + Propulsion->GetForces()
-                    + GroundReactions->GetForces()
-                    + ExternalReactions->GetForces()
-                    + BuoyantForces->GetForces();
+     // Use the "+=" operator to avoid the creation of temporary objects.
+     vAircraftAccel = Aerodynamics->GetForces();
+     vAircraftAccel += Propulsion->GetForces();
+     vAircraftAccel += GroundReactions->GetForces();
+     vAircraftAccel += ExternalReactions->GetForces();
+     vAircraftAccel += BuoyantForces->GetForces();
 
      vAircraftAccel /= MassBalance->GetMass();
      // Nz is Acceleration in "g's", along normal axis (-Z body axis)
-     Nz = -vAircraftAccel(eZ)/Inertial->gravity();
+     Nz = -vAircraftAccel(eZ)/Inertial->SLgravity();
      vToEyePt = MassBalance->StructuralToBody(Aircraft->GetXYZep());
      vPilotAccel = vAircraftAccel + Propagate->GetPQRdot() * vToEyePt;
      vPilotAccel += vPQR * (vPQR * vToEyePt);
@@ -268,15 +257,15 @@ bool FGAuxiliary::Run()
      // any jitter that could be introduced by the landing gear. Theoretically,
      // this branch could be eliminated, with a penalty of having a short
      // transient at startup (lasting only a fraction of a second).
-     vPilotAccel = Propagate->GetTl2b() * FGColumnVector3( 0.0, 0.0, -Inertial->gravity() );
-     Nz = -vPilotAccel(eZ)/Inertial->gravity();
+     vPilotAccel = Propagate->GetTl2b() * FGColumnVector3( 0.0, 0.0, -Inertial->SLgravity() );
+     Nz = -vPilotAccel(eZ)/Inertial->SLgravity();
   }
 
-  vPilotAccelN = vPilotAccel/Inertial->gravity();
+  vPilotAccelN = vPilotAccel/Inertial->SLgravity();
 
   // VRP computation
   const FGLocation& vLocation = Propagate->GetLocation();
-  FGColumnVector3 vrpStructural = Aircraft->GetXYZvrp();
+  FGColumnVector3& vrpStructural = Aircraft->GetXYZvrp();
   FGColumnVector3 vrpBody = MassBalance->StructuralToBody( vrpStructural );
   FGColumnVector3 vrpLocal = Propagate->GetTb2l() * vrpBody;
   vLocationVRP = vLocation.LocalToLocation( vrpLocal );

diff --git a/src/FDM/JSBSim/models/FGAuxiliary.h b/src/FDM/JSBSim/models/FGAuxiliary.h
index e3baa49117a8d1e64fe9741302d6b56009a1d370..d86cc5f11a05cc26e76e9cd145f0762654989109 100644 (file)
--- a/src/FDM/JSBSim/models/FGAuxiliary.h
+++ b/src/FDM/JSBSim/models/FGAuxiliary.h
@@ -48,7 +48,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_AUXILIARY "$Id$"
+#define ID_AUXILIARY "$Id: FGAuxiliary.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -100,7 +100,7 @@ CLASS DOCUMENTATION
     The radius R is calculated below in the vector vToEyePt.
 
     @author Tony Peden, Jon Berndt
-    @version $Id$
+    @version $Id: FGAuxiliary.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/FGBuoyantForces.cpp b/src/FDM/JSBSim/models/FGBuoyantForces.cpp
index 49d9cb2e5069402f35c9db616e99debf5bd6a17f..64c97ebfb6f520f5cbc418e21f66bebda0601567 100644 (file)
--- a/src/FDM/JSBSim/models/FGBuoyantForces.cpp
+++ b/src/FDM/JSBSim/models/FGBuoyantForces.cpp
@@ -5,7 +5,7 @@
  Date started: 01/21/08
  Purpose:      Encapsulates the buoyant forces
 
- ------------- Copyright (C) 2008 - 2009  Anders Gidenstam        -------------
+ ------------- Copyright (C) 2008 - 2010  Anders Gidenstam        -------------
  ------------- Copyright (C) 2008  Jon S. Berndt (jon@jsbsim.org) -------------
 
  This program is free software; you can redistribute it and/or modify it under
@@ -38,14 +38,14 @@ INCLUDES
 
 #include "FGBuoyantForces.h"
 #include "FGMassBalance.h"
-#include "input_output/FGPropertyManager.h"  // Need?
+#include "input_output/FGPropertyManager.h"
 #include <iostream>
 
 using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGBuoyantForces.cpp,v 1.12 2010/05/07 18:59:55 andgi Exp $";
 static const char *IdHdr = ID_BUOYANTFORCES;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -63,8 +63,6 @@ FGBuoyantForces::FGBuoyantForces(FGFDMExec* FDMExec) : FGModel(FDMExec)
 
   gasCellJ.InitMatrix();
 
-  bind();
-
   Debug(0);
 }
 
@@ -141,6 +139,10 @@ bool FGBuoyantForces::Load(Element *element)
   
   FGModel::PostLoad(element);
 
+  if (!NoneDefined) {
+    bind();
+  }
+
   return true;
 }
 
@@ -258,6 +260,19 @@ string FGBuoyantForces::GetBuoyancyValues(string delimeter)
 
 void FGBuoyantForces::bind(void)
 {
+  typedef double (FGBuoyantForces::*PMF)(int) const;
+  PropertyManager->Tie("moments/l-buoyancy-lbsft", this, eL,
+                       (PMF)&FGBuoyantForces::GetMoments);
+  PropertyManager->Tie("moments/m-buoyancy-lbsft", this, eM,
+                       (PMF)&FGBuoyantForces::GetMoments);
+  PropertyManager->Tie("moments/n-buoyancy-lbsft", this, eN,
+                       (PMF)&FGBuoyantForces::GetMoments);
+  PropertyManager->Tie("forces/fbx-buoyancy-lbs", this, eX,
+                       (PMF)&FGBuoyantForces::GetForces);
+  PropertyManager->Tie("forces/fby-buoyancy-lbs", this, eY,
+                       (PMF)&FGBuoyantForces::GetForces);
+  PropertyManager->Tie("forces/fbz-buoyancy-lbs", this, eZ,
+                       (PMF)&FGBuoyantForces::GetForces);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/FGBuoyantForces.h b/src/FDM/JSBSim/models/FGBuoyantForces.h
index ec664b3abde02c096869c8751da1a83b082129ed..c27566d3788546219e5761dfd28504e51415bc2c 100644 (file)
--- a/src/FDM/JSBSim/models/FGBuoyantForces.h
+++ b/src/FDM/JSBSim/models/FGBuoyantForces.h
@@ -4,7 +4,7 @@
  Author:       Anders Gidenstam, Jon S. Berndt
  Date started: 01/21/08
 
- ------------- Copyright (C) 2008  Anders Gidenstam               -------------
+ ------------- Copyright (C) 2008 - 2010  Anders Gidenstam        -------------
  ------------- Copyright (C) 2008  Jon S. Berndt (jon@jsbsim.org) -------------
 
  This program is free software; you can redistribute it and/or modify it under
@@ -51,7 +51,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_BUOYANTFORCES "$Id$"
+#define ID_BUOYANTFORCES "$Id: FGBuoyantForces.h,v 1.11 2010/05/07 20:38:34 andgi Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -96,7 +96,7 @@ CLASS DOCUMENTATION
     See FGGasCell for the full configuration file format for gas cells.
 
     @author Anders Gidenstam, Jon S. Berndt
-    @version $Id$
+    @version $Id: FGBuoyantForces.h,v 1.11 2010/05/07 20:38:34 andgi Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -130,10 +130,18 @@ public:
       @return a force vector. */
   const FGColumnVector3& GetForces(void) const {return vTotalForces;}
 
+  /** Gets a component of the total Buoyant force vector.
+      @return a component of the force vector. */
+  double GetForces(int idx) const {return vTotalForces(idx);}
+
   /** Gets the total Buoyancy moment vector.
       @return a moment vector. */
   const FGColumnVector3& GetMoments(void) const {return vTotalMoments;}
 
+  /** Gets a component of the total Buoyancy moment vector.
+      @return a component of the moment vector. */
+  double GetMoments(int idx) const {return vTotalMoments(idx);}
+
   /** Gets the total gas mass. The gas mass is part of the aircraft's
       inertia.
       @return mass in slugs. */

diff --git a/src/FDM/JSBSim/models/FGExternalForce.cpp b/src/FDM/JSBSim/models/FGExternalForce.cpp
index fa1d35d22fe90fc2dc07e9b7e08ee93ab0845195..12ade79e70ec8c9743780c6e875db758318612d1 100755 (executable)
--- a/src/FDM/JSBSim/models/FGExternalForce.cpp
+++ b/src/FDM/JSBSim/models/FGExternalForce.cpp
@@ -60,7 +60,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGExternalForce.cpp,v 1.10 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_EXTERNALFORCE;
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/FGExternalForce.h b/src/FDM/JSBSim/models/FGExternalForce.h
index d4a90db83b2b1437f6ef57c3aed35b6774f8510f..f1a6a41ac73e40bd03543b59f366375e13df1453 100755 (executable)
--- a/src/FDM/JSBSim/models/FGExternalForce.h
+++ b/src/FDM/JSBSim/models/FGExternalForce.h
@@ -51,7 +51,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_EXTERNALFORCE "$Id$"
+#define ID_EXTERNALFORCE "$Id: FGExternalForce.h,v 1.8 2009/10/02 10:30:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/models/FGExternalReactions.cpp b/src/FDM/JSBSim/models/FGExternalReactions.cpp
index a9b6ee2753b33f4c45331656e6c5ad2aad078d5a..7df087c1e3c576ac95f87bd2488ae592d45b3605 100755 (executable)
--- a/src/FDM/JSBSim/models/FGExternalReactions.cpp
+++ b/src/FDM/JSBSim/models/FGExternalReactions.cpp
@@ -53,7 +53,7 @@ DEFINITIONS
 GLOBAL DATA
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGExternalReactions.cpp,v 1.8 2009/11/12 13:08:11 jberndt Exp $";
 static const char *IdHdr = ID_EXTERNALREACTIONS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/FGExternalReactions.h b/src/FDM/JSBSim/models/FGExternalReactions.h
index c6f65fe1048bcb6bb5423a38e563cadb8974070c..10ad35d07c62367462adc1c830a79c0350cb149e 100755 (executable)
--- a/src/FDM/JSBSim/models/FGExternalReactions.h
+++ b/src/FDM/JSBSim/models/FGExternalReactions.h
@@ -46,7 +46,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_EXTERNALREACTIONS "$Id$"
+#define ID_EXTERNALREACTIONS "$Id: FGExternalReactions.h,v 1.9 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/models/FGFCS.cpp b/src/FDM/JSBSim/models/FGFCS.cpp
index 477890295478671424b026873c20664dfeb362fb..4d71ca97db96efbb82d36d9688d0fa4a6faf79ee 100644 (file)
--- a/src/FDM/JSBSim/models/FGFCS.cpp
+++ b/src/FDM/JSBSim/models/FGFCS.cpp
@@ -63,7 +63,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFCS.cpp,v 1.69 2010/08/10 12:39:07 jberndt Exp $";
 static const char *IdHdr = ID_FCS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -533,19 +533,17 @@ bool FGFCS::Load(Element* el, SystemType systype)
 
   Components=0;
 
-  string separator = "/";
-
 // ToDo: The handling of name and file attributes could be improved, here,
 //       considering that a name can be in the external file, as well.
 
   name = el->GetAttributeValue("name");
 
-  if (name.empty()) {
+  if (name.empty() || !el->GetAttributeValue("file").empty()) {
     fname = el->GetAttributeValue("file");
     if (systype == stSystem) {
       file = FindSystemFullPathname(fname);
     } else { 
-      file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
+      file = FDMExec->GetFullAircraftPath() + "/" + fname + ".xml";
     }
     if (fname.empty()) {
       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
@@ -692,49 +690,55 @@ double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::FindSystemFullPathname(const string& system_filename)
+string FGFCS::FindSystemFullPathname(const string& sysfilename)
 {
   string fullpath, localpath;
+  string system_filename = sysfilename;
   string systemPath = FDMExec->GetSystemsPath();
   string aircraftPath = FDMExec->GetFullAircraftPath();
   ifstream system_file;
 
-  string separator = "/";
+  fullpath = systemPath + "/";
+  localpath = aircraftPath + "/Systems/";
 
-  fullpath = systemPath + separator;
-  localpath = aircraftPath + separator + "Systems" + separator;
+  if (system_filename.length() <=4 || system_filename.substr(system_filename.length()-4, 4) != ".xml") {
+    system_filename.append(".xml");
+  }
 
-  system_file.open(string(fullpath + system_filename + ".xml").c_str());
+  system_file.open(string(localpath + system_filename).c_str());
   if ( !system_file.is_open()) {
-    system_file.open(string(localpath + system_filename + ".xml").c_str());
+    system_file.open(string(fullpath + system_filename).c_str());
       if ( !system_file.is_open()) {
         cerr << " Could not open system file: " << system_filename << " in path "
              << fullpath << " or " << localpath << endl;
         return string("");
       } else {
-        return string(localpath + system_filename + ".xml");
+        return string(fullpath + system_filename);
       }
   }
-  return string(fullpath + system_filename + ".xml");
+  return string(localpath + system_filename);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-ifstream* FGFCS::FindSystemFile(const string& system_filename)
+ifstream* FGFCS::FindSystemFile(const string& sysfilename)
 {
   string fullpath, localpath;
+  string system_filename = sysfilename;
   string systemPath = FDMExec->GetSystemsPath();
   string aircraftPath = FDMExec->GetFullAircraftPath();
   ifstream* system_file = new ifstream();
 
-  string separator = "/";
+  fullpath = systemPath + "/";
+  localpath = aircraftPath + "/Systems/";
 
-  fullpath = systemPath + separator;
-  localpath = aircraftPath + separator + "Systems" + separator;
+  if (system_filename.substr(system_filename.length()-4, 4) != ".xml") {
+    system_filename.append(".xml");
+  }
 
-  system_file->open(string(fullpath + system_filename + ".xml").c_str());
+  system_file->open(string(localpath + system_filename).c_str());
   if ( !system_file->is_open()) {
-    system_file->open(string(localpath + system_filename + ".xml").c_str());
+    system_file->open(string(fullpath + system_filename).c_str());
       if ( !system_file->is_open()) {
         cerr << " Could not open system file: " << system_filename << " in path "
              << fullpath << " or " << localpath << endl;

diff --git a/src/FDM/JSBSim/models/FGFCS.h b/src/FDM/JSBSim/models/FGFCS.h
index b00c037a9ef447dc464406c084504b55a63d5c31..6e10de9c4340d27a28abe93386a8889542f2e4ad 100644 (file)
--- a/src/FDM/JSBSim/models/FGFCS.h
+++ b/src/FDM/JSBSim/models/FGFCS.h
@@ -51,7 +51,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FCS "$Id$"
+#define ID_FCS "$Id: FGFCS.h,v 1.28 2010/01/18 13:12:25 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -168,7 +168,7 @@ CLASS DOCUMENTATION
     @property gear/tailhook-pos-norm
 
     @author Jon S. Berndt
-    @version $Revision$
+    @version $Revision: 1.28 $
     @see FGActuator
     @see FGDeadBand
     @see FGFCSFunction
@@ -407,12 +407,12 @@ public:
 
   /** Sets the throttle command for the specified engine
       @param engine engine ID number
-      @param cmd throttle command in percent (0 - 100)*/
+      @param cmd normalized throttle command (0.0 - 1.0)*/
   void SetThrottleCmd(int engine, double cmd);
 
   /** Sets the mixture command for the specified engine
       @param engine engine ID number
-      @param cmd mixture command in percent (0 - 100)*/
+      @param cmd normalized mixture command (0.0 - 1.0)*/
   void SetMixtureCmd(int engine, double cmd);
 
   /** Set the gear extend/retract command, defaults to down
@@ -462,12 +462,12 @@ public:
 
   /** Sets the actual throttle setting for the specified engine
       @param engine engine ID number
-      @param cmd throttle setting in percent (0 - 100)*/
+      @param cmd normalized throttle setting (0.0 - 1.0)*/
   void SetThrottlePos(int engine, double cmd);
 
   /** Sets the actual mixture setting for the specified engine
       @param engine engine ID number
-      @param cmd mixture setting in percent (0 - 100)*/
+      @param cmd normalized mixture setting (0.0 - 1.0)*/
   void SetMixturePos(int engine, double cmd);
 
   /** Sets the steering position

diff --git a/src/FDM/JSBSim/models/FGGasCell.cpp b/src/FDM/JSBSim/models/FGGasCell.cpp
index 73c5091dd0659aeac38e140d005678291042206e..8edabcd9afe9935b4b2b005d209c07cdd1557881 100644 (file)
--- a/src/FDM/JSBSim/models/FGGasCell.cpp
+++ b/src/FDM/JSBSim/models/FGGasCell.cpp
@@ -53,7 +53,7 @@ using std::max;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGGasCell.cpp,v 1.12 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_GASCELL;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/FGGasCell.h b/src/FDM/JSBSim/models/FGGasCell.h
index 0aae911b1076033d7bd620f17c622dd20d3558b1..de34fb670aef7013f0baa4fa6481ce03b304a591 100644 (file)
--- a/src/FDM/JSBSim/models/FGGasCell.h
+++ b/src/FDM/JSBSim/models/FGGasCell.h
@@ -50,7 +50,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_GASCELL "$Id$"
+#define ID_GASCELL "$Id: FGGasCell.h,v 1.10 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/models/FGGroundReactions.cpp b/src/FDM/JSBSim/models/FGGroundReactions.cpp
index c8afc723b711578848d01d2dd4b6cad3f31977d9..fdbfa254fb9f05a2fa94282a7b4af1bab446ee88 100644 (file)
--- a/src/FDM/JSBSim/models/FGGroundReactions.cpp
+++ b/src/FDM/JSBSim/models/FGGroundReactions.cpp
@@ -46,13 +46,52 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGGroundReactions.cpp,v 1.29 2010/07/30 11:50:01 jberndt Exp $";
 static const char *IdHdr = ID_GROUNDREACTIONS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
+CLASS IMPLEMENTATION for MultiplierIterator (See below for FGGroundReactions)
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+MultiplierIterator::MultiplierIterator(FGGroundReactions* GndReactions)
+: GroundReactions(GndReactions),
+  multiplier(NULL),
+  gearNum(0),
+  entry(0)
+{
+  for (int i=0; i < GroundReactions->GetNumGearUnits(); i++) {
+               FGLGear* gear = GroundReactions->GetGearUnit(i);
+
+               if (!gear->GetWOW()) continue;
+
+    gearNum = i;
+    multiplier = gear->GetMultiplierEntry(0);
+    break;
+  }
+}
+
+MultiplierIterator& MultiplierIterator::operator++()
+{
+  for (int i=gearNum; i < GroundReactions->GetNumGearUnits(); i++) {
+               FGLGear* gear = GroundReactions->GetGearUnit(i);
+
+    if (!gear->GetWOW()) continue;
+
+    multiplier = gear->GetMultiplierEntry(++entry);
+    if (multiplier) {
+      gearNum = i;
+      break;
+    }
+    else
+      entry = -1;
+  }
+
+  return *this;
+}
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
 {
@@ -123,6 +162,20 @@ bool FGGroundReactions::GetWOW(void)
   return result;
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This function must be called after friction forces are resolved in order to
+// include them in the ground reactions total force and moment.
+void FGGroundReactions::UpdateForcesAndMoments(void)
+{
+  vForces.InitMatrix();
+  vMoments.InitMatrix();
+
+  for (unsigned int i=0; i<lGear.size(); i++) {
+    vForces  += lGear[i]->UpdateForces();
+    vMoments += lGear[i]->GetMoments();
+  }
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 bool FGGroundReactions::Load(Element* el)

diff --git a/src/FDM/JSBSim/models/FGGroundReactions.h b/src/FDM/JSBSim/models/FGGroundReactions.h
index a5785d6ca72139060cf1daf39966e87169b8bb02..5c5ea682c759edbe845f943b3e87938e87f93aa1 100644 (file)
--- a/src/FDM/JSBSim/models/FGGroundReactions.h
+++ b/src/FDM/JSBSim/models/FGGroundReactions.h
@@ -45,7 +45,7 @@ INCLUDES
 #include "math/FGColumnVector3.h"
 #include "input_output/FGXMLElement.h"
 
-#define ID_GROUNDREACTIONS "$Id$"
+#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.17 2010/07/30 11:50:01 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -78,6 +78,19 @@ CLASS DOCUMENTATION
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+class MultiplierIterator
+{
+public:
+  MultiplierIterator(FGGroundReactions* GndReactions);
+  MultiplierIterator& operator++();
+  FGPropagate::LagrangeMultiplier* operator*() { return multiplier; }
+private:
+  FGGroundReactions* GroundReactions;
+  FGPropagate::LagrangeMultiplier* multiplier;
+  int gearNum;
+  int entry;
+};
+
 class FGGroundReactions : public FGModel
 {
 public:
@@ -94,6 +107,7 @@ public:
   string GetGroundReactionStrings(string delimeter);
   string GetGroundReactionValues(string delimeter);
   bool GetWOW(void);
+  void UpdateForcesAndMoments(void);
 
   int GetNumGearUnits(void) const { return (int)lGear.size(); }
 

diff --git a/src/FDM/JSBSim/models/FGInertial.cpp b/src/FDM/JSBSim/models/FGInertial.cpp
index 4ff657a51e8774471cab7986cd67374a10d56371..ab2670eb97700868ada2dc29b2ef43ad121e1157 100644 (file)
--- a/src/FDM/JSBSim/models/FGInertial.cpp
+++ b/src/FDM/JSBSim/models/FGInertial.cpp
@@ -38,7 +38,6 @@ INCLUDES
 #include "FGInertial.h"
 #include "FGFDMExec.h"
 #include "FGPropagate.h"
-#include "FGState.h"
 #include "FGMassBalance.h"
 #include <iostream>
 
@@ -46,7 +45,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGInertial.cpp,v 1.18 2010/03/28 05:57:00 jberndt Exp $";
 static const char *IdHdr = ID_INERTIAL;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -119,7 +118,7 @@ bool FGInertial::Run(void)
   // Gravitation accel
   double r = Propagate->GetRadius();
   gAccel = GetGAccel(r);
-  earthPosAngle += State->Getdt()*RotationRate;
+  earthPosAngle += FDMExec->GetDeltaT()*RotationRate;
 
   RunPostFunctions();
 
@@ -133,6 +132,34 @@ double FGInertial::GetGAccel(double r) const
   return GM/(r*r);
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//
+// Calculate the WGS84 gravitation value in ECEF frame. Pass in the ECEF position
+// via the position parameter. The J2Gravity value returned is in ECEF frame,
+// and therefore may need to be expressed (transformed) in another frame,
+// depending on how it is used. See Stevens and Lewis eqn. 1.4-16.
+
+FGColumnVector3 FGInertial::GetGravityJ2(FGColumnVector3 position) const
+{
+  FGColumnVector3 J2Gravity;
+
+  // Gravitation accel
+  double r = position.Magnitude();
+  double lat = Propagate->GetLatitude();
+  double sinLat = sin(lat);
+
+  double preCommon = 1.5*J2*(a/r)*(a/r);
+  double xy = 1.0 - 5.0*(sinLat*sinLat);
+  double z = 3.0 - 5.0*(sinLat*sinLat);
+  double GMOverr2 = GM/(r*r);
+
+  J2Gravity(1) = -GMOverr2 * ((1.0 + (preCommon * xy)) * position(eX)/r);
+  J2Gravity(2) = -GMOverr2 * ((1.0 + (preCommon * xy)) * position(eY)/r);
+  J2Gravity(3) = -GMOverr2 * ((1.0 + (preCommon *  z)) * position(eZ)/r);
+
+  return J2Gravity;
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGInertial::bind(void)

diff --git a/src/FDM/JSBSim/models/FGInertial.h b/src/FDM/JSBSim/models/FGInertial.h
index cf457923636242ad26510d8eb416bcae13dfcc89..f4db378a2dc24da6060f7a18a416450a2ba3032e 100644 (file)
--- a/src/FDM/JSBSim/models/FGInertial.h
+++ b/src/FDM/JSBSim/models/FGInertial.h
@@ -47,7 +47,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_INERTIAL "$Id$"
+#define ID_INERTIAL "$Id: FGInertial.h,v 1.15 2010/01/27 04:01:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -82,10 +82,13 @@ public:
   double GetEarthPositionAngle(void) const { return earthPosAngle; }
   double GetEarthPositionAngleDeg(void) const { return earthPosAngle*radtodeg;}
   double GetGAccel(double r) const;
+  FGColumnVector3 GetGravityJ2(FGColumnVector3 position) const;
   double GetRefRadius(void) const {return RadiusReference;}
   double GetSemimajor(void) const {return a;}
   double GetSemiminor(void) const {return b;}
 
+  void SetEarthPositionAngle(double epa) {earthPosAngle = epa;}
+
 private:
   double gAccel;
   double gAccelReference;

diff --git a/src/FDM/JSBSim/models/FGInput.cpp b/src/FDM/JSBSim/models/FGInput.cpp
index dd124efa0937f74ddda21a65e130bfe87788a58e..c8cc13b83c3514e39f38489c71515d398ad114f3 100755 (executable)
--- a/src/FDM/JSBSim/models/FGInput.cpp
+++ b/src/FDM/JSBSim/models/FGInput.cpp
@@ -39,7 +39,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGInput.h"
-#include "FGState.h"
+#include "FGAircraft.h"
 #include "FGFDMExec.h"
 
 #include "input_output/FGfdmSocket.h"
@@ -53,7 +53,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGInput.cpp,v 1.19 2010/02/25 05:21:36 jberndt Exp $";
 static const char *IdHdr = ID_INPUT;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -192,7 +192,7 @@ bool FGInput::Run(void)
         info << "JSBSim version: " << JSBSim_version << endl;
         info << "Config File version: " << needed_cfg_version << endl;
         info << "Aircraft simulated: " << Aircraft->GetAircraftName() << endl;
-        info << "Simulation time: " << setw(8) << setprecision(3) << State->Getsim_time() << endl;
+        info << "Simulation time: " << setw(8) << setprecision(3) << FDMExec->GetSimTime() << endl;
         socket->Reply(info.str());
 
       } else if (command == "help") {                   // HELP

diff --git a/src/FDM/JSBSim/models/FGInput.h b/src/FDM/JSBSim/models/FGInput.h
index 58aa9ebdbd4070fec76852900f1c93560c463abf..b86a428c6097d20c189cf8a585dbe840eb3b0f33 100755 (executable)
--- a/src/FDM/JSBSim/models/FGInput.h
+++ b/src/FDM/JSBSim/models/FGInput.h
@@ -46,7 +46,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_INPUT "$Id$"
+#define ID_INPUT "$Id: FGInput.h,v 1.8 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/models/FGLGear.cpp b/src/FDM/JSBSim/models/FGLGear.cpp
index b0c448b41777baf98a5ff7375f6017505f067c27..569b76ee4f89aa1c63deb85e38e5abda391545be 100644 (file)
--- a/src/FDM/JSBSim/models/FGLGear.cpp
+++ b/src/FDM/JSBSim/models/FGLGear.cpp
@@ -41,7 +41,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGLGear.h"
-#include "FGState.h"
 #include "FGGroundReactions.h"
 #include "FGFCS.h"
 #include "FGAuxiliary.h"
@@ -62,7 +61,7 @@ DEFINITIONS
 GLOBAL DATA
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGLGear.cpp,v 1.76 2010/07/30 11:50:01 jberndt Exp $";
 static const char *IdHdr = ID_LGEAR;
 
 // Body To Structural (body frame is rotated 180 deg about Y and lengths are given in
@@ -76,7 +75,8 @@ CLASS IMPLEMENTATION
 FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
   FGForce(fdmex),
   GearNumber(number),
-  SteerAngle(0.0)
+  SteerAngle(0.0),
+  Castered(false)
 {
   Element *force_table=0;
   Element *dampCoeff=0;
@@ -202,7 +202,7 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
 
   if      (sSteerType == "STEERABLE") eSteerType = stSteer;
   else if (sSteerType == "FIXED"    ) eSteerType = stFixed;
-  else if (sSteerType == "CASTERED" ) eSteerType = stCaster;
+  else if (sSteerType == "CASTERED" ) {eSteerType = stCaster; Castered = true;}
   else if (sSteerType.empty()       ) {eSteerType = stFixed;
                                        sSteerType = "FIXED (defaulted)";}
   else {
@@ -210,50 +210,11 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
          << sSteerType << " is undefined." << endl;
   }
 
-  RFRV = 0.7;  // Rolling force relaxation velocity, default value
-  SFRV = 0.7;  // Side force relaxation velocity, default value
-
-  Element* relax_vel = el->FindElement("relaxation_velocity");
-  if (relax_vel) {
-    if (relax_vel->FindElement("rolling")) {
-      RFRV = relax_vel->FindElementValueAsNumberConvertTo("rolling", "FT/SEC");
-    }
-    if (relax_vel->FindElement("side")) {
-      SFRV = relax_vel->FindElementValueAsNumberConvertTo("side", "FT/SEC");
-    }
-  }
-
-  State       = fdmex->GetState();
-  Aircraft    = fdmex->GetAircraft();
-  Propagate   = fdmex->GetPropagate();
-  Auxiliary   = fdmex->GetAuxiliary();
-  FCS         = fdmex->GetFCS();
-  MassBalance = fdmex->GetMassBalance();
-
-  LongForceLagFilterCoeff = 1/State->Getdt(); // default longitudinal force filter coefficient
-  LatForceLagFilterCoeff  = 1/State->Getdt(); // default lateral force filter coefficient
-
-  Element* force_lag_filter_elem = el->FindElement("force_lag_filter");
-  if (force_lag_filter_elem) {
-    if (force_lag_filter_elem->FindElement("rolling")) {
-      LongForceLagFilterCoeff = force_lag_filter_elem->FindElementValueAsNumber("rolling");
-    }
-    if (force_lag_filter_elem->FindElement("side")) {
-      LatForceLagFilterCoeff = force_lag_filter_elem->FindElementValueAsNumber("side");
-    }
-  }
-
-  LongForceFilter = Filter(LongForceLagFilterCoeff, State->Getdt());
-  LatForceFilter = Filter(LatForceLagFilterCoeff, State->Getdt());
-
-  WheelSlipLagFilterCoeff = 1/State->Getdt();
-
-  Element *wheel_slip_angle_lag_elem = el->FindElement("wheel_slip_filter");
-  if (wheel_slip_angle_lag_elem) {
-    WheelSlipLagFilterCoeff = wheel_slip_angle_lag_elem->GetDataAsNumber();
-  }
-  
-  WheelSlipFilter = Filter(WheelSlipLagFilterCoeff, State->Getdt());
+  Auxiliary       = fdmex->GetAuxiliary();
+  Propagate       = fdmex->GetPropagate();
+  FCS             = fdmex->GetFCS();
+  MassBalance     = fdmex->GetMassBalance();
+  GroundReactions = fdmex->GetGroundReactions();
 
   GearUp = false;
   GearDown = true;
@@ -292,6 +253,11 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
   Peak = staticFCoeff;
   Curvature = 1.03;
 
+  // Initialize Lagrange multipliers
+  LMultiplier[ftRoll].value = 0.;
+  LMultiplier[ftSide].value = 0.;
+  LMultiplier[ftRoll].value = 0.;
+
   Debug(0);
 }
 
@@ -307,36 +273,36 @@ FGLGear::~FGLGear()
 
 FGColumnVector3& FGLGear::GetBodyForces(void)
 {
-  double t = fdmex->GetState()->Getsim_time();
-  dT = State->Getdt()*fdmex->GetGroundReactions()->GetRate();
+  double t = fdmex->GetSimTime();
+  dT = fdmex->GetDeltaT()*GroundReactions->GetRate();
 
   vFn.InitMatrix();
 
   if (isRetractable) ComputeRetractionState();
 
   if (GearDown) {
-    double verticalZProj = 0.;
-
     vWhlBodyVec = MassBalance->StructuralToBody(vXYZn); // Get wheel in body frame
     vLocalGear = Propagate->GetTb2l() * vWhlBodyVec; // Get local frame wheel location
 
     gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear);
-    // Compute the height of the theoretical location of the wheel (if strut is not compressed) with
-    // respect to the ground level
+    // Compute the height of the theoretical location of the wheel (if strut is
+    // not compressed) with respect to the ground level
     double height = fdmex->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
-    vGroundNormal = -1. * Propagate->GetTec2b() * normal;
+    vGroundNormal = Propagate->GetTec2b() * normal;
+
+    // The height returned above is the AGL and is expressed in the Z direction
+    // of the ECEF coordinate frame. We now need to transform this height in
+    // actual compression of the strut (BOGEY) of in the normal direction to the
+    // ground (STRUCTURE)
+    double normalZ = (Propagate->GetTec2l()*normal)(eZ);
+    double LGearProj = -(mTGear.Transposed() * vGroundNormal)(eZ);
 
-    // The height returned above is the AGL and is expressed in the Z direction of the local
-    // coordinate frame. We now need to transform this height in actual compression of the strut (BOGEY)
-    // of in the normal direction to the ground (STRUCTURE)
     switch (eContactType) {
     case ctBOGEY:
-      verticalZProj = (Propagate->GetTb2l()*mTGear*FGColumnVector3(0.,0.,1.))(eZ);
-      compressLength = verticalZProj > 0.0 ? -height / verticalZProj : 0.0;
+      compressLength = LGearProj > 0.0 ? height * normalZ / LGearProj : 0.0;
       break;
     case ctSTRUCTURE:
-      verticalZProj = (Propagate->GetTec2l()*normal)(eZ);
-      compressLength = fabs(verticalZProj) > 0.0 ? -height / verticalZProj : 0.0;
+      compressLength = height * normalZ / DotProduct(normal, normal);
       break;
     }
 
@@ -344,13 +310,22 @@ FGColumnVector3& FGLGear::GetBodyForces(void)
 
       WOW = true;
 
-      // [The next equation should really use the vector to the contact patch of
-      // the tire including the strut compression and not the original vWhlBodyVec.]
+      // The following equations use the vector to the tire contact patch
+      // including the strut compression.
+      FGColumnVector3 vWhlDisplVec;
+
+      switch(eContactType) {
+      case ctBOGEY:
+        vWhlDisplVec = mTGear * FGColumnVector3(0., 0., -compressLength);
+        break;
+      case ctSTRUCTURE:
+        vWhlDisplVec = compressLength * vGroundNormal;
+        break;
+      }
 
-      FGColumnVector3 vWhlDisplVec = mTGear * FGColumnVector3(0., 0., compressLength);
-      FGColumnVector3 vWhlContactVec = vWhlBodyVec - vWhlDisplVec;
-      vActingXYZn = vXYZn - Tb2s * vWhlDisplVec;
-      FGColumnVector3 vBodyWhlVel  = Propagate->GetPQR() * vWhlContactVec;
+      FGColumnVector3 vWhlContactVec = vWhlBodyVec + vWhlDisplVec;
+      vActingXYZn = vXYZn + Tb2s * vWhlDisplVec;
+      FGColumnVector3 vBodyWhlVel = Propagate->GetPQR() * vWhlContactVec;
       vBodyWhlVel += Propagate->GetUVW() - Propagate->GetTec2b() * cvel;
 
       vWhlVelVec = mTGear.Transposed() * vBodyWhlVel;
@@ -361,47 +336,22 @@ FGColumnVector3& FGLGear::GetBodyForces(void)
 
       vLocalWhlVel = Transform().Transposed() * vBodyWhlVel;
 
-      switch (eContactType) {
-      case ctBOGEY:
-        // Compression speed along the strut
-        compressSpeed = -vWhlVelVec(eZ);
-      case ctSTRUCTURE:
-        // Compression speed along the ground normal
-        compressSpeed = -vLocalWhlVel(eX);
-      }
+      compressSpeed = -vLocalWhlVel(eX);
+      if (eContactType == ctBOGEY)
+        compressSpeed /= LGearProj;
 
       ComputeVerticalStrutForce();
 
-      // Compute the forces in the wheel ground plane.
+      // Compute the friction coefficients in the wheel ground plane.
       if (eContactType == ctBOGEY) {
         ComputeSlipAngle();
         ComputeBrakeForceCoefficient();
         ComputeSideForceCoefficient();
-        double sign = vLocalWhlVel(eY)>0?1.0:(vLocalWhlVel(eY)<0?-1.0:0.0);
-        vFn(eY) = - ((1.0 - TirePressureNorm) * 30 + vFn(eX) * BrakeFCoeff) * sign;
-        vFn(eZ) = vFn(eX) * FCoeff;
-      }
-      else if (eContactType == ctSTRUCTURE) {
-        FGColumnVector3 vSlipVec = vLocalWhlVel;
-        vSlipVec(eX) = 0.;
-        vSlipVec.Normalize();
-        vFn -= staticFCoeff * vFn(eX) * vSlipVec;
       }
 
-      // Lag and attenuate the XY-plane forces dependent on velocity. This code
-      // uses a lag filter, C/(s + C) where "C" is the filter coefficient. When
-      // "C" is chosen at the frame rate (in Hz), the jittering is significantly
-      // reduced. This is because the jitter is present *at* the execution rate.
-      // If a coefficient is set to something equal to or less than zero, the
-      // filter is bypassed.
-
-      if (LongForceLagFilterCoeff > 0) vFn(eY) = LongForceFilter.execute(vFn(eY));
-      if (LatForceLagFilterCoeff > 0)  vFn(eZ) = LatForceFilter.execute(vFn(eZ));
-
-      if ((fabs(vLocalWhlVel(eY)) <= RFRV) && RFRV > 0) vFn(eY) *= fabs(vLocalWhlVel(eY))/RFRV;
-      if ((fabs(vLocalWhlVel(eZ)) <= SFRV) && SFRV > 0) vFn(eZ) *= fabs(vLocalWhlVel(eZ))/SFRV;
-
-      // End section for attenuating gear jitter
+      // Prepare the Jacobians and the Lagrange multipliers for later friction
+      // forces calculations.
+      ComputeJacobian(vWhlContactVec);
 
     } else { // Gear is NOT compressed
 
@@ -492,14 +442,13 @@ void FGLGear::ComputeRetractionState(void)
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Calculate tire slip angle.
 
 void FGLGear::ComputeSlipAngle(void)
 {
-  // Calculate tire slip angle.
-  WheelSlip = -atan2(vLocalWhlVel(eZ), fabs(vLocalWhlVel(eY)))*radtodeg;
-
-  // Filter the wheel slip angle
-  if (WheelSlipLagFilterCoeff > 0) WheelSlip = WheelSlipFilter.execute(WheelSlip);
+// Check that the speed is non-null otherwise use the current angle
+  if (vLocalWhlVel.Magnitude(eY,eZ) > 1E-3)
+    WheelSlip = -atan2(vLocalWhlVel(eZ), fabs(vLocalWhlVel(eY)))*radtodeg;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -516,7 +465,13 @@ void FGLGear::ComputeSteeringAngle(void)
     SteerAngle = 0.0;
     break;
   case stCaster:
-    SteerAngle = atan2(vWhlVelVec(eY), fabs(vWhlVelVec(eX)));
+    if (!Castered)
+      SteerAngle = degtorad * FCS->GetSteerPosDeg(GearNumber);
+    else {
+      // Check that the speed is non-null otherwise use the current angle
+      if (vWhlVelVec.Magnitude(eX,eY) > 0.1)
+        SteerAngle = atan2(vWhlVelVec(eY), fabs(vWhlVelVec(eX)));
+    }
     break;
   default:
     cerr << "Improper steering type membership detected for this gear." << endl;
@@ -571,20 +526,18 @@ void FGLGear::InitializeReporting(void)
 
 void FGLGear::ReportTakeoffOrLanding(void)
 {
-  double deltaT = State->Getdt()*fdmex->GetGroundReactions()->GetRate();
-
   if (FirstContact)
-    LandingDistanceTraveled += Auxiliary->GetVground()*deltaT;
+    LandingDistanceTraveled += Auxiliary->GetVground()*dT;
 
   if (StartedGroundRun) {
-    TakeoffDistanceTraveled50ft += Auxiliary->GetVground()*deltaT;
-    if (WOW) TakeoffDistanceTraveled += Auxiliary->GetVground()*deltaT;
+    TakeoffDistanceTraveled50ft += Auxiliary->GetVground()*dT;
+    if (WOW) TakeoffDistanceTraveled += Auxiliary->GetVground()*dT;
   }
 
   if ( ReportEnable
        && Auxiliary->GetVground() <= 0.05
        && !LandingReported
-       && fdmex->GetGroundReactions()->GetWOW())
+       && GroundReactions->GetWOW())
   {
     if (debug_lvl > 0) Report(erLand);
   }
@@ -592,7 +545,7 @@ void FGLGear::ReportTakeoffOrLanding(void)
   if ( ReportEnable
        && !TakeoffReported
        && (Propagate->GetDistanceAGL() - vLocalGear(eZ)) > 50.0
-       && !fdmex->GetGroundReactions()->GetWOW())
+       && !GroundReactions->GetWOW())
   {
     if (debug_lvl > 0) Report(erTakeoff);
   }
@@ -608,10 +561,10 @@ void FGLGear::CrashDetect(void)
   if ( (compressLength > 500.0 ||
       vFn.Magnitude() > 100000000.0 ||
       GetMoments().Magnitude() > 5000000000.0 ||
-      SinkRate > 1.4666*30 ) && !State->IntegrationSuspended())
+      SinkRate > 1.4666*30 ) && !fdmex->IntegrationSuspended())
   {
     PutMessage("Crash Detected: Simulation FREEZE.");
-    State->SuspendIntegration();
+    fdmex->SuspendIntegration();
   }
 }
 
@@ -733,6 +686,99 @@ double FGLGear::GetGearUnitPos(void)
   return GearPos;
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Compute the jacobian entries for the friction forces resolution later
+// in FGPropagate
+
+void FGLGear::ComputeJacobian(const FGColumnVector3& vWhlContactVec)
+{
+  // When the point of contact is moving, dynamic friction is used
+  // This type of friction is limited to ctSTRUCTURE elements because their
+  // friction coefficient is the same in every directions
+  if ((eContactType == ctSTRUCTURE) && (vLocalWhlVel.Magnitude(eY,eZ) > 1E-3)) {
+    FGColumnVector3 velocityDirection = vLocalWhlVel;
+
+    StaticFriction = false;
+
+    velocityDirection(eX) = 0.;
+    velocityDirection.Normalize();
+
+    LMultiplier[ftDynamic].ForceJacobian = Transform()*velocityDirection;
+    LMultiplier[ftDynamic].MomentJacobian = vWhlContactVec * LMultiplier[ftDynamic].ForceJacobian;
+    LMultiplier[ftDynamic].Max = 0.;
+    LMultiplier[ftDynamic].Min = -fabs(dynamicFCoeff * vFn(eX));
+    LMultiplier[ftDynamic].value = Constrain(LMultiplier[ftDynamic].Min, LMultiplier[ftDynamic].value, LMultiplier[ftDynamic].Max);
+  }
+  else {
+    // Static friction is used for ctSTRUCTURE when the contact point is not moving.
+    // It is always used for ctBOGEY elements because the friction coefficients
+    // of a tyre depend on the direction of the movement (roll & side directions).
+    // This cannot be handled properly by the so-called "dynamic friction".
+    StaticFriction = true;
+
+    LMultiplier[ftRoll].ForceJacobian = Transform()*FGColumnVector3(0.,1.,0.);
+    LMultiplier[ftSide].ForceJacobian = Transform()*FGColumnVector3(0.,0.,1.);
+    LMultiplier[ftRoll].MomentJacobian = vWhlContactVec * LMultiplier[ftRoll].ForceJacobian;
+    LMultiplier[ftSide].MomentJacobian = vWhlContactVec * LMultiplier[ftSide].ForceJacobian;
+
+    switch(eContactType) {
+    case ctBOGEY:
+      LMultiplier[ftRoll].Max = fabs(BrakeFCoeff * vFn(eX));
+      LMultiplier[ftSide].Max = fabs(FCoeff * vFn(eX));
+      break;
+    case ctSTRUCTURE:
+      LMultiplier[ftRoll].Max = fabs(staticFCoeff * vFn(eX));
+      LMultiplier[ftSide].Max = fabs(staticFCoeff * vFn(eX));
+      break;
+    }
+
+    LMultiplier[ftRoll].Min = -LMultiplier[ftRoll].Max;
+    LMultiplier[ftSide].Min = -LMultiplier[ftSide].Max;
+    LMultiplier[ftRoll].value = Constrain(LMultiplier[ftRoll].Min, LMultiplier[ftRoll].value, LMultiplier[ftRoll].Max);
+    LMultiplier[ftSide].value = Constrain(LMultiplier[ftSide].Min, LMultiplier[ftSide].value, LMultiplier[ftSide].Max);
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This function is used by the MultiplierIterator class to enumerate the
+// Lagrange multipliers of a landing gear. This allows to encapsulate the storage
+// of the multipliers in FGLGear without exposing it. From an outside point of
+// view, each FGLGear instance has a number of Lagrange multipliers which can be
+// accessed through this routine without knowing the exact constraint which they
+// model.
+
+FGPropagate::LagrangeMultiplier* FGLGear::GetMultiplierEntry(int entry)
+{
+  switch(entry) {
+  case 0:
+    if (StaticFriction)
+      return &LMultiplier[ftRoll];
+    else
+      return &LMultiplier[ftDynamic];
+  case 1:
+    if (StaticFriction)
+      return &LMultiplier[ftSide];
+  default:
+    return NULL;
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This routine is called after the Lagrange multiplier has been computed. The
+// friction forces of the landing gear are then updated accordingly.
+FGColumnVector3& FGLGear::UpdateForces(void)
+{
+  if (StaticFriction) {
+    vFn(eY) = LMultiplier[ftRoll].value;
+    vFn(eZ) = LMultiplier[ftSide].value;
+  }
+  else
+    vFn += LMultiplier[ftDynamic].value * (Transform ().Transposed() * LMultiplier[ftDynamic].ForceJacobian);
+
+  // Return the updated force in the body frame
+  return FGForce::GetBodyForces();
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGLGear::bind(void)
@@ -760,8 +806,10 @@ void FGLGear::bind(void)
     fdmex->GetPropertyManager()->Tie( property_name.c_str(), &staticFCoeff );
 
     if (eSteerType == stCaster) {
-      property_name = base_property_name + "/steering-angle-rad";
-      fdmex->GetPropertyManager()->Tie( property_name.c_str(), &SteerAngle );
+      property_name = base_property_name + "/steering-angle-deg";
+      fdmex->GetPropertyManager()->Tie( property_name.c_str(), this, &FGLGear::GetSteerAngleDeg );
+      property_name = base_property_name + "/castered";
+      fdmex->GetPropertyManager()->Tie( property_name.c_str(), &Castered);
     }
   }
 
@@ -780,7 +828,7 @@ void FGLGear::Report(ReportType repType)
   switch(repType) {
   case erLand:
     cout << endl << "Touchdown report for " << name << " (WOW at time: "
-         << fdmex->GetState()->Getsim_time() << " seconds)" << endl;
+         << fdmex->GetSimTime() << " seconds)" << endl;
     cout << "  Sink rate at contact:  " << SinkRate                << " fps,    "
                                 << SinkRate*0.3048          << " mps"     << endl;
     cout << "  Contact ground speed:  " << GroundSpeed*.5925       << " knots,  "
@@ -795,16 +843,16 @@ void FGLGear::Report(ReportType repType)
     break;
   case erTakeoff:
     cout << endl << "Takeoff report for " << name << " (Liftoff at time: "
-         << fdmex->GetState()->Getsim_time() << " seconds)" << endl;
+        << fdmex->GetSimTime() << " seconds)" << endl;
     cout << "  Distance traveled:                " << TakeoffDistanceTraveled
          << " ft,     " << TakeoffDistanceTraveled*0.3048  << " meters"  << endl;
     cout << "  Distance traveled (over 50'):     " << TakeoffDistanceTraveled50ft
          << " ft,     " << TakeoffDistanceTraveled50ft*0.3048 << " meters" << endl;
-    cout << "  [Altitude (ASL): " << fdmex->GetPropagate()->GetAltitudeASL() << " ft. / "
-         << fdmex->GetPropagate()->GetAltitudeASLmeters() << " m  | Temperature: "
+    cout << "  [Altitude (ASL): " << Propagate->GetAltitudeASL() << " ft. / "
+         << Propagate->GetAltitudeASLmeters() << " m  | Temperature: "
          << fdmex->GetAtmosphere()->GetTemperature() - 459.67 << " F / "
          << RankineToCelsius(fdmex->GetAtmosphere()->GetTemperature()) << " C]" << endl;
-    cout << "  [Velocity (KCAS): " << fdmex->GetAuxiliary()->GetVcalibratedKTS() << "]" << endl;
+    cout << "  [Velocity (KCAS): " << Auxiliary->GetVcalibratedKTS() << "]" << endl;
     TakeoffReported = true;
     break;
   case erNone:
@@ -859,9 +907,6 @@ void FGLGear::Debug(int from)
         cout << "      Grouping:         " << sBrakeGroup   << endl;
         cout << "      Max Steer Angle:  " << maxSteerAngle << endl;
         cout << "      Retractable:      " << isRetractable  << endl;
-        cout << "      Relaxation Velocities:" << endl;
-        cout << "        Rolling:          " << RFRV << endl;
-        cout << "        Side:             " << SFRV << endl;
       }
     }
   }

diff --git a/src/FDM/JSBSim/models/FGLGear.h b/src/FDM/JSBSim/models/FGLGear.h
index 9b86b68794d174fb5565ca324d979b4caaf85d7a..2190f8b9c521891520e9a608790b77e5fe4eea1d 100644 (file)
--- a/src/FDM/JSBSim/models/FGLGear.h
+++ b/src/FDM/JSBSim/models/FGLGear.h
@@ -39,6 +39,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "models/propulsion/FGForce.h"
+#include "models/FGPropagate.h"
 #include "math/FGColumnVector3.h"
 #include <string>
 
@@ -46,7 +47,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_LGEAR "$Id$"
+#define ID_LGEAR "$Id: FGLGear.h,v 1.40 2010/07/30 11:50:01 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -84,7 +85,6 @@ CLASS DOCUMENTATION
     <h3>Operational Properties</h3>
     <ol>
     <li>Name</li>
-    <li>Steerability attribute {one of STEERABLE | FIXED | CASTERED}</li>
     <li>Brake Group Membership {one of LEFT | CENTER | RIGHT | NOSE | TAIL | NONE}</li>
     <li>Max Steer Angle, in degrees</li>
     </ol></p>
@@ -178,19 +178,10 @@ CLASS DOCUMENTATION
             <retractable>{0 | 1}</retractable>
             <table type="{CORNERING_COEFF}">
             </table>
-            <relaxation_velocity>
-               <rolling unit="{FT/SEC | KTS | M/S}"> {number} </rolling>
-               <side unit="{FT/SEC | KTS | M/S}"> {number} </side>
-            </relaxation_velocity>
-            <force_lag_filter>
-               <rolling> {number} </rolling>
-               <side> {number} </side>
-            </force_lag_filter>
-            <wheel_slip_filter> {number} </wheel_slip_filter>  
         </contact>
 @endcode
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGLGear.h,v 1.40 2010/07/30 11:50:01 jberndt Exp $
     @see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
      NASA-Ames", NASA CR-2497, January 1975
     @see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
@@ -216,6 +207,8 @@ public:
   enum ReportType {erNone=0, erTakeoff, erLand};
   /// Damping types
   enum DampType {dtLinear=0, dtSquare};
+  /// Friction types
+  enum FrictionType {ftRoll=0, ftSide, ftDynamic};
   /** Constructor
       @param el a pointer to the XML element that contains the CONTACT info.
       @param Executive a pointer to the parent executive object
@@ -289,6 +282,10 @@ public:
   double GetWheelVel(int axis) const   { return vWhlVelVec(axis);}
   bool IsBogey(void) const             { return (eContactType == ctBOGEY);}
   double GetGearUnitPos(void);
+  double GetSteerAngleDeg(void) const { return radtodeg*SteerAngle; }
+  FGPropagate::LagrangeMultiplier* GetMultiplierEntry(int entry);
+  void SetLagrangeMultiplier(double lambda, int entry);
+  FGColumnVector3& UpdateForces(void);
 
   void bind(void);
 
@@ -337,6 +334,8 @@ private:
   bool isRetractable;
   bool GearUp, GearDown;
   bool Servicable;
+  bool Castered;
+  bool StaticFriction;
   std::string name;
   std::string sSteerType;
   std::string sBrakeGroup;
@@ -349,22 +348,14 @@ private:
   DampType    eDampType;
   DampType    eDampTypeRebound;
   double  maxSteerAngle;
-  double RFRV;  // Rolling force relaxation velocity
-  double SFRV;  // Side force relaxation velocity
-  double LongForceLagFilterCoeff; // Longitudinal Force Lag Filter Coefficient
-  double LatForceLagFilterCoeff; // Lateral Force Lag Filter Coefficient
-  double WheelSlipLagFilterCoeff; // Wheel slip angle lag filter coefficient
-
-  Filter LongForceFilter;
-  Filter LatForceFilter;
-  Filter WheelSlipFilter;
-
-  FGState*       State;
-  FGAircraft*    Aircraft;
-  FGPropagate*   Propagate;
-  FGAuxiliary*   Auxiliary;
-  FGFCS*         FCS;
-  FGMassBalance* MassBalance;
+
+  FGPropagate::LagrangeMultiplier LMultiplier[3];
+
+  FGAuxiliary*       Auxiliary;
+  FGPropagate*       Propagate;
+  FGFCS*             FCS;
+  FGMassBalance*     MassBalance;
+  FGGroundReactions* GroundReactions;
 
   void ComputeRetractionState(void);
   void ComputeBrakeForceCoefficient(void);
@@ -373,6 +364,7 @@ private:
   void ComputeSideForceCoefficient(void);
   void ComputeVerticalStrutForce(void);
   void ComputeGroundCoordSys(void);
+  void ComputeJacobian(const FGColumnVector3& vWhlContactVec);
   void CrashDetect(void);
   void InitializeReporting(void);
   void ResetReporting(void);

diff --git a/src/FDM/JSBSim/models/FGMassBalance.cpp b/src/FDM/JSBSim/models/FGMassBalance.cpp
index 7b6752a3ea7e00e4a58bed237f28d3cbe419187b..9e485c1a6a6a9bae82a82aaec92038288413bb3e 100644 (file)
--- a/src/FDM/JSBSim/models/FGMassBalance.cpp
+++ b/src/FDM/JSBSim/models/FGMassBalance.cpp
@@ -40,16 +40,18 @@ INCLUDES
 
 #include "FGMassBalance.h"
 #include "FGPropulsion.h"
+#include "propulsion/FGTank.h"
 #include "FGBuoyantForces.h"
 #include "input_output/FGPropertyManager.h"
 #include <iostream>
+#include <iomanip>
 #include <cstdlib>
 
 using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGMassBalance.cpp,v 1.32 2010/08/12 04:07:11 jberndt Exp $";
 static const char *IdHdr = ID_MASSBALANCE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -124,7 +126,9 @@ bool FGMassBalance::Load(Element* el)
   SetAircraftBaseInertias(FGMatrix33(  bixx,  -bixy,  bixz,
                                       -bixy,  biyy,  -biyz,
                                        bixz,  -biyz,  bizz ));
-  EmptyWeight = el->FindElementValueAsNumberConvertTo("emptywt", "LBS");
+  if (el->FindElement("emptywt")) {
+    EmptyWeight = el->FindElementValueAsNumberConvertTo("emptywt", "LBS");
+  }
 
   element = el->FindElement("location");
   while (element) {
@@ -241,6 +245,7 @@ bool FGMassBalance::Run(void)
 
 void FGMassBalance::AddPointMass(Element* el)
 {
+  double radius=0, length=0;
   Element* loc_element = el->FindElement("location");
   string pointmass_name = el->GetAttributeValue("name");
   if (!loc_element) {
@@ -251,8 +256,40 @@ void FGMassBalance::AddPointMass(Element* el)
   double w = el->FindElementValueAsNumberConvertTo("weight", "LBS");
   FGColumnVector3 vXYZ = loc_element->FindElementTripletConvertTo("IN");
 
-  PointMasses.push_back(new PointMass(w, vXYZ));
-  PointMasses.back()->bind(PropertyManager, PointMasses.size()-1);
+  PointMass *pm = new PointMass(w, vXYZ);
+  pm->SetName(pointmass_name);
+
+  Element* form_element = el->FindElement("form");
+  if (form_element) {
+    string shape = form_element->GetAttributeValue("shape");
+    Element* radius_element = form_element->FindElement("radius");
+    Element* length_element = form_element->FindElement("length");
+    if (radius_element) radius = form_element->FindElementValueAsNumberConvertTo("radius", "FT");
+    if (length_element) length = form_element->FindElementValueAsNumberConvertTo("length", "FT");
+    if (shape == "tube") {
+      pm->SetPointMassShapeType(PointMass::esTube);
+      pm->SetRadius(radius);
+      pm->SetLength(length);
+      pm->CalculateShapeInertia();
+    } else if (shape == "cylinder") {
+      pm->SetPointMassShapeType(PointMass::esCylinder);
+      pm->SetRadius(radius);
+      pm->SetLength(length);
+      pm->CalculateShapeInertia();
+    } else if (shape == "sphere") {
+      pm->SetPointMassShapeType(PointMass::esSphere);
+      pm->SetRadius(radius);
+      pm->CalculateShapeInertia();
+    } else if (shape == "ball") {
+      pm->SetPointMassShapeType(PointMass::esBall);
+      pm->SetRadius(radius);
+      pm->CalculateShapeInertia();
+    } else {
+    }
+  }
+
+  pm->bind(PropertyManager, PointMasses.size());
+  PointMasses.push_back(pm);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -290,8 +327,10 @@ FGMatrix33& FGMassBalance::CalculatePMInertias(void)
 
   pmJ = FGMatrix33();
 
-  for (unsigned int i=0; i<size; i++)
+  for (unsigned int i=0; i<size; i++) {
     pmJ += GetPointmassInertia( lbtoslug * PointMasses[i]->Weight, PointMasses[i]->Location );
+    pmJ += PointMasses[i]->GetPointMassInertia();
+  }
 
   return pmJ;
 }
@@ -339,7 +378,7 @@ void FGMassBalance::bind(void)
   PropertyManager->Tie("inertia/weight-lbs", this,
                        &FGMassBalance::GetWeight);
   PropertyManager->Tie("inertia/empty-weight-lbs", this,
-    &FGMassBalance::GetWeight, &FGMassBalance::SetEmptyWeight);
+                       &FGMassBalance::GetEmptyWeight);
   PropertyManager->Tie("inertia/cg-x-in", this,1,
                        (PMF)&FGMassBalance::GetXYZcg);
   PropertyManager->Tie("inertia/cg-y-in", this,2,
@@ -349,7 +388,9 @@ void FGMassBalance::bind(void)
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+//
+// This function binds properties for each pointmass object created.
+//
 void FGMassBalance::PointMass::bind(FGPropertyManager* PropertyManager, int num) {
   string tmp = CreateIndexedPropertyName("inertia/pointmass-weight-lbs", num);
   PropertyManager->Tie( tmp.c_str(), this, &PointMass::GetPointMassWeight,
@@ -366,6 +407,63 @@ void FGMassBalance::PointMass::bind(FGPropertyManager* PropertyManager, int num)
                                            &PointMass::SetPointMassLocation);
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGMassBalance::GetMassPropertiesReport(void) const
+{
+  cout << endl << fgblue << highint 
+       << "  Mass Properties Report (English units: lbf, in, slug-ft^2)"
+       << reset << endl;
+  cout << "                                  " << underon << "    Weight    CG-X    CG-Y"
+       << "    CG-Z         Ixx         Iyy         Izz" << underoff << endl;
+  cout.precision(1);
+  cout << highint << setw(34) << left << "    Base Vehicle " << normint
+       << right << setw(10) << EmptyWeight << setw(8) << vbaseXYZcg(eX) << setw(8)
+       << vbaseXYZcg(eY) << setw(8) << vbaseXYZcg(eZ) << setw(12) << baseJ(1,1)
+       << setw(12) << baseJ(2,2) << setw(12) << baseJ(3,3) << endl;
+
+  for (unsigned int i=0;i<PointMasses.size();i++) {
+    PointMass* pm = PointMasses[i];
+    double pmweight = pm->GetPointMassWeight();
+    cout << highint << left << setw(4) << i << setw(30) << pm->GetName() << normint
+         << right << setw(10) << pmweight << setw(8) << pm->GetLocation()(eX)
+         << setw(8) << pm->GetLocation()(eY) << setw(8) << pm->GetLocation()(eZ)
+         << setw(12) << pm->GetPointMassMoI(1,1) << setw(12) << pm->GetPointMassMoI(2,2)
+         << setw(12) << pm->GetPointMassMoI(3,3) << endl;
+  }
+
+  for (unsigned int i=0;i<Propulsion->GetNumTanks() ;i++) {
+    FGTank* tank = Propulsion->GetTank(i);
+    string tankname="";
+    if (tank->GetType() == FGTank::ttFUEL && tank->GetGrainType() != FGTank::gtUNKNOWN) {
+      tankname = "Solid Fuel";
+    } else if (tank->GetType() == FGTank::ttFUEL) {
+      tankname = "Fuel";
+    } else if (tank->GetType() == FGTank::ttOXIDIZER) {
+      tankname = "Oxidizer";
+    } else {
+      tankname = "(Unknown tank type)";
+    }
+    cout << highint << left << setw(4) << i << setw(30) << tankname << normint
+      << right << setw(10) << tank->GetContents() << setw(8) << tank->GetXYZ(eX)
+         << setw(8) << tank->GetXYZ(eY) << setw(8) << tank->GetXYZ(eZ)
+         << setw(12) << "*" << setw(12) << "*"
+         << setw(12) << "*" << endl;
+  }
+
+  cout << underon << setw(104) << " " << underoff << endl;
+  cout << highint << left << setw(30) << "    Total: " << right << setw(14) << Weight 
+       << setw(8) << vXYZcg(eX)
+       << setw(8) << vXYZcg(eY)
+       << setw(8) << vXYZcg(eZ)
+       << setw(12) << mJ(1,1)
+       << setw(12) << mJ(2,2)
+       << setw(12) << mJ(3,3)
+       << normint << endl;
+
+  cout.setf(ios_base::fixed);
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print
@@ -398,7 +496,7 @@ void FGMassBalance::Debug(int from)
       cout << "    baseIxy: " << baseJ(1,2) << " slug-ft2" << endl;
       cout << "    baseIxz: " << baseJ(1,3) << " slug-ft2" << endl;
       cout << "    baseIyz: " << baseJ(2,3) << " slug-ft2" << endl;
-      cout << "    EmptyWeight: " << EmptyWeight << " lbm" << endl;
+      cout << "    Empty Weight: " << EmptyWeight << " lbm" << endl;
       cout << "    CG (x, y, z): " << vbaseXYZcg << endl;
       // ToDo: Need to add point mass outputs here
       for (unsigned int i=0; i<PointMasses.size(); i++) {

diff --git a/src/FDM/JSBSim/models/FGMassBalance.h b/src/FDM/JSBSim/models/FGMassBalance.h
index 686b27b74de18571702f571dee6ba07d81ff489d..be461a1e8204f950418ee91a61fb5ef07bd7471a 100644 (file)
--- a/src/FDM/JSBSim/models/FGMassBalance.h
+++ b/src/FDM/JSBSim/models/FGMassBalance.h
@@ -43,17 +43,20 @@ INCLUDES
 #include "math/FGMatrix33.h"
 #include "input_output/FGXMLElement.h"
 #include <vector>
+#include <string>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_MASSBALANCE "$Id$"
+#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.21 2010/08/12 04:07:11 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONSS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+using std::string;
+
 namespace JSBSim {
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -62,7 +65,11 @@ CLASS DOCUMENTATION
 
 /** Models weight, balance and moment of inertia information.  Maintains a vector
     of point masses. Sums the contribution of all, and provides this to FGPropagate.
-    Loads the \<mass_balance> section of the aircraft configuration file.
+    Loads the \<mass_balance> section of the aircraft configuration file. There
+    can be any number of <pointmasses>. Each can also have a shape which - if
+    present - causes an associated moment of inertia to be calculated based on
+    the shape. Note that a cylinder is solid, a tube is hollow, a ball is solid
+    and a sphere is hollow.
 
     <h3>Configuration File Format:</h3>
 @code
@@ -74,20 +81,24 @@ CLASS DOCUMENTATION
         <ixz unit="{SLUG*FT2 | KG*M2}"> {number} </ixz>
         <iyz unit="{SLUG*FT2 | KG*M2}"> {number} </iyz>
         <emptywt unit="{LBS | KG"> {number} </emptywt>
-        <location name="CG" unit="{IN | M}">
+        <location name="CG" unit="{IN | FT | M}">
             <x> {number} </x>
             <y> {number} </y>
             <z> {number} </z>
         </location>
-        <pointmass name="{string}">
+        [<pointmass name="{string}">
+            <form shape="{tube | cylinder | sphere | ball}">
+               <radius unit="{IN | FT | M}"> {number} </radius>
+               <length unit="{IN | FT | M}"> {number} </length>
+            </form> 
             <weight unit="{LBS | KG}"> {number} </weight>
-            <location name="POINTMASS" unit="{IN | M}">
+            <location name="{string}" unit="{IN | FT | M}">
                 <x> {number} </x>
                 <y> {number} </y>
                 <z> {number} </z>
             </location>
         </pointmass>
-        ... other point masses ...
+        ... other point masses ...]
     </mass_balance>
 @endcode
   */
@@ -109,9 +120,10 @@ public:
 
   double GetMass(void) const {return Mass;}
   double GetWeight(void) const {return Weight;}
-  FGColumnVector3& GetXYZcg(void) {return vXYZcg;}
+  double GetEmptyWeight(void) const {return EmptyWeight;}
+  const FGColumnVector3& GetXYZcg(void) const {return vXYZcg;}
   double GetXYZcg(int axis) const  {return vXYZcg(axis);}
-  FGColumnVector3& GetDeltaXYZcg(void) {return vDeltaXYZcg;}
+  const FGColumnVector3& GetDeltaXYZcg(void) const {return vDeltaXYZcg;}
   double GetDeltaXYZcg(int axis) const  {return vDeltaXYZcg(axis);}
 
   /** Computes the inertia contribution of a pointmass.
@@ -158,6 +170,7 @@ public:
   FGMatrix33& GetJ(void) {return mJ;}
   FGMatrix33& GetJinv(void) {return mJinv;}
   void SetAircraftBaseInertias(FGMatrix33 BaseJ) {baseJ = BaseJ;}
+  void GetMassPropertiesReport(void) const;
   
 private:
   double Weight;
@@ -177,17 +190,66 @@ private:
   FGColumnVector3 PointMassCG;
   FGMatrix33& CalculatePMInertias(void);
 
+
+  /** The PointMass structure encapsulates a point mass object, moments of inertia
+     mass, location, etc. */
   struct PointMass {
     PointMass(double w, FGColumnVector3& vXYZ) {
       Weight = w;
       Location = vXYZ;
+      mPMInertia.InitMatrix();
+      Radius = 0.0;
+      Length = 0.0;
     }
+
+    void CalculateShapeInertia(void) {
+      switch(eShapeType) {
+        case esTube:
+          mPMInertia(1,1) = (Weight/(slugtolb))*Radius*Radius; // mr^2
+          mPMInertia(2,2) = (Weight/(slugtolb*12))*(6*Radius*Radius + Length*Length);
+          mPMInertia(3,3) = mPMInertia(2,2);
+          break;
+        case esCylinder:
+          mPMInertia(1,1) = (Weight/(slugtolb*2))*Radius*Radius; // 0.5*mr^2
+          mPMInertia(2,2) = (Weight/(slugtolb*12))*(3*Radius*Radius + Length*Length);
+          mPMInertia(3,3) = mPMInertia(2,2);
+          break;
+        case esSphere:
+          mPMInertia(1,1) = (Weight/(slugtolb*3))*Radius*Radius*2; // (2mr^2)/3
+          mPMInertia(2,2) = mPMInertia(1,1);
+          mPMInertia(3,3) = mPMInertia(1,1);
+        case esBall:
+          mPMInertia(1,1) = (Weight/(slugtolb*5))*Radius*Radius*2; // (2mr^2)/5
+          mPMInertia(2,2) = mPMInertia(1,1);
+          mPMInertia(3,3) = mPMInertia(1,1);
+          break;
+        default:
+          break;
+      }
+    }
+
+    enum esShape {esUnspecified, esTube, esCylinder, esSphere, esBall} eShapeType;
     FGColumnVector3 Location;
-    double Weight;
+    double Weight; /// Weight in pounds.
+    double Radius; /// Radius in feet.
+    double Length; /// Length in feet.
+    string Name;
+    FGMatrix33 mPMInertia;
+
     double GetPointMassLocation(int axis) const {return Location(axis);}
+    double GetPointMassWeight(void) const {return Weight;}
+    esShape GetShapeType(void) {return eShapeType;}
+    FGColumnVector3 GetLocation(void) {return Location;}
+    FGMatrix33 GetPointMassInertia(void) {return mPMInertia;}
+    string GetName(void) {return Name;}
+
     void SetPointMassLocation(int axis, double value) {Location(axis) = value;}
     void SetPointMassWeight(double wt) {Weight = wt;}
-    double GetPointMassWeight(void) const {return Weight;}
+    void SetPointMassShapeType(esShape st) {eShapeType = st;}
+    void SetRadius(double r) {Radius = r;}
+    void SetLength(double l) {Length = l;}
+    void SetName(string name) {Name = name;}
+    double GetPointMassMoI(int r, int c) {return mPMInertia(r,c);}
 
     void bind(FGPropertyManager* PropertyManager, int num);
   };

diff --git a/src/FDM/JSBSim/models/FGModel.cpp b/src/FDM/JSBSim/models/FGModel.cpp
index 2e2b8357e5bf70efe6a5e32039a675f22f3414f7..cd9a7eabbdb31f9268a9db0290e42c78d5861a43 100644 (file)
--- a/src/FDM/JSBSim/models/FGModel.cpp
+++ b/src/FDM/JSBSim/models/FGModel.cpp
@@ -39,7 +39,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGModel.h"
-#include "FGState.h"
 #include "FGFDMExec.h"
 #include "FGAtmosphere.h"
 #include "FGFCS.h"
@@ -58,7 +57,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGModel.cpp,v 1.14 2010/02/25 05:21:36 jberndt Exp $";
 static const char *IdHdr = ID_MODEL;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -74,7 +73,6 @@ FGModel::FGModel(FGFDMExec* fdmex)
   FDMExec     = fdmex;
   NextModel   = 0L;
 
-  State           = 0;
   Atmosphere      = 0;
   FCS             = 0;
   Propulsion      = 0;
@@ -115,7 +113,6 @@ FGModel::~FGModel()
 
 bool FGModel::InitModel(void)
 {
-  State           = FDMExec->GetState();
   Atmosphere      = FDMExec->GetAtmosphere();
   FCS             = FDMExec->GetFCS();
   Propulsion      = FDMExec->GetPropulsion();
@@ -129,8 +126,7 @@ bool FGModel::InitModel(void)
   Propagate       = FDMExec->GetPropagate();
   Auxiliary       = FDMExec->GetAuxiliary();
 
-  if (!State ||
-      !Atmosphere ||
+  if (!Atmosphere ||
       !FCS ||
       !Propulsion ||
       !MassBalance ||

diff --git a/src/FDM/JSBSim/models/FGModel.h b/src/FDM/JSBSim/models/FGModel.h
index 5907328f9e0514249f512ca8619ec8f65866be0c..5f3ac94897d95eac1f738d1f65b5e44820b49ea2 100644 (file)
--- a/src/FDM/JSBSim/models/FGModel.h
+++ b/src/FDM/JSBSim/models/FGModel.h
@@ -48,7 +48,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_MODEL "$Id$"
+#define ID_MODEL "$Id: FGModel.h,v 1.14 2009/11/12 13:08:11 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/models/FGOutput.cpp b/src/FDM/JSBSim/models/FGOutput.cpp
index e358ce0285a9340136f19142254bda24606a80f5..a974915f4cfd72106cdd10f8810ae7dca7810d07 100644 (file)
--- a/src/FDM/JSBSim/models/FGOutput.cpp
+++ b/src/FDM/JSBSim/models/FGOutput.cpp
@@ -40,7 +40,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGOutput.h"
-#include "FGState.h"
 #include "FGFDMExec.h"
 #include "FGAtmosphere.h"
 #include "FGFCS.h"
@@ -53,6 +52,7 @@ INCLUDES
 #include "FGPropagate.h"
 #include "FGAuxiliary.h"
 #include "FGInertial.h"
+#include "FGPropulsion.h"
 #include "models/propulsion/FGEngine.h"
 #include "models/propulsion/FGTank.h"
 #include "models/propulsion/FGPiston.h"
@@ -77,7 +77,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGOutput.cpp,v 1.48 2010/04/12 12:25:19 jberndt Exp $";
 static const char *IdHdr = ID_OUTPUT;
 
 // (stolen from FGFS native_fdm.cxx)
@@ -187,7 +187,7 @@ bool FGOutput::Run(void)
 {
   if (FGModel::Run()) return true;
 
-  if (enabled && !State->IntegrationSuspended()&& !FDMExec->Holding()) {
+  if (enabled && !FDMExec->IntegrationSuspended()&& !FDMExec->Holding()) {
     RunPreFunctions();
     if (Type == otSocket) {
       SocketOutput();
@@ -267,7 +267,8 @@ void FGOutput::DelimitedOutput(const string& fname)
     if (SubSystems & ssRates) {
       outstream << delimeter;
       outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
-      outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)";
+      outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)" + delimeter;
+      outstream << "P_{inertial} (deg/s)" + delimeter + "Q_{inertial} (deg/s)" + delimeter + "R_{inertial} (deg/s)";
     }
     if (SubSystems & ssVelocities) {
       outstream << delimeter;
@@ -277,6 +278,7 @@ void FGOutput::DelimitedOutput(const string& fname)
       outstream << "V_{Inertial} (ft/s)" + delimeter;
       outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
       outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
+      outstream << "V_{X_{inertial}} (ft/s)" + delimeter + "V_{Y_{inertial}} (ft/s)" + delimeter + "V_{Z_{inertial}} (ft/s)" + delimeter;
       outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
     }
     if (SubSystems & ssForces) {
@@ -334,8 +336,9 @@ void FGOutput::DelimitedOutput(const string& fname)
       outstream << "Beta (deg)" + delimeter;
       outstream << "Latitude (deg)" + delimeter;
       outstream << "Longitude (deg)" + delimeter;
-      outstream << "ECEF X (ft)" + delimeter + "ECEF Y (ft)" + delimeter + "ECEF Z (ft)" + delimeter;
-      outstream << "EPA (deg)" + delimeter;
+      outstream << "X_{ECI} (ft)" + delimeter + "Y_{ECI} (ft)" + delimeter + "Z_{ECI} (ft)" + delimeter;
+      outstream << "X_{ECEF} (ft)" + delimeter + "Y_{ECEF} (ft)" + delimeter + "Z_{ECEF} (ft)" + delimeter;
+      outstream << "Earth Position Angle (deg)" + delimeter;
       outstream << "Distance AGL (ft)" + delimeter;
       outstream << "Terrain Elevation (ft)";
     }
@@ -365,7 +368,7 @@ void FGOutput::DelimitedOutput(const string& fname)
     dFirstPass = false;
   }
 
-  outstream << State->Getsim_time();
+  outstream << FDMExec->GetSimTime();
   if (SubSystems & ssSimulation) {
   }
   if (SubSystems & ssAerosurfaces) {
@@ -383,7 +386,8 @@ void FGOutput::DelimitedOutput(const string& fname)
   if (SubSystems & ssRates) {
     outstream << delimeter;
     outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
-    outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter);
+    outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter) << delimeter;
+    outstream << (radtodeg*Propagate->GetPQRi()).Dump(delimeter);
   }
   if (SubSystems & ssVelocities) {
     outstream << delimeter;
@@ -393,6 +397,7 @@ void FGOutput::DelimitedOutput(const string& fname)
     outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
     outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
     outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
+    outstream << Propagate->GetInertialVelocity().Dump(delimeter) << delimeter;
     outstream << Propagate->GetVel().Dump(delimeter);
     outstream.precision(10);
   }
@@ -445,6 +450,7 @@ void FGOutput::DelimitedOutput(const string& fname)
     outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
     outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
     outstream.precision(18);
+    outstream << ((FGColumnVector3)Propagate->GetInertialPosition()).Dump(delimeter) << delimeter;
     outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
     outstream.precision(14);
     outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
@@ -817,7 +823,7 @@ void FGOutput::SocketOutput(void)
   }
 
   socket->Clear();
-  socket->Append(State->Getsim_time());
+  socket->Append(FDMExec->GetSimTime());
 
   if (SubSystems & ssAerosurfaces) {
     socket->Append(FCS->GetDaCmd());
@@ -952,13 +958,15 @@ bool FGOutput::Load(Element* element)
     output_file_name = DirectivesFile;      // one found in the config file.
     document = LoadXMLDocument(output_file_name);
   } else if (!element->GetAttributeValue("file").empty()) {
-    output_file_name = element->GetAttributeValue("file");
+    output_file_name = FDMExec->GetRootDir() + element->GetAttributeValue("file");
     document = LoadXMLDocument(output_file_name);
   } else {
     document = element;
   }
 
-  name = document->GetAttributeValue("name");
+  if (!document) return false;
+
+  name = FDMExec->GetRootDir() + document->GetAttributeValue("name");
   type = document->GetAttributeValue("type");
   SetType(type);
   if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
@@ -1035,7 +1043,7 @@ void FGOutput::SetRate(int rtHz)
 {
   rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
   if (rtHz > 0) {
-    rate = (int)(0.5 + 1.0/(State->Getdt()*rtHz));
+    rate = (int)(0.5 + 1.0/(FDMExec->GetDeltaT()*rtHz));
     Enable();
   } else {
     rate = 1;
@@ -1085,7 +1093,7 @@ void FGOutput::Debug(int from)
       }
       switch (Type) {
       case otCSV:
-        cout << scratch << " in CSV format output at rate " << 1/(State->Getdt()*rate) << " Hz" << endl;
+        cout << scratch << " in CSV format output at rate " << 1/(FDMExec->GetDeltaT()*rate) << " Hz" << endl;
         break;
       case otNone:
       default:

diff --git a/src/FDM/JSBSim/models/FGOutput.h b/src/FDM/JSBSim/models/FGOutput.h
index cd1ca6e30881c39587eb101bd983a772e0b547f6..f1cfef7d0e5c2d125208b8a8e410898ecef6bae4 100644 (file)
--- a/src/FDM/JSBSim/models/FGOutput.h
+++ b/src/FDM/JSBSim/models/FGOutput.h
@@ -50,7 +50,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_OUTPUT "$Id$"
+#define ID_OUTPUT "$Id: FGOutput.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -123,7 +123,7 @@ CLASS DOCUMENTATION
     propulsion       ON|OFF
 </pre>
     NOTE that Time is always output with the data.
-    @version $Id$
+    @version $Id: FGOutput.h,v 1.17 2009/10/24 22:59:30 jberndt Exp $
  */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/FGPropagate.cpp b/src/FDM/JSBSim/models/FGPropagate.cpp
index 9bd50289882d378cae31575ecb69f13b59e308a2..ebb83211b4d010c48f24aae19e04011525f2e0a1 100644 (file)
--- a/src/FDM/JSBSim/models/FGPropagate.cpp
+++ b/src/FDM/JSBSim/models/FGPropagate.cpp
@@ -48,6 +48,7 @@ COMMENTS, REFERENCES,  and NOTES
     Wiley & Sons, 1979 ISBN 0-471-03032-5
 [5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
     1982 ISBN 0-471-08936-2
+[6] Erin Catto, "Iterative Dynamics with Temporal Coherence", February 22, 2005
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 INCLUDES
@@ -56,10 +57,11 @@ INCLUDES
 #include <cmath>
 #include <cstdlib>
 #include <iostream>
+#include <iomanip>
 
 #include "FGPropagate.h"
+#include "FGGroundReactions.h"
 #include "FGFDMExec.h"
-#include "FGState.h"
 #include "FGAircraft.h"
 #include "FGMassBalance.h"
 #include "FGInertial.h"
@@ -69,7 +71,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.60 2010/08/12 19:11:22 andgi Exp $";
 static const char *IdHdr = ID_PROPAGATE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -80,30 +82,23 @@ FGPropagate::FGPropagate(FGFDMExec* fdmex) : FGModel(fdmex)
 {
   Debug(0);
   Name = "FGPropagate";
-
-  last2_vPQRdot.InitMatrix();
-  last_vPQRdot.InitMatrix();
+  gravType = gtWGS84;
+ 
   vPQRdot.InitMatrix();
-  
-  last2_vQtrndot = FGQuaternion(0,0,0);
-  last_vQtrndot = FGQuaternion(0,0,0);
   vQtrndot = FGQuaternion(0,0,0);
-
-  last2_vUVWdot.InitMatrix();
-  last_vUVWdot.InitMatrix();
   vUVWdot.InitMatrix();
-  
-  last2_vLocationDot.InitMatrix();
-  last_vLocationDot.InitMatrix();
-  vLocationDot.InitMatrix();
-
-  vOmegaLocal.InitMatrix();
+  vInertialVelocity.InitMatrix();
 
   integrator_rotational_rate = eAdamsBashforth2;
   integrator_translational_rate = eTrapezoidal;
   integrator_rotational_position = eAdamsBashforth2;
   integrator_translational_position = eTrapezoidal;
 
+  VState.dqPQRdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+  VState.dqUVWdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+  VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
+  VState.dqQtrndot.resize(4, FGQuaternion(0.0,0.0,0.0));
+
   bind();
   Debug(0);
 }
@@ -126,25 +121,17 @@ bool FGPropagate::InitModel(void)
 
   VState.vLocation.SetRadius( LocalTerrainRadius + 4.0 );
   VState.vLocation.SetEllipse(Inertial->GetSemimajor(), Inertial->GetSemiminor());
-  vOmega = FGColumnVector3( 0.0, 0.0, Inertial->omega() ); // Earth rotation vector
+  vOmegaEarth = FGColumnVector3( 0.0, 0.0, Inertial->omega() ); // Earth rotation vector
 
-  last2_vPQRdot.InitMatrix();
-  last_vPQRdot.InitMatrix();
   vPQRdot.InitMatrix();
-  
-  last2_vQtrndot = FGQuaternion(0,0,0);
-  last_vQtrndot = FGQuaternion(0,0,0);
   vQtrndot = FGQuaternion(0,0,0);
-
-  last2_vUVWdot.InitMatrix();
-  last_vUVWdot.InitMatrix();
   vUVWdot.InitMatrix();
-  
-  last2_vLocationDot.InitMatrix();
-  last_vLocationDot.InitMatrix();
-  vLocationDot.InitMatrix();
+  vInertialVelocity.InitMatrix();
 
-  vOmegaLocal.InitMatrix();
+  VState.dqPQRdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+  VState.dqUVWdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+  VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
+  VState.dqQtrndot.resize(4, FGColumnVector3(0.0,0.0,0.0));
 
   integrator_rotational_rate = eAdamsBashforth2;
   integrator_translational_rate = eTrapezoidal;
@@ -161,51 +148,93 @@ void FGPropagate::SetInitialState(const FGInitialCondition *FGIC)
   SetSeaLevelRadius(FGIC->GetSeaLevelRadiusFtIC());
   SetTerrainElevation(FGIC->GetTerrainElevationFtIC());
 
+  VehicleRadius = GetRadius();
+  radInv = 1.0/VehicleRadius;
+
+  // Initialize the State Vector elements and the transformation matrices
+
   // Set the position lat/lon/radius
   VState.vLocation.SetPosition( FGIC->GetLongitudeRadIC(),
-                          FGIC->GetLatitudeRadIC(),
-                          FGIC->GetAltitudeASLFtIC() + FGIC->GetSeaLevelRadiusFtIC() );
+                                FGIC->GetLatitudeRadIC(),
+                                FGIC->GetAltitudeASLFtIC() + FGIC->GetSeaLevelRadiusFtIC() );
 
-  VehicleRadius = GetRadius();
-  radInv = 1.0/VehicleRadius;
+  VState.vLocation.SetEarthPositionAngle(Inertial->GetEarthPositionAngle());
+
+  Ti2ec = GetTi2ec();         // ECI to ECEF transform
+  Tec2i = Ti2ec.Transposed(); // ECEF to ECI frame transform
+  
+  Tl2ec = GetTl2ec();         // local to ECEF transform
+  Tec2l = Tl2ec.Transposed(); // ECEF to local frame transform
 
-  // Set the Orientation from the euler angles
-  VState.vQtrn = FGQuaternion( FGIC->GetPhiRadIC(),
-                        FGIC->GetThetaRadIC(),
-                        FGIC->GetPsiRadIC() );
+  Ti2l  = GetTi2l();
+  Tl2i  = Ti2l.Transposed();
+
+  // Set the orientation from the euler angles (is normalized within the
+  // constructor). The Euler angles represent the orientation of the body
+  // frame relative to the local frame.
+  VState.qAttitudeLocal = FGQuaternion( FGIC->GetPhiRadIC(),
+                                        FGIC->GetThetaRadIC(),
+                                        FGIC->GetPsiRadIC() );
+
+  VState.qAttitudeECI = Ti2l.GetQuaternion()*VState.qAttitudeLocal;
+
+  Ti2b  = GetTi2b();           // ECI to body frame transform
+  Tb2i  = Ti2b.Transposed();   // body to ECI frame transform
+
+  Tl2b  = VState.qAttitudeLocal; // local to body frame transform
+  Tb2l  = Tl2b.Transposed();     // body to local frame transform
+
+  Tec2b = Tl2b * Tec2l;        // ECEF to body frame transform
+  Tb2ec = Tec2b.Transposed();  // body to ECEF frame tranform
 
   // Set the velocities in the instantaneus body frame
   VState.vUVW = FGColumnVector3( FGIC->GetUBodyFpsIC(),
-                          FGIC->GetVBodyFpsIC(),
-                          FGIC->GetWBodyFpsIC() );
+                                 FGIC->GetVBodyFpsIC(),
+                                 FGIC->GetWBodyFpsIC() );
 
-  // Set the angular velocities in the instantaneus body frame.
-  VState.vPQR = FGColumnVector3( FGIC->GetPRadpsIC(),
-                          FGIC->GetQRadpsIC(),
-                          FGIC->GetRRadpsIC() );
+  VState.vInertialPosition = Tec2i * VState.vLocation;
 
   // Compute the local frame ECEF velocity
-  vVel = GetTb2l()*VState.vUVW;
+  vVel = Tb2l * VState.vUVW;
 
-  // Finally, make sure that the quaternion stays normalized.
-  VState.vQtrn.Normalize();
+  // Refer to Stevens and Lewis, 1.5-14a, pg. 49.
+  // This is the rotation rate of the "Local" frame, expressed in the local frame.
 
-  // Recompute the LocalTerrainRadius.
-  RecomputeLocalTerrainRadius();
+  FGColumnVector3 vOmegaLocal = FGColumnVector3(
+     radInv*vVel(eEast),
+    -radInv*vVel(eNorth),
+    -radInv*vVel(eEast)*VState.vLocation.GetTanLatitude() );
 
-  // These local copies of the transformation matrices are for use for
-  // initial conditions only.
+  // Set the angular velocities of the body frame relative to the ECEF frame,
+  // expressed in the body frame. Effectively, this is:
+  //   w_b/e = w_b/l + w_l/e
+  VState.vPQR = FGColumnVector3( FGIC->GetPRadpsIC(),
+                                 FGIC->GetQRadpsIC(),
+                                 FGIC->GetRRadpsIC() ) + Tl2b*vOmegaLocal;
+
+  VState.vPQRi = VState.vPQR + Ti2b * vOmegaEarth;
+
+  // Make an initial run and set past values
+  CalculatePQRdot();           // Angular rate derivative
+  CalculateUVWdot();           // Translational rate derivative
+  ResolveFrictionForces(0.);   // Update rate derivatives with friction forces
+  CalculateQuatdot();          // Angular orientation derivative
+  CalculateInertialVelocity(); // Translational position derivative
+
+  // Initialize past values deques
+  VState.dqPQRdot.clear();
+  VState.dqUVWdot.clear();
+  VState.dqInertialVelocity.clear();
+  VState.dqQtrndot.clear();
+  for (int i=0; i<4; i++) {
+    VState.dqPQRdot.push_front(vPQRdot);
+    VState.dqUVWdot.push_front(vUVWdot);
+    VState.dqInertialVelocity.push_front(VState.vInertialVelocity);
+    VState.dqQtrndot.push_front(vQtrndot);
+  }
 
-  Tl2b = GetTl2b();           // local to body frame transform
-  Tb2l = Tl2b.Transposed();   // body to local frame transform
-  Tl2ec = GetTl2ec();         // local to ECEF transform
-  Tec2l = Tl2ec.Transposed(); // ECEF to local frame transform
-  Tec2b = Tl2b * Tec2l;       // ECEF to body frame transform
-  Tb2ec = Tec2b.Transposed(); // body to ECEF frame tranform
-  Ti2ec = GetTi2ec();         // ECI to ECEF transform
-  Tec2i = Ti2ec.Transposed(); // ECEF to ECI frame transform
-  Ti2b  = Tec2b*Ti2ec;        // ECI to body frame transform
-  Tb2i  = Ti2b.Transposed();  // body to ECI frame transform
+  // Recompute the LocalTerrainRadius.
+  RecomputeLocalTerrainRadius();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -233,120 +262,60 @@ bool FGPropagate::Run(void)
   if (FGModel::Run()) return true;  // Fast return if we have nothing to do ...
   if (FDMExec->Holding()) return false;
 
+  double dt = FDMExec->GetDeltaT()*rate;  // The 'stepsize'
+
   RunPreFunctions();
 
+  // Calculate state derivatives
+  CalculatePQRdot();           // Angular rate derivative
+  CalculateUVWdot();           // Translational rate derivative
+  ResolveFrictionForces(dt);   // Update rate derivatives with friction forces
+  CalculateQuatdot();          // Angular orientation derivative
+  CalculateInertialVelocity(); // Translational position derivative
+
+  // Propagate rotational / translational velocity, angular /translational position, respectively.
+  Integrate(VState.vPQRi,             vPQRdot,           VState.dqPQRdot,           dt, integrator_rotational_rate);
+  Integrate(VState.vUVW,              vUVWdot,           VState.dqUVWdot,           dt, integrator_translational_rate);
+  Integrate(VState.qAttitudeECI,      vQtrndot,          VState.dqQtrndot,          dt, integrator_rotational_position);
+  Integrate(VState.vInertialPosition, VState.vInertialVelocity, VState.dqInertialVelocity, dt, integrator_translational_position);
+
+  VState.qAttitudeECI.Normalize(); // Normalize the ECI Attitude quaternion
+
+  VState.vLocation.SetEarthPositionAngle(Inertial->GetEarthPositionAngle()); // Update the Earth position angle (EPA)
+
+  // Update the "Location-based" transformation matrices from the vLocation vector.
+
+  Ti2ec = GetTi2ec();          // ECI to ECEF transform
+  Tec2i = Ti2ec.Transposed();  // ECEF to ECI frame transform
+  Tl2ec = GetTl2ec();          // local to ECEF transform
+  Tec2l = Tl2ec.Transposed();  // ECEF to local frame transform
+  Ti2l  = GetTi2l();
+  Tl2i  = Ti2l.Transposed();
+
+  // Update the "Orientation-based" transformation matrices from the orientation quaternion
+
+  Ti2b  = GetTi2b();           // ECI to body frame transform
+  Tb2i  = Ti2b.Transposed();   // body to ECI frame transform
+  Tl2b  = Ti2b*Tl2i;           // local to body frame transform
+  Tb2l  = Tl2b.Transposed();   // body to local frame transform
+  Tec2b = Tl2b * Tec2l;        // ECEF to body frame transform
+  Tb2ec = Tec2b.Transposed();  // body to ECEF frame tranform
+
+  // Set auxililary state variables
+  VState.vLocation = Ti2ec*VState.vInertialPosition;
   RecomputeLocalTerrainRadius();
 
-  // Calculate current aircraft radius from center of planet
-
-  VehicleRadius = GetRadius();
+  VehicleRadius = GetRadius(); // Calculate current aircraft radius from center of planet
   radInv = 1.0/VehicleRadius;
 
-  // These local copies of the transformation matrices are for use this
-  // pass through Run() only.
+  VState.vPQR = VState.vPQRi - Ti2b * vOmegaEarth;
 
-  Tl2b = GetTl2b();           // local to body frame transform
-  Tb2l = Tl2b.Transposed();   // body to local frame transform
-  Tl2ec = GetTl2ec();         // local to ECEF transform
-  Tec2l = Tl2ec.Transposed(); // ECEF to local frame transform
-  Tec2b = Tl2b * Tec2l;       // ECEF to body frame transform
-  Tb2ec = Tec2b.Transposed(); // body to ECEF frame tranform
-  Ti2ec = GetTi2ec();         // ECI to ECEF transform
-  Tec2i = Ti2ec.Transposed(); // ECEF to ECI frame transform
-  Ti2b  = Tec2b*Ti2ec;        // ECI to body frame transform
-  Tb2i  = Ti2b.Transposed();  // body to ECI frame transform
+  VState.qAttitudeLocal = Tl2b.GetQuaternion();
 
   // Compute vehicle velocity wrt ECEF frame, expressed in Local horizontal frame.
   vVel = Tb2l * VState.vUVW;
 
-  // Inertial angular velocity measured in the body frame.
-  vPQRi = VState.vPQR + Tec2b*vOmega;
-
-  // Calculate state derivatives
-  CalculatePQRdot();      // Angular rate derivative
-  CalculateUVWdot();      // Translational rate derivative
-  CalculateQuatdot();     // Angular orientation derivative
-  CalculateLocationdot(); // Translational position derivative
-
-  // Integrate to propagate the state
-
-  double dt = State->Getdt()*rate;  // The 'stepsize'
-
-  // Propagate rotational velocity
-
-  switch(integrator_rotational_rate) {
-  case eRectEuler:       VState.vPQR += dt*vPQRdot;
-    break;
-  case eTrapezoidal:     VState.vPQR += 0.5*dt*(vPQRdot + last_vPQRdot);
-    break;
-  case eAdamsBashforth2: VState.vPQR += dt*(1.5*vPQRdot - 0.5*last_vPQRdot);
-    break;
-  case eAdamsBashforth3: VState.vPQR += (1/12.0)*dt*(23.0*vPQRdot - 16.0*last_vPQRdot + 5.0*last2_vPQRdot);
-    break;
-  case eNone: // do nothing, freeze angular rate
-    break;
-  }
-  
-  // Propagate translational velocity
-
-  switch(integrator_translational_rate) {
-  case eRectEuler:       VState.vUVW += dt*vUVWdot;
-    break;
-  case eTrapezoidal:     VState.vUVW += 0.5*dt*(vUVWdot + last_vUVWdot);
-    break;
-  case eAdamsBashforth2: VState.vUVW += dt*(1.5*vUVWdot - 0.5*last_vUVWdot);
-    break;
-  case eAdamsBashforth3: VState.vUVW += (1/12.0)*dt*(23.0*vUVWdot - 16.0*last_vUVWdot + 5.0*last2_vUVWdot);
-    break;
-  case eNone: // do nothing, freeze translational rate
-    break;
-  }
-
-  // Propagate angular position
-
-  switch(integrator_rotational_position) {
-  case eRectEuler:       VState.vQtrn += dt*vQtrndot;
-    break;
-  case eTrapezoidal:     VState.vQtrn += 0.5*dt*(vQtrndot + last_vQtrndot);
-    break;
-  case eAdamsBashforth2: VState.vQtrn += dt*(1.5*vQtrndot - 0.5*last_vQtrndot);
-    break;
-  case eAdamsBashforth3: VState.vQtrn += (1/12.0)*dt*(23.0*vQtrndot - 16.0*last_vQtrndot + 5.0*last2_vQtrndot);
-    break;
-  case eNone: // do nothing, freeze angular position
-    break;
-  }
-
-  // Propagate translational position
-
-  switch(integrator_translational_position) {
-  case eRectEuler:       VState.vLocation += dt*vLocationDot;
-    break;
-  case eTrapezoidal:     VState.vLocation += 0.5*dt*(vLocationDot + last_vLocationDot);
-    break;
-  case eAdamsBashforth2: VState.vLocation += dt*(1.5*vLocationDot - 0.5*last_vLocationDot);
-    break;
-  case eAdamsBashforth3: VState.vLocation += (1/12.0)*dt*(23.0*vLocationDot - 16.0*last_vLocationDot + 5.0*last2_vLocationDot);
-    break;
-  case eNone: // do nothing, freeze translational position
-    break;
-  }
-  
-  // Set past values
-  
-  last2_vPQRdot = last_vPQRdot;
-  last_vPQRdot = vPQRdot;
-  
-  last2_vUVWdot = last_vUVWdot;
-  last_vUVWdot = vUVWdot;
-  
-  last2_vQtrndot = last_vQtrndot;
-  last_vQtrndot = vQtrndot;
-
-  last2_vLocationDot = last_vLocationDot;
-  last_vLocationDot = vLocationDot;
-
-  RunPreFunctions();
+  RunPostFunctions();
 
   Debug(2);
   return false;
@@ -361,7 +330,7 @@ bool FGPropagate::Run(void)
 // J is the inertia matrix
 // Jinv is the inverse inertia matrix
 // vMoments is the moment vector in the body frame
-// vPQRi is the total inertial angular velocity of the vehicle
+// VState.vPQRi is the total inertial angular velocity of the vehicle
 // expressed in the body frame.
 // Reference: See Stevens and Lewis, "Aircraft Control and Simulation", 
 //            Second edition (2004), eqn 1.5-16e (page 50)
@@ -376,7 +345,7 @@ void FGPropagate::CalculatePQRdot(void)
   // moments and the total inertial angular velocity expressed in the body
   // frame.
 
-  vPQRdot = Jinv*(vMoments - vPQRi*(J*vPQRi));
+  vPQRdot = Jinv*(vMoments - VState.vPQRi*(J*VState.vPQRi));
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -388,72 +357,255 @@ void FGPropagate::CalculatePQRdot(void)
 
 void FGPropagate::CalculateQuatdot(void)
 {
-  vOmegaLocal.InitMatrix( radInv*vVel(eEast),
-                         -radInv*vVel(eNorth),
-                         -radInv*vVel(eEast)*VState.vLocation.GetTanLatitude() );
-
   // Compute quaternion orientation derivative on current body rates
-  vQtrndot = VState.vQtrn.GetQDot( VState.vPQR - Tl2b*vOmegaLocal);
+  vQtrndot = VState.qAttitudeECI.GetQDot( VState.vPQRi);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 // This set of calculations results in the body frame accelerations being
 // computed.
+// Compute body frame accelerations based on the current body forces.
+// Include centripetal and coriolis accelerations.
+// vOmegaEarth is the Earth angular rate - expressed in the inertial frame -
+//   so it has to be transformed to the body frame. More completely,
+//   vOmegaEarth is the rate of the ECEF frame relative to the Inertial
+//   frame (ECI), expressed in the Inertial frame.
+// vForces is the total force on the vehicle in the body frame.
+// VState.vPQR is the vehicle body rate relative to the ECEF frame, expressed
+//   in the body frame.
+// VState.vUVW is the vehicle velocity relative to the ECEF frame, expressed
+//   in the body frame.
 // Reference: See Stevens and Lewis, "Aircraft Control and Simulation", 
-//            Second edition (2004), eqn 1.5-16d (page 50)
+//            Second edition (2004), eqns 1.5-13 (pg 48) and 1.5-16d (page 50)
 
 void FGPropagate::CalculateUVWdot(void)
 {
   double mass = MassBalance->GetMass();                      // mass
   const FGColumnVector3& vForces = Aircraft->GetForces();    // current forces
 
-  const FGColumnVector3 vGravAccel( 0.0, 0.0, Inertial->GetGAccel(VehicleRadius) );
-
-  // Begin to compute body frame accelerations based on the current body forces
-  vUVWdot = vForces/mass - VState.vPQR * VState.vUVW;
+  vUVWdot = vForces/mass - (VState.vPQR + 2.0*(Ti2b *vOmegaEarth)) * VState.vUVW;
 
-  // Include Coriolis acceleration.
-  vUVWdot -= 2.0 * (Ti2b *vOmega) * VState.vUVW;
+  // Include Centripetal acceleration.
+  vUVWdot -= Ti2b * (vOmegaEarth*(vOmegaEarth*VState.vInertialPosition));
 
-  // Include Centrifugal acceleration.
-  if (!GroundReactions->GetWOW()) {
-    vUVWdot -= Ti2b*(vOmega*(vOmega*(Tec2i*VState.vLocation)));
+  // Include Gravitation accel
+  switch (gravType) {
+    case gtStandard:
+      vGravAccel = Tl2b * FGColumnVector3( 0.0, 0.0, Inertial->GetGAccel(VehicleRadius) );
+      break;
+    case gtWGS84:
+      vGravAccel = Tec2b * Inertial->GetGravityJ2(VState.vLocation);
+      break;
   }
 
-  // Include Gravitation accel
-  FGColumnVector3 gravAccel = Tl2b*vGravAccel;
-  vUVWdot += gravAccel;
+  vUVWdot += vGravAccel;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGPropagate::CalculateLocationdot(void)
-{
-  // Transform the vehicle velocity relative to the ECEF frame, expressed
-  // in the body frame, to be expressed in the ECEF frame.
-  vLocationDot = Tb2ec * VState.vUVW;
-
-  // Now, transform the velocity vector of the body relative to the origin (Earth
+  // Transform the velocity vector of the body relative to the origin (Earth
   // center) to be expressed in the inertial frame, and add the vehicle velocity
-  // contribution due to the rotation of the planet. The above velocity is only
-  // relative to the rotating ECEF frame.
+  // contribution due to the rotation of the planet.
   // Reference: See Stevens and Lewis, "Aircraft Control and Simulation", 
   //            Second edition (2004), eqn 1.5-16c (page 50)
 
-  vInertialVelocity = Tec2i * vLocationDot + (vOmega * (Tec2i * VState.vLocation));
+void FGPropagate::CalculateInertialVelocity(void)
+{
+  VState.vInertialVelocity = Tb2i * VState.vUVW + (vOmegaEarth * VState.vInertialPosition);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::Integrate( FGColumnVector3& Integrand,
+                             FGColumnVector3& Val,
+                             deque <FGColumnVector3>& ValDot,
+                             double dt,
+                             eIntegrateType integration_type)
+{
+  ValDot.push_front(Val);
+  ValDot.pop_back();
+
+  switch(integration_type) {
+  case eRectEuler:       Integrand += dt*ValDot[0];
+    break;
+  case eTrapezoidal:     Integrand += 0.5*dt*(ValDot[0] + ValDot[1]);
+    break;
+  case eAdamsBashforth2: Integrand += dt*(1.5*ValDot[0] - 0.5*ValDot[1]);
+    break;
+  case eAdamsBashforth3: Integrand += (1/12.0)*dt*(23.0*ValDot[0] - 16.0*ValDot[1] + 5.0*ValDot[2]);
+    break;
+  case eAdamsBashforth4: Integrand += (1/24.0)*dt*(55.0*ValDot[0] - 59.0*ValDot[1] + 37.0*ValDot[2] - 9.0*ValDot[3]);
+    break;
+  case eNone: // do nothing, freeze translational rate
+    break;
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::Integrate( FGQuaternion& Integrand,
+                             FGQuaternion& Val,
+                             deque <FGQuaternion>& ValDot,
+                             double dt,
+                             eIntegrateType integration_type)
+{
+  ValDot.push_front(Val);
+  ValDot.pop_back();
+
+  switch(integration_type) {
+  case eRectEuler:       Integrand += dt*ValDot[0];
+    break;
+  case eTrapezoidal:     Integrand += 0.5*dt*(ValDot[0] + ValDot[1]);
+    break;
+  case eAdamsBashforth2: Integrand += dt*(1.5*ValDot[0] - 0.5*ValDot[1]);
+    break;
+  case eAdamsBashforth3: Integrand += (1/12.0)*dt*(23.0*ValDot[0] - 16.0*ValDot[1] + 5.0*ValDot[2]);
+    break;
+  case eAdamsBashforth4: Integrand += (1/24.0)*dt*(55.0*ValDot[0] - 59.0*ValDot[1] + 37.0*ValDot[2] - 9.0*ValDot[3]);
+    break;
+  case eNone: // do nothing, freeze rotational rate
+    break;
+  }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Resolves the contact forces just before integrating the EOM.
+// This routine is using Lagrange multipliers and the projected Gauss-Seidel
+// (PGS) method.
+// Reference: See Erin Catto, "Iterative Dynamics with Temporal Coherence", 
+//            February 22, 2005
+// In JSBSim there is only one rigid body (the aircraft) and there can be
+// multiple points of contact between the aircraft and the ground. As a
+// consequence our matrix J*M^-1*J^T is not sparse and the algorithm described
+// in Catto's paper has been adapted accordingly.
+
+void FGPropagate::ResolveFrictionForces(double dt)
+{
+  const double invMass = 1.0 / MassBalance->GetMass();
+  const FGMatrix33& Jinv = MassBalance->GetJinv();
+  vector <FGColumnVector3> JacF, JacM;
+  FGColumnVector3 vdot, wdot;
+  FGColumnVector3 Fc, Mc;
+  int n = 0, i;
+
+  // Compiles data from the ground reactions to build up the jacobian matrix
+  for (MultiplierIterator it=MultiplierIterator(GroundReactions); *it; ++it, n++) {
+    JacF.push_back((*it)->ForceJacobian);
+    JacM.push_back((*it)->MomentJacobian);
+  }
+
+  // If no gears are in contact with the ground then return
+  if (!n) return;
+
+  vector<double> a(n*n); // Will contain J*M^-1*J^T
+  vector<double> eta(n);
+  vector<double> lambda(n);
+  vector<double> lambdaMin(n);
+  vector<double> lambdaMax(n);
+
+  // Initializes the Lagrange multipliers
+  i = 0;
+  for (MultiplierIterator it=MultiplierIterator(GroundReactions); *it; ++it, i++) {
+    lambda[i] = (*it)->value;
+    lambdaMax[i] = (*it)->Max;
+    lambdaMin[i] = (*it)->Min;
+  }
+
+  vdot = vUVWdot;
+  wdot = vPQRdot;
+
+  if (dt > 0.) {
+    // First compute the ground velocity below the aircraft center of gravity
+    FGLocation contact;
+    FGColumnVector3 normal, cvel;
+
+    // Instruct the algorithm to zero out the relative movement between the
+    // aircraft and the ground.
+    vdot += (VState.vUVW - Tec2b * cvel) / dt;
+    wdot += VState.vPQR / dt;
+  }
+
+  // Assemble the linear system of equations
+  for (i=0; i < n; i++) {
+    for (int j=0; j < i; j++)
+      a[i*n+j] = a[j*n+i]; // Takes advantage of the symmetry of J^T*M^-1*J
+    for (int j=i; j < n; j++)
+      a[i*n+j] = DotProduct(JacF[i],invMass*JacF[j])+DotProduct(JacM[i],Jinv*JacM[j]);
+  }
+
+  // Prepare the linear system for the Gauss-Seidel algorithm :
+  // divide every line of 'a' and eta by a[i,i]. This is in order to save
+  // a division computation at each iteration of Gauss-Seidel.
+  for (i=0; i < n; i++) {
+    double d = 1.0 / a[i*n+i];
+
+    eta[i] = -(DotProduct(JacF[i],vdot)+DotProduct(JacM[i],wdot))*d;
+    for (int j=0; j < n; j++)
+      a[i*n+j] *= d;
+  }
+
+  // Resolve the Lagrange multipliers with the projected Gauss-Seidel method
+  for (int iter=0; iter < 50; iter++) {
+    double norm = 0.;
+
+    for (i=0; i < n; i++) {
+      double lambda0 = lambda[i];
+      double dlambda = eta[i];
+      
+      for (int j=0; j < n; j++)
+        dlambda -= a[i*n+j]*lambda[j];
+
+      lambda[i] = Constrain(lambdaMin[i], lambda0+dlambda, lambdaMax[i]);
+      dlambda = lambda[i] - lambda0;
+
+      norm += fabs(dlambda);
+    }
+
+    if (norm < 1E-5) break;
+  }
+
+  // Calculate the total friction forces and moments
+
+  Fc.InitMatrix();
+  Mc.InitMatrix();
+
+  for (i=0; i< n; i++) {
+    Fc += lambda[i]*JacF[i];
+    Mc += lambda[i]*JacM[i];
+  }
+
+  vUVWdot += invMass * Fc;
+  vPQRdot += Jinv * Mc;
+
+  // Save the value of the Lagrange multipliers to accelerate the convergence
+  // of the Gauss-Seidel algorithm at next iteration.
+  i = 0;
+  for (MultiplierIterator it=MultiplierIterator(GroundReactions); *it; ++it)
+    (*it)->value = lambda[i++];
+
+  GroundReactions->UpdateForcesAndMoments();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::SetInertialOrientation(FGQuaternion Qi) {
+  VState.qAttitudeECI = Qi;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::SetInertialVelocity(FGColumnVector3 Vi) {
+  VState.vInertialVelocity = Vi;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGPropagate::RecomputeLocalTerrainRadius(void)
 {
-  double t = State->Getsim_time();
+  double t = FDMExec->GetSimTime();
 
   // Get the LocalTerrain radius.
-  FGLocation contactloc;
-  FGColumnVector3 dv;
   FDMExec->GetGroundCallback()->GetAGLevel(t, VState.vLocation, contactloc, dv, dv);
-  LocalTerrainRadius = contactloc.GetRadius();
+  LocalTerrainRadius = contactloc.GetRadius(); 
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -472,17 +624,19 @@ double FGPropagate::GetTerrainElevation(void) const
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+//Todo: when should this be called - when should the new EPA be used to
+// calculate the transformation matrix, so that the matrix is not a step
+// ahead of the sim and the associated calculations?
 const FGMatrix33& FGPropagate::GetTi2ec(void)
 {
-  return VState.vLocation.GetTi2ec(Inertial->GetEarthPositionAngle());
+  return VState.vLocation.GetTi2ec();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 const FGMatrix33& FGPropagate::GetTec2i(void)
 {
-  return VState.vLocation.GetTec2i(Inertial->GetEarthPositionAngle());
+  return VState.vLocation.GetTec2i();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -518,7 +672,7 @@ void FGPropagate::SetDistanceAGL(double tt)
 void FGPropagate::bind(void)
 {
   typedef double (FGPropagate::*PMF)(int) const;
-//  typedef double (FGPropagate::*dPMF)() const;
+
   PropertyManager->Tie("velocities/h-dot-fps", this, &FGPropagate::Gethdot);
 
   PropertyManager->Tie("velocities/v-north-fps", this, eNorth, (PMF)&FGPropagate::GetVel);
@@ -572,10 +726,11 @@ void FGPropagate::bind(void)
   PropertyManager->Tie("attitude/pitch-rad", this, (int)eTht, (PMF)&FGPropagate::GetEuler);
   PropertyManager->Tie("attitude/heading-true-rad", this, (int)ePsi, (PMF)&FGPropagate::GetEuler);
   
-  PropertyManager->Tie("simulation/integrator/rate/rotational", &integrator_rotational_rate);
-  PropertyManager->Tie("simulation/integrator/rate/translational", &integrator_translational_rate);
-  PropertyManager->Tie("simulation/integrator/position/rotational", &integrator_rotational_position);
-  PropertyManager->Tie("simulation/integrator/position/translational", &integrator_translational_position);
+  PropertyManager->Tie("simulation/integrator/rate/rotational", (int*)&integrator_rotational_rate);
+  PropertyManager->Tie("simulation/integrator/rate/translational", (int*)&integrator_translational_rate);
+  PropertyManager->Tie("simulation/integrator/position/rotational", (int*)&integrator_rotational_position);
+  PropertyManager->Tie("simulation/integrator/position/translational", (int*)&integrator_translational_position);
+  PropertyManager->Tie("simulation/gravity-model", &gravType);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -612,7 +767,96 @@ void FGPropagate::Debug(int from)
   }
   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
   }
-  if (debug_lvl & 8 ) { // Runtime state variables
+  if (debug_lvl & 8 && from == 2) { // Runtime state variables
+    cout << endl << fgblue << highint << left 
+         << "  Propagation Report (English units: ft, degrees) at simulation time " << FDMExec->GetSimTime() << " seconds"
+         << reset << endl;
+    cout << endl;
+    cout << highint << "  Earth Position Angle (deg): " << setw(8) << setprecision(3) << reset
+                    << Inertial->GetEarthPositionAngleDeg() << endl;
+    cout << endl;
+    cout << highint << "  Body velocity (ft/sec): " << setw(8) << setprecision(3) << reset << VState.vUVW << endl;
+    cout << highint << "  Local velocity (ft/sec): " << setw(8) << setprecision(3) << reset << vVel << endl;
+    cout << highint << "  Inertial velocity (ft/sec): " << setw(8) << setprecision(3) << reset << VState.vInertialVelocity << endl;
+    cout << highint << "  Inertial Position (ft): " << setw(10) << setprecision(3) << reset << VState.vInertialPosition << endl;
+    cout << highint << "  Latitude (deg): " << setw(8) << setprecision(3) << reset << VState.vLocation.GetLatitudeDeg() << endl;
+    cout << highint << "  Longitude (deg): " << setw(8) << setprecision(3) << reset << VState.vLocation.GetLongitudeDeg() << endl;
+    cout << highint << "  Altitude ASL (ft): " << setw(8) << setprecision(3) << reset << GetAltitudeASL() << endl;
+    cout << highint << "  Acceleration (NED, ft/sec^2): " << setw(8) << setprecision(3) << reset << Tb2l*GetUVWdot() << endl;
+    cout << endl;
+    cout << highint << "  Matrix ECEF to Body (Orientation of Body with respect to ECEF): "
+                    << reset << endl << Tec2b.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Tec2b.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix Body to ECEF (Orientation of ECEF with respect to Body):"
+                    << reset << endl << Tb2ec.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Tb2ec.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix Local to Body (Orientation of Body with respect to Local):"
+                    << reset << endl << Tl2b.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Tl2b.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix Body to Local (Orientation of Local with respect to Body):"
+                    << reset << endl << Tb2l.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Tb2l.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix Local to ECEF (Orientation of ECEF with respect to Local):"
+                    << reset << endl << Tl2ec.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Tl2ec.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix ECEF to Local (Orientation of Local with respect to ECEF):"
+                    << reset << endl << Tec2l.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Tec2l.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix ECEF to Inertial (Orientation of Inertial with respect to ECEF):"
+                    << reset << endl << Tec2i.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Tec2i.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix Inertial to ECEF (Orientation of ECEF with respect to Inertial):"
+                    << reset << endl << Ti2ec.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Ti2ec.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix Inertial to Body (Orientation of Body with respect to Inertial):"
+                    << reset << endl << Ti2b.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Ti2b.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix Body to Inertial (Orientation of Inertial with respect to Body):"
+                    << reset << endl << Tb2i.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Tb2i.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix Inertial to Local (Orientation of Local with respect to Inertial):"
+                    << reset << endl << Ti2l.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Ti2l.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << highint << "  Matrix Local to Inertial (Orientation of Inertial with respect to Local):"
+                    << reset << endl << Tl2i.Dump("\t", "    ") << endl;
+    cout << highint << "    Associated Euler angles (deg): " << setw(8)
+                    << setprecision(3) << reset << (Tl2i.GetQuaternion().GetEuler()*radtodeg)
+                    << endl << endl;
+
+    cout << setprecision(6); // reset the output stream
   }
   if (debug_lvl & 16) { // Sanity checking
     if (from == 2) { // State sanity checking

diff --git a/src/FDM/JSBSim/models/FGPropagate.h b/src/FDM/JSBSim/models/FGPropagate.h
index c8400531870c6c46568cc272f83a01a5516605fd..4049467916efad3b5c43334e4be2cf9f4576b143 100644 (file)
--- a/src/FDM/JSBSim/models/FGPropagate.h
+++ b/src/FDM/JSBSim/models/FGPropagate.h
@@ -43,12 +43,13 @@ INCLUDES
 #include "math/FGLocation.h"
 #include "math/FGQuaternion.h"
 #include "math/FGMatrix33.h"
+#include <deque>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PROPAGATE "$Id$"
+#define ID_PROPAGATE "$Id: FGPropagate.h,v 1.43 2010/07/25 15:35:11 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -56,6 +57,7 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+using std::deque;
 class FGInitialCondition;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -66,6 +68,16 @@ CLASS DOCUMENTATION
     The Equations of Motion (EOM) for JSBSim are integrated to propagate the
     state of the vehicle given the forces and moments that act on it. The
     integration accounts for a rotating Earth.
+
+    The general execution of this model follows this process:
+
+    -Calculate the angular accelerations
+    -Calculate the translational accelerations
+    -Calculate the angular rate
+    -Calculate the translational velocity
+
+    -Integrate accelerations and rates
+
     Integration of rotational and translation position and rate can be 
     customized as needed or frozen by the selection of no integrator. The
     selection of which integrator to use is done through the setting of 
@@ -86,10 +98,11 @@ CLASS DOCUMENTATION
     2: Trapezoidal
     3: Adams Bashforth 2
     4: Adams Bashforth 3
+    5: Adams Bashforth 4
     @endcode
 
     @author Jon S. Berndt, Mathias Froehlich
-    @version $Id$
+    @version $Id: FGPropagate.h,v 1.43 2010/07/25 15:35:11 jberndt Exp $
   */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -106,17 +119,38 @@ public:
         fixed (ECEF) frame.
         units ft */
     FGLocation vLocation;
+
     /** The velocity vector of the vehicle with respect to the ECEF frame,
         expressed in the body system.
         units ft/sec */
     FGColumnVector3 vUVW;
+
     /** The angular velocity vector for the vehicle relative to the ECEF frame,
         expressed in the body frame.
         units rad/sec */
     FGColumnVector3 vPQR;
+
+    /** The angular velocity vector for the vehicle body frame relative to the
+        ECI frame, expressed in the body frame.
+        units rad/sec */
+    FGColumnVector3 vPQRi;
+
     /** The current orientation of the vehicle, that is, the orientation of the
-        body frame relative to the local, vehilce-carried, NED frame. */
-    FGQuaternion vQtrn;
+        body frame relative to the local, NED frame. */
+    FGQuaternion qAttitudeLocal;
+
+    /** The current orientation of the vehicle, that is, the orientation of the
+        body frame relative to the inertial (ECI) frame. */
+    FGQuaternion qAttitudeECI;
+
+    FGColumnVector3 vInertialVelocity;
+
+    FGColumnVector3 vInertialPosition;
+
+    deque <FGColumnVector3> dqPQRdot;
+    deque <FGColumnVector3> dqUVWdot;
+    deque <FGColumnVector3> dqInertialVelocity;
+    deque <FGQuaternion> dqQtrndot;
   };
 
   /** Constructor.
@@ -133,7 +167,10 @@ public:
   ~FGPropagate();
   
   /// These define the indices use to select the various integrators.
-  enum eIntegrateType {eNone = 0, eRectEuler, eTrapezoidal, eAdamsBashforth2, eAdamsBashforth3};
+  enum eIntegrateType {eNone = 0, eRectEuler, eTrapezoidal, eAdamsBashforth2, eAdamsBashforth3, eAdamsBashforth4};
+
+  /// These define the indices use to select the gravitation models.
+  enum eGravType {gtStandard, gtWGS84}; 
 
   /** Initializes the FGPropagate class after instantiation and prior to first execution.
       The base class FGModel::InitModel is called first, initializing pointers to the 
@@ -144,6 +181,8 @@ public:
       @return false if no error */
   bool Run(void);
 
+  const FGQuaternion& GetQuaterniondot(void) const {return vQtrndot;}
+
   /** Retrieves the velocity vector.
       The vector returned is represented by an FGColumnVector reference. The vector
       for the velocity in Local frame is organized (Vnorth, Veast, Vdown). The vector
@@ -207,9 +246,9 @@ public:
       in FGJSBBase. The relevant enumerators for the vector returned by this call are,
       eP=1, eQ=2, eR=3.
       units rad/sec
-      @return The body frame angular rates in rad/sec.
+      @return The body frame inertial angular rates in rad/sec.
   */
-  const FGColumnVector3& GetPQRi(void) const {return vPQRi;}
+  const FGColumnVector3& GetPQRi(void) const {return VState.vPQRi;}
 
   /** Retrieves the body axis angular acceleration vector.
       Retrieves the body axis angular acceleration vector in rad/sec^2. The
@@ -241,7 +280,7 @@ public:
               angle about the Y axis, and the third item is the angle
               about the Z axis (Phi, Theta, Psi).
   */
-  const FGColumnVector3& GetEuler(void) const { return VState.vQtrn.GetEuler(); }
+  const FGColumnVector3& GetEuler(void) const { return VState.qAttitudeLocal.GetEuler(); }
 
   /** Retrieves a body frame velocity component.
       Retrieves a body frame velocity component. The velocity returned is
@@ -284,7 +323,15 @@ public:
 
   /** Retrieves the total inertial velocity in ft/sec.
   */
-  double GetInertialVelocityMagnitude(void) const { return vInertialVelocity.Magnitude(); }
+  double GetInertialVelocityMagnitude(void) const { return VState.vInertialVelocity.Magnitude(); }
+
+  /** Retrieves the inertial velocity vector in ft/sec.
+  */
+  const FGColumnVector3& GetInertialVelocity(void) const { return VState.vInertialVelocity; }
+
+  /** Retrieves the inertial position vector.
+  */
+  const FGColumnVector3& GetInertialPosition(void) const { return VState.vInertialPosition; }
 
   /** Returns the current altitude above sea level.
       This function returns the altitude above sea level.
@@ -324,7 +371,7 @@ public:
       @param axis the index of the angular velocity component desired (1-based).
       @return The body frame angular velocity component.
   */
-  double GetPQRi(int axis) const {return vPQRi(axis);}
+  double GetPQRi(int axis) const {return VState.vPQRi(axis);}
 
   /** Retrieves a body frame angular acceleration component.
       Retrieves a body frame angular acceleration component. The angular
@@ -350,7 +397,7 @@ public:
       units radians
       @return An Euler angle.
   */
-  double GetEuler(int axis) const { return VState.vQtrn.GetEuler(axis); }
+  double GetEuler(int axis) const { return VState.qAttitudeLocal.GetEuler(axis); }
 
   /** Retrieves the cosine of a vehicle Euler angle component.
       Retrieves the cosine of an Euler angle (Phi, Theta, or Psi) from the
@@ -362,7 +409,7 @@ public:
       units none
       @return The cosine of an Euler angle.
   */
-  double GetCosEuler(int idx) const { return VState.vQtrn.GetCosEuler(idx); }
+  double GetCosEuler(int idx) const { return VState.qAttitudeLocal.GetCosEuler(idx); }
 
   /** Retrieves the sine of a vehicle Euler angle component.
       Retrieves the sine of an Euler angle (Phi, Theta, or Psi) from the
@@ -374,7 +421,7 @@ public:
       units none
       @return The sine of an Euler angle.
   */
-  double GetSinEuler(int idx) const { return VState.vQtrn.GetSinEuler(idx); }
+  double GetSinEuler(int idx) const { return VState.qAttitudeLocal.GetSinEuler(idx); }
 
   /** Returns the current altitude rate.
       Returns the current altitude rate (rate of climb).
@@ -414,13 +461,13 @@ public:
       The quaternion class, being the means by which the orientation of the
       vehicle is stored, manages the local-to-body transformation matrix.
       @return a reference to the local-to-body transformation matrix.  */
-  const FGMatrix33& GetTl2b(void) const { return VState.vQtrn.GetT(); }
+  const FGMatrix33& GetTl2b(void) const { return VState.qAttitudeLocal.GetT(); }
 
   /** Retrieves the body-to-local transformation matrix.
       The quaternion class, being the means by which the orientation of the
       vehicle is stored, manages the body-to-local transformation matrix.
       @return a reference to the body-to-local matrix.  */
-  const FGMatrix33& GetTb2l(void) const { return VState.vQtrn.GetTInv(); }
+  const FGMatrix33& GetTb2l(void) const { return VState.qAttitudeLocal.GetTInv(); }
 
   /** Retrieves the ECEF-to-body transformation matrix.
       @return a reference to the ECEF-to-body transformation matrix.  */
@@ -430,6 +477,14 @@ public:
       @return a reference to the body-to-ECEF matrix.  */
   const FGMatrix33& GetTb2ec(void) const { return Tb2ec; }
 
+  /** Retrieves the ECI-to-body transformation matrix.
+      @return a reference to the ECI-to-body transformation matrix.  */
+  const FGMatrix33& GetTi2b(void) const { return VState.qAttitudeECI.GetT(); }
+
+  /** Retrieves the body-to-ECI transformation matrix.
+      @return a reference to the body-to-ECI matrix.  */
+  const FGMatrix33& GetTb2i(void) const { return VState.qAttitudeECI.GetTInv(); }
+
   /** Retrieves the ECEF-to-ECI transformation matrix.
       @return a reference to the ECEF-to-ECI transformation matrix.  */
   const FGMatrix33& GetTec2i(void);
@@ -450,16 +505,33 @@ public:
       @return a reference to the local-to-ECEF matrix.  */
   const FGMatrix33& GetTl2ec(void) const { return VState.vLocation.GetTl2ec(); }
 
+  /** Retrieves the local-to-inertial transformation matrix.
+      @return a reference to the local-to-inertial transformation matrix.  */
+  const FGMatrix33& GetTl2i(void)  { return VState.vLocation.GetTl2i(); }
+
+  /** Retrieves the inertial-to-local transformation matrix.
+      @return a reference to the inertial-to-local matrix.  */
+  const FGMatrix33& GetTi2l(void)  { return VState.vLocation.GetTi2l(); }
+
   VehicleState* GetVState(void) { return &VState; }
 
   void SetVState(VehicleState* vstate) {
       VState.vLocation = vstate->vLocation;
       VState.vUVW = vstate->vUVW;
       VState.vPQR = vstate->vPQR;
-      VState.vQtrn = vstate->vQtrn; // ... mmh
+      VState.qAttitudeLocal = vstate->qAttitudeLocal;
+      VState.qAttitudeECI = vstate->qAttitudeECI;
+
+      VState.dqPQRdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+      VState.dqUVWdot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+      VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
+      VState.dqQtrndot.resize(4, FGColumnVector3(0.0,0.0,0.0));
   }
 
-  const FGQuaternion GetQuaternion(void) const { return VState.vQtrn; }
+  void SetInertialOrientation(FGQuaternion Qi);
+  void SetInertialVelocity(FGColumnVector3 Vi);
+
+  const FGQuaternion GetQuaternion(void) const { return VState.qAttitudeLocal; }
 
   void SetPQR(unsigned int i, double val) {
       if ((i>=1) && (i<=3) )
@@ -492,10 +564,13 @@ public:
     VState.vLocation -= vDeltaXYZEC;
   }
 
-  void CalculatePQRdot(void);
-  void CalculateQuatdot(void);
-  void CalculateLocationdot(void);
-  void CalculateUVWdot(void);
+  struct LagrangeMultiplier {
+    FGColumnVector3 ForceJacobian;
+    FGColumnVector3 MomentJacobian;
+    double Min;
+    double Max;
+    double value;
+  };
 
 private:
 
@@ -504,16 +579,14 @@ private:
   struct VehicleState VState;
 
   FGColumnVector3 vVel;
+  FGColumnVector3 vPQRdot;
+  FGColumnVector3 vUVWdot;
   FGColumnVector3 vInertialVelocity;
-  FGColumnVector3 vPQRdot, last_vPQRdot, last2_vPQRdot;
-  FGColumnVector3 vUVWdot, last_vUVWdot, last2_vUVWdot;
-  FGColumnVector3 vLocationDot, last_vLocationDot, last2_vLocationDot;
   FGColumnVector3 vLocation;
   FGColumnVector3 vDeltaXYZEC;
-  FGColumnVector3 vPQRi;   // Inertial frame angular velocity
-  FGColumnVector3 vOmega;  // The Earth angular velocity vector
-  FGColumnVector3 vOmegaLocal;  // The local frame angular velocity vector
-  FGQuaternion vQtrndot, last_vQtrndot, last2_vQtrndot;
+  FGColumnVector3 vGravAccel;
+  FGColumnVector3 vOmegaEarth;  // The Earth angular velocity vector
+  FGQuaternion vQtrndot;
   FGMatrix33 Tec2b;
   FGMatrix33 Tb2ec;
   FGMatrix33 Tl2b;   // local to body frame matrix copy for immediate local use
@@ -524,13 +597,37 @@ private:
   FGMatrix33 Ti2ec;  // ECI to ECEF frame matrix copy for immediate local use
   FGMatrix33 Ti2b;   // ECI to body frame rotation matrix
   FGMatrix33 Tb2i;   // body to ECI frame rotation matrix
+  FGMatrix33 Ti2l;
+  FGMatrix33 Tl2i;
+  FGLocation contactloc;
+  FGColumnVector3 dv;
   
   double LocalTerrainRadius, SeaLevelRadius, VehicleRadius;
   double radInv;
-  int integrator_rotational_rate;
-  int integrator_translational_rate;
-  int integrator_rotational_position;
-  int integrator_translational_position;
+  eIntegrateType integrator_rotational_rate;
+  eIntegrateType integrator_translational_rate;
+  eIntegrateType integrator_rotational_position;
+  eIntegrateType integrator_translational_position;
+  int gravType;
+
+  void CalculatePQRdot(void);
+  void CalculateQuatdot(void);
+  void CalculateInertialVelocity(void);
+  void CalculateUVWdot(void);
+
+  void Integrate( FGColumnVector3& Integrand,
+                  FGColumnVector3& Val,
+                  deque <FGColumnVector3>& ValDot,
+                  double dt,
+                  eIntegrateType integration_type);
+
+  void Integrate( FGQuaternion& Integrand,
+                  FGQuaternion& Val,
+                  deque <FGQuaternion>& ValDot,
+                  double dt,
+                  eIntegrateType integration_type);
+
+  void ResolveFrictionForces(double dt);
 
   void bind(void);
   void Debug(int from);

diff --git a/src/FDM/JSBSim/models/FGPropulsion.cpp b/src/FDM/JSBSim/models/FGPropulsion.cpp
index e71dfeaf03d11cc9dcb0fb8e017801a3a6b075a1..bd3b09f0a2868906ec1bac6eb66ef2bb594e20b0 100644 (file)
--- a/src/FDM/JSBSim/models/FGPropulsion.cpp
+++ b/src/FDM/JSBSim/models/FGPropulsion.cpp
@@ -45,7 +45,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGPropulsion.h"
-#include "FGState.h"
 #include "models/FGFCS.h"
 #include "models/FGMassBalance.h"
 #include "models/propulsion/FGThruster.h"
@@ -66,7 +65,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGPropulsion.cpp,v 1.39 2010/02/25 05:21:36 jberndt Exp $";
 static const char *IdHdr = ID_PROPULSION;
 
 extern short debug_lvl;
@@ -149,7 +148,7 @@ bool FGPropulsion::Run(void)
 
   RunPreFunctions();
 
-  double dt = State->Getdt();
+  double dt = FDMExec->GetDeltaT();
 
   vForces.InitMatrix();
   vMoments.InitMatrix();

diff --git a/src/FDM/JSBSim/models/FGPropulsion.h b/src/FDM/JSBSim/models/FGPropulsion.h
index ce62a60ea0f4d6719fca5bcb4c4e1546e2294ab4..ff3502c95eb3b08226122d68d5b256b73e1b6de8 100644 (file)
--- a/src/FDM/JSBSim/models/FGPropulsion.h
+++ b/src/FDM/JSBSim/models/FGPropulsion.h
@@ -49,7 +49,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PROPULSION "$Id$"
+#define ID_PROPULSION "$Id: FGPropulsion.h,v 1.25 2010/01/02 17:58:01 andgi Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -91,7 +91,7 @@ CLASS DOCUMENTATION
   @endcode
 
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGPropulsion.h,v 1.25 2010/01/02 17:58:01 andgi Exp $
     @see
     FGEngine
     FGTank
@@ -132,8 +132,8 @@ public:
       @return the address of the specific engine, or zero if no such engine is
               available */
   inline FGEngine* GetEngine(unsigned int index) {
-                      if (index <= Engines.size()-1) return Engines[index];
-                      else                           return 0L;      }
+                      if (index < Engines.size()) return Engines[index];
+                      else                        return 0L;      }
 
   /// Retrieves the number of tanks defined for the aircraft.
   inline unsigned int GetNumTanks(void) const {return (unsigned int)Tanks.size();}
@@ -143,8 +143,8 @@ public:
       @return the address of the specific tank, or zero if no such tank is
               available */
   inline FGTank* GetTank(unsigned int index) {
-                      if (index <= Tanks.size()-1) return Tanks[index];
-                      else                         return 0L;        }
+                      if (index < Tanks.size()) return Tanks[index];
+                      else                      return 0L;        }
 
   /** Returns the number of fuel tanks currently actively supplying fuel */
   inline int GetnumSelectedFuelTanks(void) const {return numSelectedFuelTanks;}

diff --git a/src/FDM/JSBSim/models/atmosphere/FGMSIS.cpp b/src/FDM/JSBSim/models/atmosphere/FGMSIS.cpp
index bd2a0abb86872db53b43457af7b300b217f2cefd..390a11449709a7ee2502aeda5a5a1d56beb86cbe 100755 (executable)
--- a/src/FDM/JSBSim/models/atmosphere/FGMSIS.cpp
+++ b/src/FDM/JSBSim/models/atmosphere/FGMSIS.cpp
@@ -58,7 +58,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGMSIS.h"
-#include "FGState.h"
+#include "models/FGAuxiliary.h"
 #include <cmath>          /* maths functions */
 #include <iostream>        // for cout, endl
 
@@ -66,7 +66,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGMSIS.cpp,v 1.13 2010/02/25 05:21:36 jberndt Exp $";
 static const char *IdHdr = ID_MSIS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/atmosphere/FGMSIS.h b/src/FDM/JSBSim/models/atmosphere/FGMSIS.h
index 1765388a7e9a75bb97965b817ddc401e34c6241f..5761b1921965cfd421778bec430d7bb45b42d16c 100755 (executable)
--- a/src/FDM/JSBSim/models/atmosphere/FGMSIS.h
+++ b/src/FDM/JSBSim/models/atmosphere/FGMSIS.h
@@ -41,12 +41,13 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "models/FGAtmosphere.h"
+#include "FGFDMExec.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_MSIS "$Id$"
+#define ID_MSIS "$Id: FGMSIS.h,v 1.7 2010/02/25 05:21:36 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -74,7 +75,7 @@ CLASS DOCUMENTATION
     and check http://www.brodo.de/english/pub/nrlmsise/index.html for
     updated releases of this package.
     @author David Culp
-    @version $Id$
+    @version $Id: FGMSIS.h,v 1.7 2010/02/25 05:21:36 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/atmosphere/FGMars.cpp b/src/FDM/JSBSim/models/atmosphere/FGMars.cpp
index 7bebc7d3400dabf4221a5f1ca56bdeacf2b597a2..93c388f5f60f2b6dddae881660c2a24376d301f5 100755 (executable)
--- a/src/FDM/JSBSim/models/atmosphere/FGMars.cpp
+++ b/src/FDM/JSBSim/models/atmosphere/FGMars.cpp
@@ -42,14 +42,13 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGMars.h"
-#include "FGState.h"
 #include <iostream>
 
 using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGMars.cpp,v 1.10 2010/02/25 05:21:36 jberndt Exp $";
 static const char *IdHdr = ID_MARS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/atmosphere/FGMars.h b/src/FDM/JSBSim/models/atmosphere/FGMars.h
index 5f4bba35083f89c1ce51bcc7e7211232338c5a6f..e98634ecfb7661f707e9067dc689faaa62460d46 100755 (executable)
--- a/src/FDM/JSBSim/models/atmosphere/FGMars.h
+++ b/src/FDM/JSBSim/models/atmosphere/FGMars.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_MARS "$Id$"
+#define ID_MARS "$Id: FGMars.h,v 1.8 2009/10/02 10:30:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -58,7 +58,7 @@ CLASS DOCUMENTATION
 
 /** Models the Martian atmosphere.
     @author Jon Berndt
-    @version $Id$
+    @version $Id: FGMars.h,v 1.8 2009/10/02 10:30:09 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp b/src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp
index 1148c81b6fe64fff7e88647b79d222f48a590cc9..30c2f2244f0dafd45dbce930af012b4c4f65f42d 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp
@@ -45,7 +45,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGAccelerometer.cpp,v 1.8 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_ACCELEROMETER;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGAccelerometer.h b/src/FDM/JSBSim/models/flight_control/FGAccelerometer.h
index d552fe434de6846fbcadf270ec7e643ab817ff1f..5616ed55b0cb7029849663a2e31d7708fa453fea 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGAccelerometer.h
+++ b/src/FDM/JSBSim/models/flight_control/FGAccelerometer.h
@@ -50,7 +50,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_ACCELEROMETER "$Id$"
+#define ID_ACCELEROMETER "$Id: FGAccelerometer.h,v 1.4 2009/10/02 10:30:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -110,7 +110,7 @@ even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the del
 time.
 
 @author Jon S. Berndt
-@version $Revision$
+@version $Revision: 1.4 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGActuator.cpp b/src/FDM/JSBSim/models/flight_control/FGActuator.cpp
old mode 100755 (executable)
new mode 100644 (file)
index ae2aa38..4c58beb
--- a/src/FDM/JSBSim/models/flight_control/FGActuator.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGActuator.cpp
@@ -43,7 +43,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGActuator.cpp,v 1.14 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_ACTUATOR;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGActuator.h b/src/FDM/JSBSim/models/flight_control/FGActuator.h
old mode 100755 (executable)
new mode 100644 (file)
index ecfb3bf..7a7866e
--- a/src/FDM/JSBSim/models/flight_control/FGActuator.h
+++ b/src/FDM/JSBSim/models/flight_control/FGActuator.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_ACTUATOR "$Id$"
+#define ID_ACTUATOR "$Id: FGActuator.h,v 1.11 2009/10/02 10:30:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -111,7 +111,7 @@ Example:
 @endcode
 
 @author Jon S. Berndt
-@version $Revision$
+@version $Revision: 1.11 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGDeadBand.cpp b/src/FDM/JSBSim/models/flight_control/FGDeadBand.cpp
index 3d0689d382e0a364a2800cc23b66ccfce9155827..0158b63560a36b867b7b6349a7a5501332287278 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGDeadBand.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGDeadBand.cpp
@@ -46,7 +46,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGDeadBand.cpp,v 1.9 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_DEADBAND;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGDeadBand.h b/src/FDM/JSBSim/models/flight_control/FGDeadBand.h
index 9dd4a39a354cb819ae5dabc2126378c4feab9a9d..80464769f6ef2618a92fa9a724fffde3ad73dad7 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGDeadBand.h
+++ b/src/FDM/JSBSim/models/flight_control/FGDeadBand.h
@@ -43,7 +43,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_DEADBAND "$Id$"
+#define ID_DEADBAND "$Id: FGDeadBand.h,v 1.9 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -80,7 +80,7 @@ CLASS DOCUMENTATION
     produce no output. For example, say that the width value is 2.0. If the
     input is between -1.0 and +1.0, the output will be zero.
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGDeadBand.h,v 1.9 2009/10/24 22:59:30 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp
index d1f454555f5e73f931e75d187ba34a93579a2c0b..8e713589f2f73712d5971f0b26b6cfc6d724cd11 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp
@@ -47,7 +47,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFCSComponent.cpp,v 1.27 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_FCSCOMPONENT;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h
index b1fc2c6c5d7057742bf9ba6640f152d5330fea2d..27186fb6de80a6cd50ab389708e4d7610ef40f83 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h
+++ b/src/FDM/JSBSim/models/flight_control/FGFCSComponent.h
@@ -45,7 +45,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FCSCOMPONENT "$Id$"
+#define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.16 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -80,7 +80,7 @@ CLASS DOCUMENTATION
     - FGActuator
 
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGFCSComponent.h,v 1.16 2009/10/24 22:59:30 jberndt Exp $
     @see Documentation for the FGFCS class, and for the configuration file class
 */
 

diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp b/src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp
index d8a91572e3879e7492c24fdc1de9bcca6002c73e..c6a352f3b7d01ed7c35dcb9bc014fbf4dd5588d9 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp
@@ -45,7 +45,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFCSFunction.cpp,v 1.9 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_FCSFUNCTION;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGFCSFunction.h b/src/FDM/JSBSim/models/flight_control/FGFCSFunction.h
index fe731e8c3f25a8db1ee566ae5b8c9625a2f52ec6..d6524edf248c195808c555b7aab6be905d869650 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGFCSFunction.h
+++ b/src/FDM/JSBSim/models/flight_control/FGFCSFunction.h
@@ -45,7 +45,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FCSFUNCTION "$Id$"
+#define ID_FCSFUNCTION "$Id: FGFCSFunction.h,v 1.7 2009/10/02 10:30:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -105,7 +105,7 @@ a function (from an aero specification):
 </function>
 @endcode
 
-    @version $Id$
+    @version $Id: FGFCSFunction.h,v 1.7 2009/10/02 10:30:09 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGFilter.cpp b/src/FDM/JSBSim/models/flight_control/FGFilter.cpp
index f0ca4906406cf6b2f04ade940e8da0538c5ff0be..2aab6e2b80d06844fc11f420d939a914c98db86c 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGFilter.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGFilter.cpp
@@ -48,7 +48,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFilter.cpp,v 1.15 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_FILTER;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGFilter.h b/src/FDM/JSBSim/models/flight_control/FGFilter.h
index 7aeafc202c293eea8432d4a2c0bb1dcadb5bf253..efb03541cef6cd4f63575456105a6a01ec68aa73 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGFilter.h
+++ b/src/FDM/JSBSim/models/flight_control/FGFilter.h
@@ -43,7 +43,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FILTER "$Id$"
+#define ID_FILTER "$Id: FGFilter.h,v 1.12 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -228,7 +228,7 @@ is so that the last component in a "string" can copy its value to the appropriat
 output, such as the elevator, or speedbrake, etc.
 
 @author Jon S. Berndt
-@version $Revision$
+@version $Revision: 1.12 $
 
 */
 

diff --git a/src/FDM/JSBSim/models/flight_control/FGGain.cpp b/src/FDM/JSBSim/models/flight_control/FGGain.cpp
index 0ecb8c6459fe0f60dcc6a184f1c66c2767899bce..e52cd37e6dd830b3974c5f63c728337fb32e3e4d 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGGain.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGGain.cpp
@@ -47,7 +47,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGGain.cpp,v 1.20 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_GAIN;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGGain.h b/src/FDM/JSBSim/models/flight_control/FGGain.h
index 525c4e449cbcd0de44882ef5e0d1b21bcb6daf8b..5383cab20908080e5a540a9e7725bbf34ecdd666 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGGain.h
+++ b/src/FDM/JSBSim/models/flight_control/FGGain.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_GAIN "$Id$"
+#define ID_GAIN "$Id: FGGain.h,v 1.14 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -208,7 +208,7 @@ CLASS DOCUMENTATION
     @endcode
 
     @author Jon S. Berndt
-    @version $Revision$
+    @version $Revision: 1.14 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGGradient.cpp b/src/FDM/JSBSim/models/flight_control/FGGradient.cpp
index 2325dec1e25135a9afaf9b87e65f8ea797ed6389..9046e4975b00ea1f4a9143990a803f71084d75b9 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGGradient.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGGradient.cpp
@@ -44,7 +44,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGGradient.cpp,v 1.4 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_GRADIENT;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGGradient.h b/src/FDM/JSBSim/models/flight_control/FGGradient.h
index ce7dac4f8042ddf48c0a53089a281dcf2d24fe74..06d3e843f936a57abb471b151280d260a0a1233d 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGGradient.h
+++ b/src/FDM/JSBSim/models/flight_control/FGGradient.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_GRADIENT "$Id$"
+#define ID_GRADIENT "$Id: FGGradient.h,v 1.5 2009/10/02 10:30:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/models/flight_control/FGGyro.cpp b/src/FDM/JSBSim/models/flight_control/FGGyro.cpp
index 740c01e3a554bf1166ffad03211370e3d433a26d..dffb3c9da3d017a531a80f24c695fdeb8971b69f 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGGyro.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGGyro.cpp
@@ -44,7 +44,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGGyro.cpp,v 1.5 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_GYRO;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGGyro.h b/src/FDM/JSBSim/models/flight_control/FGGyro.h
index af10851bfa463f8e091d96538bf36e4102d21511..2dcc9fb215930ee2ec57e9b991846e92eedb3509 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGGyro.h
+++ b/src/FDM/JSBSim/models/flight_control/FGGyro.h
@@ -50,7 +50,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_GYRO "$Id$"
+#define ID_GYRO "$Id: FGGyro.h,v 1.5 2009/12/11 06:03:06 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -70,7 +70,6 @@ Syntax:
 
 @code
 <gyro name="name">
-  <input> property </input>
   <lag> number </lag>
   <noise variation="PERCENT|ABSOLUTE"> number </noise>
   <quantization name="name">
@@ -86,8 +85,8 @@ Syntax:
 Example:
 
 @code
-<gyro name="aero/gyro/qbar">
-  <input> aero/qbar </input>
+<gyro name="aero/gyro/roll">
+  <axis> X </axis>
   <lag> 0.5 </lag>
   <noise variation="PERCENT"> 2 </noise>
   <quantization name="aero/gyro/quantized/qbar">
@@ -99,9 +98,6 @@ Example:
 </gyro>
 @endcode
 
-The only required element in the gyro definition is the input element. In that
-case, no degradation would be modeled, and the output would simply be the input.
-
 For noise, if the type is PERCENT, then the value supplied is understood to be a
 percentage variance. That is, if the number given is 0.05, the the variance is
 understood to be +/-0.05 percent maximum variance. So, the actual value for the gyro
@@ -110,7 +106,7 @@ even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the del
 time.
 
 @author Jon S. Berndt
-@version $Revision$
+@version $Revision: 1.5 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGKinemat.cpp b/src/FDM/JSBSim/models/flight_control/FGKinemat.cpp
index 931c1740caf2612803218b03dfd273edec153c26..525fcee377cdbf9a6a2ef124f7ecf0c47ead5a51 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGKinemat.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGKinemat.cpp
@@ -46,7 +46,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGKinemat.cpp,v 1.10 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_FLAPS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGKinemat.h b/src/FDM/JSBSim/models/flight_control/FGKinemat.h
index 8dcc73bb876cc9c1478ef4e4fc0ca16dc00e11f1..93ae1ce762c9abafe22c2466042a196e3c0a9206 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGKinemat.h
+++ b/src/FDM/JSBSim/models/flight_control/FGKinemat.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FLAPS "$Id$"
+#define ID_FLAPS "$Id: FGKinemat.h,v 1.10 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/JSBSim/models/flight_control/FGMagnetometer.cpp b/src/FDM/JSBSim/models/flight_control/FGMagnetometer.cpp
index 368d3524e9daf28b114336d7a5012c40f9ce90bc..3c04e68fa508203cdca2c4980ae2246736b0c619 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGMagnetometer.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGMagnetometer.cpp
@@ -47,7 +47,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGMagnetometer.cpp,v 1.5 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_MAGNETOMETER;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGMagnetometer.h b/src/FDM/JSBSim/models/flight_control/FGMagnetometer.h
index e806fb62280a8b614203f30d24d3cd1649651020..c7a850ab31b5a3e1e404f88fa4f594f907d06e68 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGMagnetometer.h
+++ b/src/FDM/JSBSim/models/flight_control/FGMagnetometer.h
@@ -50,7 +50,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_MAGNETOMETER "$Id$"
+#define ID_MAGNETOMETER "$Id: FGMagnetometer.h,v 1.4 2009/12/11 06:03:06 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -70,8 +70,13 @@ Syntax:
 
 @code
 <magnetometer name="name">
-  <input> property </input>
+  <axis> {X|Y|Z} </axis>
   <lag> number </lag>
+  <orientation unit=DEG">
+    <x> number </x>
+    <y> number </y>
+    <z> number </z>
+  </orientation>
   <noise variation="PERCENT|ABSOLUTE"> number </noise>
   <quantization name="name">
     <bits> number </bits>
@@ -87,8 +92,8 @@ Syntax:
 Example:
 
 @code
-<magnetometer name="aero/magnetometer/qbar">
-  <input> aero/qbar </input>
+<magnetometer name="aero/magnetometer/X">
+  <axis> X </axis>
   <lag> 0.5 </lag>
   <noise variation="PERCENT"> 2 </noise>
   <quantization name="aero/magnetometer/quantized/qbar">
@@ -101,8 +106,9 @@ Example:
 </magnetometer>
 @endcode
 
-The only required element in the magnetometer definition is the input element. In that
-case, no degradation would be modeled, and the output would simply be the input.
+The only required element in the magnetometer definition is the axis element. In
+the default case, no degradation would be modeled, and the output would simply be
+the input.
 
 For noise, if the type is PERCENT, then the value supplied is understood to be a
 percentage variance. That is, if the number given is 0.05, the the variance is
@@ -112,7 +118,7 @@ even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the del
 time.
 
 @author Jon S. Berndt
-@version $Revision$
+@version $Revision: 1.4 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGPID.cpp b/src/FDM/JSBSim/models/flight_control/FGPID.cpp
index 3dda266f208c4ddc37037d13061cbad4a3ae254a..ac265b8ff991275b7cff7e2561a3dc5ce99b44dc 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGPID.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGPID.cpp
@@ -44,7 +44,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGPID.cpp,v 1.16 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_PID;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGPID.h b/src/FDM/JSBSim/models/flight_control/FGPID.h
index adad3606c571874af027162d560863bfecc74285..a573dc3214a28c165b473daa9dbed00e4c22eba0 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGPID.h
+++ b/src/FDM/JSBSim/models/flight_control/FGPID.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PID "$Id$"
+#define ID_PID "$Id: FGPID.h,v 1.12 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -83,7 +83,7 @@ CLASS DOCUMENTATION
 </pre>
 
     @author Jon S. Berndt
-    @version $Revision$
+    @version $Revision: 1.12 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGSensor.cpp b/src/FDM/JSBSim/models/flight_control/FGSensor.cpp
index 1ca89b6ba7eb66a3f9db8c035880e6d5628ef7ee..1f46dc9540a9679da8acb35a3c1b3c072ffde525 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGSensor.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGSensor.cpp
@@ -46,7 +46,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGSensor.cpp,v 1.20 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_SENSOR;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGSensor.h b/src/FDM/JSBSim/models/flight_control/FGSensor.h
index 136099536e51d8b93cff0c7800d9e49c60cbefad..bcc18dbe51f88534bdac7b6e5d3c8ea26135aef4 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGSensor.h
+++ b/src/FDM/JSBSim/models/flight_control/FGSensor.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_SENSOR "$Id$"
+#define ID_SENSOR "$Id: FGSensor.h,v 1.19 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -107,7 +107,7 @@ time. The delay element can specify a frame delay. The integer number provided i
 the number of frames to delay the output signal.
 
 @author Jon S. Berndt
-@version $Revision$
+@version $Revision: 1.19 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGSensorOrientation.h b/src/FDM/JSBSim/models/flight_control/FGSensorOrientation.h
index 4f6d52f3eaed93fdbf4003407bb6c269a9dfead1..4defe4f7a76451d2fa454e8b79572a125b515dab 100755 (executable)
--- a/src/FDM/JSBSim/models/flight_control/FGSensorOrientation.h
+++ b/src/FDM/JSBSim/models/flight_control/FGSensorOrientation.h
@@ -48,7 +48,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_SensorOrientation "$Id$"
+#define ID_SensorOrientation "$Id: FGSensorOrientation.h,v 1.3 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -65,7 +65,7 @@ CLASS DOCUMENTATION
 Syntax:
 
 @author Jon S. Berndt
-@version $Revision$
+@version $Revision: 1.3 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGSummer.cpp b/src/FDM/JSBSim/models/flight_control/FGSummer.cpp
index e77ee72082ea1b503bbc1365a6fe5623c06edf7e..40e6753510a627fccf5ea868404e89b205aebf00 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGSummer.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGSummer.cpp
@@ -45,7 +45,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGSummer.cpp,v 1.7 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_SUMMER;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGSummer.h b/src/FDM/JSBSim/models/flight_control/FGSummer.h
index e37642855b6f5ed0f35c1e2f78c24a87ba594a89..12a198d01bd47bc4f7f0599132111f7e9e70e5b9 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGSummer.h
+++ b/src/FDM/JSBSim/models/flight_control/FGSummer.h
@@ -43,7 +43,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_SUMMER "$Id$"
+#define ID_SUMMER "$Id: FGSummer.h,v 1.9 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -99,7 +99,7 @@ CLASS DOCUMENTATION
 </pre>
 
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGSummer.h,v 1.9 2009/10/24 22:59:30 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGSwitch.cpp b/src/FDM/JSBSim/models/flight_control/FGSwitch.cpp
index c29c7227752ccfe485453afd30ec96512cf23e6f..4e68ea7ffc2a5cefe08df67ca1cc5a6ef8b9e7bf 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGSwitch.cpp
+++ b/src/FDM/JSBSim/models/flight_control/FGSwitch.cpp
@@ -69,7 +69,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGSwitch.cpp,v 1.19 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_SWITCH;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/flight_control/FGSwitch.h b/src/FDM/JSBSim/models/flight_control/FGSwitch.h
index a68c2c4a55829a24dd992a83e61885c70f36b52a..a230aef7e5a2fadc1e5bd7ef35cb823e6c0ba4dc 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGSwitch.h
+++ b/src/FDM/JSBSim/models/flight_control/FGSwitch.h
@@ -45,7 +45,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_SWITCH "$Id$"
+#define ID_SWITCH "$Id: FGSwitch.h,v 1.13 2009/10/02 10:30:09 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -124,7 +124,7 @@ ap/attitude_hold takes the value 1), the value of the switch component will be
 whatever value fcs/roll-ap-error-summer is.
 
 @author Jon S. Berndt
-@version $Id$
+@version $Id: FGSwitch.h,v 1.13 2009/10/02 10:30:09 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGElectric.cpp b/src/FDM/JSBSim/models/propulsion/FGElectric.cpp
index 1ab17c7b60c0a9529908f553d04d41f042c110f4..b1459ebaddea16260d37bb8ef805415df9545062 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGElectric.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGElectric.cpp
@@ -40,7 +40,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGElectric.h"
-#include "FGState.h"
 #include "models/FGPropulsion.h"
 #include "models/propulsion/FGThruster.h"
 
@@ -51,7 +50,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGElectric.cpp,v 1.8 2010/02/25 05:21:36 jberndt Exp $";
 static const char *IdHdr = ID_ELECTRIC;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -67,7 +66,7 @@ FGElectric::FGElectric(FGFDMExec* exec, Element *el, int engine_number)
   PowerWatts = 745.7;
   hptowatts = 745.7;
 
-  dt = State->Getdt();
+  dt = FDMExec->GetDeltaT();
 
   if (el->FindElement("power"))
     PowerWatts = el->FindElementValueAsNumberConvertTo("power","WATTS");

diff --git a/src/FDM/JSBSim/models/propulsion/FGElectric.h b/src/FDM/JSBSim/models/propulsion/FGElectric.h
index da4a575bb0349f869f137276da85dad762584d9d..7bcdb406ff45c24131bf472d5a18f543265c6d10 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGElectric.h
+++ b/src/FDM/JSBSim/models/propulsion/FGElectric.h
@@ -45,7 +45,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_ELECTRIC "$Id$";
+#define ID_ELECTRIC "$Id: FGElectric.h,v 1.8 2009/10/24 22:59:30 jberndt Exp $";
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -65,7 +65,7 @@ CLASS DOCUMENTATION
     there is no battery model available, so this motor does not consume any
     energy.  There is no internal friction.
     @author David Culp
-    @version "$Id$"
+    @version "$Id: FGElectric.h,v 1.8 2009/10/24 22:59:30 jberndt Exp $"
   */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGEngine.cpp b/src/FDM/JSBSim/models/propulsion/FGEngine.cpp
index b95837b041a2d1140be051992091d9aa97654255..abaf368e2538b3e82a5b1ff2ee4d3599a342dab0 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGEngine.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGEngine.cpp
@@ -41,7 +41,7 @@ INCLUDES
 #include "FGTank.h"
 #include "FGPropeller.h"
 #include "FGNozzle.h"
-#include "FGState.h"
+#include "FGRotor.h"
 #include "models/FGPropulsion.h"
 #include "input_output/FGXMLParse.h"
 #include "math/FGColumnVector3.h"
@@ -54,7 +54,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGEngine.cpp,v 1.38 2010/06/02 04:05:13 jberndt Exp $";
 static const char *IdHdr = ID_ENGINE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -80,7 +80,6 @@ FGEngine::FGEngine(FGFDMExec* exec, Element* engine_element, int engine_number)
   ResetToIC(); // initialize dynamic terms
 
   FDMExec = exec;
-  State = FDMExec->GetState();
   Atmosphere = FDMExec->GetAtmosphere();
   FCS = FDMExec->GetFCS();
   Propulsion = FDMExec->GetPropulsion();
@@ -124,8 +123,13 @@ FGEngine::FGEngine(FGFDMExec* exec, Element* engine_element, int engine_number)
     while (local_element) {
       int tankID = (int)local_element->GetDataAsNumber();
       FGTank* tank = Propulsion->GetTank(tankID); 
-      AddFeedTank( tankID , tank->GetPriority());
-      FuelDensity = tank->GetDensity();
+      if (tank) {
+        AddFeedTank(tankID, tank->GetPriority());
+        FuelDensity = tank->GetDensity();
+      } else {
+        cerr << "Feed tank " << tankID <<
+          " specified in engine definition does not exist." << endl;
+      }
       local_element = engine_element->GetParent()->FindNextElement("feed");
     }
   } else {
@@ -168,6 +172,7 @@ void FGEngine::ResetToIC(void)
   TrimMode = false;
   FuelFlow_gph = 0.0;
   FuelFlow_pph = 0.0;
+  FuelFlowRate = 0.0;
   FuelFreeze = false;
 }
 
@@ -234,7 +239,7 @@ void FGEngine::ConsumeFuel(void)
 
 double FGEngine::CalcFuelNeed(void)
 {
-  double dT = State->Getdt()*Propulsion->GetRate();
+  double dT = FDMExec->GetDeltaT()*Propulsion->GetRate();
   FuelFlowRate = SLFuelFlowMax*PctPower;
   FuelExpended = FuelFlowRate*dT;
   return FuelExpended;
@@ -317,11 +322,13 @@ bool FGEngine::LoadThruster(Element *thruster_element)
     Thruster = new FGPropeller(FDMExec, document, EngineNumber);
   } else if (thrType == "nozzle") {
     Thruster = new FGNozzle(FDMExec, document, EngineNumber);
+  } else if (thrType == "rotor") {
+    Thruster = new FGRotor(FDMExec, document, EngineNumber);
   } else if (thrType == "direct") {
     Thruster = new FGThruster( FDMExec, document, EngineNumber);
   }
 
-  Thruster->SetdeltaT(State->Getdt() * Propulsion->GetRate());
+  Thruster->SetdeltaT(FDMExec->GetDeltaT() * Propulsion->GetRate());
 
   Debug(2);
   return true;

diff --git a/src/FDM/JSBSim/models/propulsion/FGEngine.h b/src/FDM/JSBSim/models/propulsion/FGEngine.h
index c758d3bc7620a7701a0f65c08b6efcf39802971e..8a3f51a8e47c87da7e255706db99f7901a80db23 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGEngine.h
+++ b/src/FDM/JSBSim/models/propulsion/FGEngine.h
@@ -45,6 +45,8 @@ INCLUDES
 
 #include "FGJSBBase.h"
 #include "input_output/FGXMLFileRead.h"
+#include "input_output/FGXMLElement.h"
+#include "models/FGFCS.h"
 #include "math/FGColumnVector3.h"
 #include <vector>
 #include <string>
@@ -53,7 +55,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_ENGINE "$Id$"
+#define ID_ENGINE "$Id: FGEngine.h,v 1.20 2010/02/25 05:21:36 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -62,9 +64,7 @@ FORWARD DECLARATIONS
 namespace JSBSim {
 
 class FGFDMExec;
-class FGState;
 class FGAtmosphere;
-class FGFCS;
 class FGAircraft;
 class FGPropagate;
 class FGPropulsion;
@@ -118,7 +118,7 @@ CLASS DOCUMENTATION
        documentation for engine and thruster classes.
 </pre>     
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGEngine.h,v 1.20 2010/02/25 05:21:36 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -228,7 +228,6 @@ protected:
   double FuelDensity;
 
   FGFDMExec*      FDMExec;
-  FGState*        State;
   FGAtmosphere*   Atmosphere;
   FGFCS*          FCS;
   FGPropulsion*   Propulsion;

diff --git a/src/FDM/JSBSim/models/propulsion/FGForce.cpp b/src/FDM/JSBSim/models/propulsion/FGForce.cpp
index ff7532916325914025583df537d86be4388e5979..0180d18e404b15f73aec103a04550d1822ce50c2 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGForce.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGForce.cpp
@@ -53,7 +53,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGForce.cpp,v 1.14 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_FORCE;
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGForce.h b/src/FDM/JSBSim/models/propulsion/FGForce.h
index eb2f59506290ca98fc3f537fb81eea7262e335fd..9ec0d30649ab725e0904bdadaceee545e9e7ea85 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGForce.h
+++ b/src/FDM/JSBSim/models/propulsion/FGForce.h
@@ -66,7 +66,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_FORCE "$Id$"
+#define ID_FORCE "$Id: FGForce.h,v 1.13 2009/10/05 04:48:03 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -215,7 +215,7 @@ and vMn, the moments, can be made directly. Otherwise, the usage is similar.<br>
 <br><br></p>
 
     @author Tony Peden
-    @version $Id$
+    @version $Id: FGForce.h,v 1.13 2009/10/05 04:48:03 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGNozzle.cpp b/src/FDM/JSBSim/models/propulsion/FGNozzle.cpp
index fdbd1533fe8cf9f6b020595eb4970b522a6740e0..f1d0fb12e1911e07bc223f71fbe70d41656c6bf2 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGNozzle.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGNozzle.cpp
@@ -47,7 +47,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGNozzle.cpp,v 1.13 2009/10/26 03:49:58 jberndt Exp $";
 static const char *IdHdr = ID_NOZZLE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGNozzle.h b/src/FDM/JSBSim/models/propulsion/FGNozzle.h
index 4b5dc40a559afa2cf25e1ef348b1ef58263e1ce1..d2945ba7b677bf4020d3b9d90fd33850995221c7 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGNozzle.h
+++ b/src/FDM/JSBSim/models/propulsion/FGNozzle.h
@@ -44,7 +44,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_NOZZLE "$Id$";
+#define ID_NOZZLE "$Id: FGNozzle.h,v 1.8 2009/10/26 03:49:58 jberndt Exp $";
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -75,7 +75,7 @@ CLASS DOCUMENTATION
 
     All parameters MUST be specified.  
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGNozzle.h,v 1.8 2009/10/26 03:49:58 jberndt Exp $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGPiston.cpp b/src/FDM/JSBSim/models/propulsion/FGPiston.cpp
index 7f484e6b9e97ae5594abef65ca45e505f3b29084..77dcf245a64858c28b456f373d1f31e24f64f444 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGPiston.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGPiston.cpp
@@ -43,8 +43,8 @@ INCLUDES
 #include <sstream>
 
 #include "FGPiston.h"
-#include "FGState.h"
 #include "models/FGAtmosphere.h"
+#include "models/FGAuxiliary.h"
 #include "models/FGPropulsion.h"
 #include "FGPropeller.h"
 #include <iostream>
@@ -53,7 +53,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGPiston.cpp,v 1.52 2010/06/05 12:12:34 jberndt Exp $";
 static const char *IdHdr = ID_PISTON;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -74,7 +74,7 @@ FGPiston::FGPiston(FGFDMExec* exec, Element* el, int engine_number)
   // Defaults and initializations
 
   Type = etPiston;
-  dt = State->Getdt();
+  dt = FDMExec->GetDeltaT();
 
   // These items are read from the configuration file
   // Defaults are from a Lycoming O-360, more or less
@@ -96,6 +96,9 @@ FGPiston::FGPiston(FGFDMExec* exec, Element* el, int engine_number)
   Z_airbox = -999;
   Ram_Air_Factor = 1;
   PeakMeanPistonSpeed_fps = 100;
+  FMEPDynamic= 18400;
+  FMEPStatic = 46500;
+
 
   // These are internal program variables
 
@@ -201,6 +204,10 @@ FGPiston::FGPiston(FGFDMExec* exec, Element* el, int engine_number)
     Z_airbox = el->FindElementValueAsNumber("air-intake-impedance-factor");
   if (el->FindElement("ram-air-factor"))
     Ram_Air_Factor  = el->FindElementValueAsNumber("ram-air-factor");
+  if (el->FindElement("dynamic-fmep"))
+    FMEPDynamic= el->FindElementValueAsNumberConvertTo("dynamic-fmep","PA");
+  if (el->FindElement("static-fmep"))
+    FMEPStatic = el->FindElementValueAsNumberConvertTo("static-fmep","PA");
   if (el->FindElement("peak-piston-speed"))
     PeakMeanPistonSpeed_fps  = el->FindElementValueAsNumber("peak-piston-speed");
   if (el->FindElement("numboostspeeds")) { // Turbo- and super-charging parameters
@@ -244,8 +251,8 @@ FGPiston::FGPiston(FGFDMExec* exec, Element* el, int engine_number)
   // Create IFSC to match the engine if not provided
   if (ISFC < 0) {
       double pmep = 29.92 - MaxManifoldPressure_inHg;
-      pmep *= inhgtopa;
-      double fmep = (18400 * RatedMeanPistonSpeed_fps * fttom + 46500);
+      pmep *= inhgtopa  * volumetric_efficiency;
+      double fmep = (FMEPDynamic * RatedMeanPistonSpeed_fps * fttom + FMEPStatic);
       double hp_loss = ((pmep + fmep) * displacement_SI * MaxRPM)/(Cycles*22371);
       ISFC = ( 1.1*Displacement * MaxRPM * volumetric_efficiency *(MaxManifoldPressure_inHg / 29.92) ) / (9411 * (MaxHP+hp_loss));
 // cout <<"FMEP: "<< fmep <<" PMEP: "<< pmep << " hp_loss: " <<hp_loss <<endl;
@@ -262,13 +269,13 @@ FGPiston::FGPiston(FGFDMExec* exec, Element* el, int engine_number)
  * Where:
  * Pm = Manifold Pressure
  * Pa = Ambient Pressre
- * Ze = engine impedance, Ze is effectively 1 / Mean Piston Speed  
+ * Ze = engine impedance, Ze is effectively 1 / Mean Piston Speed
  * Zi = airbox impedance
  * Zt = throttle impedance
- * 
+ *
  * For the calculation below throttle is fully open or Zt = 0
  *
- * 
+ *
  *
  */
 
@@ -276,7 +283,9 @@ FGPiston::FGPiston(FGFDMExec* exec, Element* el, int engine_number)
     double Ze=PeakMeanPistonSpeed_fps/RatedMeanPistonSpeed_fps; // engine impedence
     Z_airbox = (standard_pressure *Ze / maxMAP) - Ze; // impedence of airbox
   }
-  Z_throttle=(((MaxRPM * Stroke) / 360)/((IdleRPM * Stroke) / 360))*(standard_pressure/minMAP - 1) - Z_airbox; // Constant for Throttle impedence
+  // Constant for Throttle impedence
+  Z_throttle=(PeakMeanPistonSpeed_fps/((IdleRPM * Stroke) / 360))*(standard_pressure/minMAP - 1) - Z_airbox; 
+  //  Z_throttle=(MaxRPM/IdleRPM )*(standard_pressure/minMAP+2); // Constant for Throttle impedence
 
   string property_name, base_property_name;
   base_property_name = CreateIndexedPropertyName("propulsion/engine", EngineNumber);
@@ -376,14 +385,11 @@ void FGPiston::ResetToIC(void)
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
 double FGPiston::Calculate(void)
 {
   if (FuelFlow_gph > 0.0) ConsumeFuel();
 
   Throttle = FCS->GetThrottlePos(EngineNumber);
-  // calculate the throttle plate angle.  1 unit is approx pi/2 radians.
-  ThrottleAngle = MinThrottle+((MaxThrottle-MinThrottle)*Throttle );
   Mixture = FCS->GetMixturePos(EngineNumber);
 
   //
@@ -435,7 +441,7 @@ double FGPiston::Calculate(void)
 
 double FGPiston::CalcFuelNeed(void)
 {
-  double dT = State->Getdt() * Propulsion->GetRate();
+  double dT = FDMExec->GetDeltaT() * Propulsion->GetRate();
   FuelExpended = FuelFlowRate * dT;
   return FuelExpended;
 }
@@ -444,9 +450,13 @@ double FGPiston::CalcFuelNeed(void)
 
 int FGPiston::InitRunning(void) {
   Magnetos=3;
-  //Thruster->SetRPM( 1.1*IdleRPM/Thruster->GetGearRatio() );
-  Thruster->SetRPM( 1000 );
+  p_amb = Atmosphere->GetPressure() * psftopa;
+  double mix= p_amb / (101325.0*1.3);
+  FCS->SetMixturePos(EngineNumber, mix);
+  Thruster->SetRPM( 2.*IdleRPM/Thruster->GetGearRatio() );
+  //Thruster->SetRPM( 1000 );
   Running=true;
+// cout <<"Set Running in FGPiston. RPM:" << Thruster->GetRPM()*Thruster->GetGearRatio() <<" Pressure:"<<p_amb<<" Mixture:"<< mix <<endl;
   return 1;
 }
 
@@ -461,7 +471,6 @@ void FGPiston::doEngineStartup(void)
   // (spark, fuel, starter motor etc)
   bool spark;
   bool fuel;
-
   // Check for spark
   Magneto_Left = false;
   Magneto_Right = false;
@@ -541,7 +550,7 @@ void FGPiston::doBoostControl(void)
       if(p_amb < BoostSwitchPressure[BoostSpeed] - BoostSwitchHysteresis) {
         BoostSpeed++;
       }
-    } else if(BoostSpeed > 0) {
+    } if(BoostSpeed > 0) {
       // Check if we need to change to a lower boost speed
       if(p_amb > BoostSwitchPressure[BoostSpeed - 1] + BoostSwitchHysteresis) {
         BoostSpeed--;
@@ -559,7 +568,7 @@ void FGPiston::doBoostControl(void)
  * from the throttle position, turbo/supercharger boost control
  * system, engine speed and local ambient air density.
  *
- * Inputs: p_amb, Throttle, ThrottleAngle,
+ * Inputs: p_amb, Throttle,
  *         MeanPistonSpeed_fps, dt
  *
  * Outputs: MAP, ManifoldPressure_inHg, TMAP
@@ -567,7 +576,7 @@ void FGPiston::doBoostControl(void)
 
 void FGPiston::doMAP(void)
 {
-  double Zt =(1-Throttle)*(1-Throttle)*Z_throttle; // throttle impedence
+  double Zt = (1-Throttle)*(1-Throttle)*Z_throttle; // throttle impedence
   double Ze= MeanPistonSpeed_fps > 0 ? PeakMeanPistonSpeed_fps/MeanPistonSpeed_fps : 999999; // engine impedence
 
   double map_coefficient = Ze/(Ze+Z_airbox+Zt);
@@ -579,7 +588,7 @@ void FGPiston::doMAP(void)
   // Find the mean effective pressure required to achieve this manifold pressure
   // Fixme: determine the HP consumed by the supercharger
 
-  PMEP = TMAP - p_amb; // Fixme: p_amb should be exhaust manifold pressure
+  PMEP = (TMAP - p_amb) * volumetric_efficiency; // Fixme: p_amb should be exhaust manifold pressure
 
   if (Boosted) {
     // If takeoff boost is fitted, we currently assume the following throttle map:
@@ -618,7 +627,7 @@ void FGPiston::doMAP(void)
  * (used in CHT calculation for air-cooled engines).
  *
  * Inputs: p_amb, R_air, T_amb, MAP, Displacement,
- *   RPM, volumetric_efficiency, ThrottleAngle
+ *   RPM, volumetric_efficiency,
  *
  * TODO: Model inlet manifold air temperature.
  *
@@ -627,9 +636,10 @@ void FGPiston::doMAP(void)
 
 void FGPiston::doAirFlow(void)
 {
-  double gamma = 1.1; // specific heat constants
+  double gamma = 1.3; // specific heat constants
 // loss of volumentric efficiency due to difference between MAP and exhaust pressure
-  double ve =((gamma-1)/gamma)+( CompressionRatio -(p_amb/MAP))/(gamma*( CompressionRatio - 1));
+// Eq 6-10 from The Internal Combustion Engine - Charles Taylor Vol 1
+  double ve =((gamma-1)/gamma) +( CompressionRatio -(p_amb/MAP))/(gamma*( CompressionRatio - 1));
 
   rho_air = p_amb / (R_air * T_amb);
   double swept_volume = (displacement_SI * (RPM/60)) / 2;
@@ -665,15 +675,11 @@ void FGPiston::doFuelFlow(void)
 /**
  * Calculate the power produced by the engine.
  *
- * Currently, the JSBSim propellor model does not allow the
- * engine to produce enough RPMs to get up to a high horsepower.
- * When tested with sufficient RPM, it has no trouble reaching
- * 200HP.
- *
- * Inputs: ManifoldPressure_inHg, p_amb, RPM, T_amb,
+ * Inputs: ManifoldPressure_inHg, p_amb, RPM, T_amb, ISFC,
  *   Mixture_Efficiency_Correlation, Cycles, MaxHP, PMEP,
+ *   MeanPistonSpeed_fps
  *
- * Outputs: PctPower, HP
+ * Outputs: PctPower, HP, FMEP, IndicatedHorsePower
  */
 
 void FGPiston::doEnginePower(void)
@@ -686,9 +692,8 @@ void FGPiston::doEnginePower(void)
     ME = Mixture_Efficiency_Correlation->GetValue(m_dot_fuel/m_dot_air);
 
     percent_RPM = RPM/MaxRPM;
-// Guestimate engine friction as a percentage of rated HP + a percentage of rpm + a percentage of Indicted HP
-//    friction = 1 - (percent_RPM * percent_RPM * percent_RPM/10);
-    FMEP = (-18400 * MeanPistonSpeed_fps * fttom - 46500);
+// Guestimate engine friction losses from Figure 4.4 of "Engines: An Introduction", John Lumley
+    FMEP = (-FMEPDynamic * MeanPistonSpeed_fps * fttom - FMEPStatic);
 
     power = 1;
 
@@ -770,7 +775,7 @@ void FGPiston::doCHT(void)
   double h2 = -3.95;
   double h3 = -140.0; // -0.05 * 2800 (default maxrpm)
 
-  double arbitary_area = 1.0;
+  double arbitary_area = Displacement/360.0;
   double CpCylinderHead = 800.0;
   double MassCylinderHead = 8.0;
 
@@ -813,8 +818,8 @@ void FGPiston::doOilTemperature(void)
   if (OilPressure_psi > 5.0 ) {
     time_constant = 5000 / OilPressure_psi; // Guess at a time constant for circulated oil.
                                             // The higher the pressure the faster it reaches
-                                           // target temperature.  Oil pressure should be about
-                                           // 60 PSI yielding a TC of about 80.
+                                            // target temperature.  Oil pressure should be about
+                                            // 60 PSI yielding a TC of about 80.
   } else {
     time_constant = 1000;  // Time constant for engine-off; reflects the fact
                            // that oil is no longer getting circulated
@@ -919,12 +924,13 @@ void FGPiston::Debug(int from)
       cout << "      Cycles: "              << Cycles                   << endl;
       cout << "      IdleRPM: "             << IdleRPM                  << endl;
       cout << "      MaxRPM: "              << MaxRPM                   << endl;
-      cout << "      MaxThrottle: "         << MaxThrottle              << endl;
-      cout << "      MinThrottle: "         << MinThrottle              << endl;
+      cout << "      Throttle Constant: "   << Z_throttle               << endl;
       cout << "      ISFC: "                << ISFC                     << endl;
       cout << "      Volumetric Efficiency: " << volumetric_efficiency    << endl;
       cout << "      PeakMeanPistonSpeed_fps: " << PeakMeanPistonSpeed_fps << endl;
       cout << "      Intake Impedance Factor: " << Z_airbox << endl;
+      cout << "      Dynamic FMEP Factor: " << FMEPDynamic << endl;
+      cout << "      Static FMEP Factor: " << FMEPStatic << endl;
 
       cout << endl;
       cout << "      Combustion Efficiency table:" << endl;

diff --git a/src/FDM/JSBSim/models/propulsion/FGPiston.h b/src/FDM/JSBSim/models/propulsion/FGPiston.h
index 2bfb1971a8ec7c3ce129c5c57c10be1f2c042a21..a008e6a7327f526d27b1f96772a0d586e1430ddf 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGPiston.h
+++ b/src/FDM/JSBSim/models/propulsion/FGPiston.h
@@ -41,13 +41,12 @@ INCLUDES
 
 #include "FGEngine.h"
 #include "math/FGTable.h"
-#include "input_output/FGXMLElement.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PISTON "$Id$";
+#define ID_PISTON "$Id: FGPiston.h,v 1.23 2010/02/25 05:21:36 jberndt Exp $";
 #define FG_MAX_BOOST_SPEEDS 3
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -66,7 +65,7 @@ CLASS DOCUMENTATION
 
 @code
 <piston_engine name="{string}">
-  <minmp unit="{INHG | PA | ATM}"> {number} </minmp> <!-- Depricated -->
+  <minmp unit="{INHG | PA | ATM}"> {number} </minmp>
   <maxmp unit="{INHG | PA | ATM}"> {number} </maxmp>
   <displacement unit="{IN3 | LTR | CC}"> {number} </displacement>
   <bore unit="{IN | M}"> {number} </bore>
@@ -82,6 +81,8 @@ CLASS DOCUMENTATION
   <minthrottle> {number} </minthrottle>
   <bsfc unit="{LBS/HP*HR | "KG/KW*HR"}"> {number} </bsfc>
   <volumetric-efficiency> {number} </volumetric-efficiency>
+  <dynamic-fmep unit="{INHG | PA | ATM}"> {number} </dynamic-fmep>
+  <static-fmep unit="{INHG | PA | ATM}"> {number} </static-fmep>
   <numboostspeeds> {number} </numboostspeeds>
   <boostoverride> {0 | 1} </boostoverride>
   <boostmanual> {0 | 1} </boostmanual>
@@ -180,7 +181,7 @@ CLASS DOCUMENTATION
     @author Dave Luff (engine operational code)
     @author David Megginson (initial porting and additional code)
     @author Ron Jensen (additional engine code)
-    @version $Id$
+    @version $Id: FGPiston.h,v 1.23 2010/02/25 05:21:36 jberndt Exp $
   */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -216,7 +217,6 @@ public:
   double getRPM(void) {return RPM;}
 
 protected:
-  double ThrottleAngle;
 
 private:
   int crank_counter;
@@ -224,9 +224,8 @@ private:
   double IndicatedHorsePower;
   double PMEP;
   double FMEP;
-  double SpeedSlope;
-  double SpeedIntercept;
-  double AltitudeSlope;
+  double FMEPDynamic;
+  double FMEPStatic;
   double PowerAvailable;
 
   // timestep

diff --git a/src/FDM/JSBSim/models/propulsion/FGPropeller.cpp b/src/FDM/JSBSim/models/propulsion/FGPropeller.cpp
index fb1be8ac125de1d236b4014a6dfbf1c9c97c7c97..8204bb9d21cd88bd127071fee4da1e5eb43a419b 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGPropeller.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGPropeller.cpp
@@ -48,7 +48,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGPropeller.cpp,v 1.30 2010/05/02 15:10:07 jberndt Exp $";
 static const char *IdHdr = ID_PROPELLER;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -76,6 +76,9 @@ FGPropeller::FGPropeller(FGFDMExec* exec, Element* prop_element, int num)
   Reverse_coef = 0.0;
   GearRatio = 1.0;
   CtFactor = CpFactor = 1.0;
+  ConstantSpeed = 0;
+  cThrust = cPower = CtMach = CpMach = 0;
+  Vinduced = 0.0;
 
   if (prop_element->FindElement("ixx"))
     Ixx = prop_element->FindElementValueAsNumberConvertTo("ixx", "SLUG*FT2");
@@ -91,8 +94,12 @@ FGPropeller::FGPropeller(FGFDMExec* exec, Element* prop_element, int num)
     MaxPitch = prop_element->FindElementValueAsNumber("maxpitch");
   if (prop_element->FindElement("minrpm"))
     MinRPM = prop_element->FindElementValueAsNumber("minrpm");
-  if (prop_element->FindElement("maxrpm"))
+  if (prop_element->FindElement("maxrpm")) {
     MaxRPM = prop_element->FindElementValueAsNumber("maxrpm");
+    ConstantSpeed = 1;
+    }
+  if (prop_element->FindElement("constspeed"))
+    ConstantSpeed = (int)prop_element->FindElementValueAsNumber("constspeed");
   if (prop_element->FindElement("reversepitch"))
     ReversePitch = prop_element->FindElementValueAsNumber("reversepitch");
   for (int i=0; i<2; i++) {
@@ -102,6 +109,10 @@ FGPropeller::FGPropeller(FGFDMExec* exec, Element* prop_element, int num)
       cThrust = new FGTable(PropertyManager, table_element);
     } else if (name == "C_POWER") {
       cPower = new FGTable(PropertyManager, table_element);
+    } else if (name == "CT_MACH") {
+      CtMach = new FGTable(PropertyManager, table_element);
+    } else if (name == "CP_MACH") {
+      CpMach = new FGTable(PropertyManager, table_element);
     } else {
       cerr << "Unknown table type: " << name << " in propeller definition." << endl;
     }
@@ -129,6 +140,7 @@ FGPropeller::FGPropeller(FGFDMExec* exec, Element* prop_element, int num)
   vTorque.InitMatrix();
   D4 = Diameter*Diameter*Diameter*Diameter;
   D5 = D4*Diameter;
+  Pitch = MinPitch;
 
   string property_name, base_property_name;
   base_property_name = CreateIndexedPropertyName("propulsion/engine", EngineNum);
@@ -140,6 +152,14 @@ FGPropeller::FGPropeller(FGFDMExec* exec, Element* prop_element, int num)
   PropertyManager->Tie( property_name.c_str(), this, &FGPropeller::GetThrustCoefficient );
   property_name = base_property_name + "/propeller-rpm";
   PropertyManager->Tie( property_name.c_str(), this, &FGPropeller::GetRPM );
+  property_name = base_property_name + "/helical-tip-Mach";
+  PropertyManager->Tie( property_name.c_str(), this, &FGPropeller::GetHelicalTipMach );
+  property_name = base_property_name + "/constant-speed-mode";
+  PropertyManager->Tie( property_name.c_str(), this, &FGPropeller::GetConstantSpeed,
+                      &FGPropeller::SetConstantSpeed );
+  property_name = base_property_name + "/prop-induced-velocity_fps";
+  PropertyManager->Tie( property_name.c_str(), this, &FGPropeller::GetInducedVelocity,
+                      &FGPropeller::SetInducedVelocity );
 
   Debug(0);
 }
@@ -150,6 +170,8 @@ FGPropeller::~FGPropeller()
 {
   delete cThrust;
   delete cPower;
+  delete CtMach;
+  delete CpMach;
 
   Debug(1);
 }
@@ -176,13 +198,27 @@ double FGPropeller::Calculate(double PowerAvailable)
   double rho = fdmex->GetAtmosphere()->GetDensity();
   double RPS = RPM/60.0;
 
-  if (RPS > 0.00) J = Vel / (Diameter * RPS); // Calculate J normally
-  else            J = 1000.0;                 // Set J to a high number
+  // Calculate helical tip Mach
+  double Area = 0.25*Diameter*Diameter*M_PI;
+  double Vtip = RPS * Diameter * M_PI;
+  HelicalTipMach = sqrt(Vtip*Vtip + Vel*Vel) / 
+                   fdmex->GetAtmosphere()->GetSoundSpeed(); 
+
+  if (RPS > 0.0) J = Vel / (Diameter * RPS); // Calculate J normally
+  else           J = Vel / Diameter;      
 
-  if (MaxPitch == MinPitch)  ThrustCoeff = cThrust->GetValue(J);
-  else                       ThrustCoeff = cThrust->GetValue(J, Pitch);
+  if (MaxPitch == MinPitch) {    // Fixed pitch prop
+         ThrustCoeff = cThrust->GetValue(J);
+  } else {                       // Variable pitch prop
+         ThrustCoeff = cThrust->GetValue(J, Pitch);
+  }
+ 
+  // Apply optional scaling factor to Ct (default value = 1)
   ThrustCoeff *= CtFactor;
 
+  // Apply optional Mach effects from CT_MACH table
+  if (CtMach) ThrustCoeff *= CtMach->GetValue(HelicalTipMach);
+
   if (P_Factor > 0.0001) {
     alpha = fdmex->GetAuxiliary()->Getalpha();
     beta  = fdmex->GetAuxiliary()->Getbeta();
@@ -191,6 +227,11 @@ double FGPropeller::Calculate(double PowerAvailable)
   }
 
   Thrust = ThrustCoeff*RPS*RPS*D4*rho;
+
+  // From B. W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics"
+  // first edition, eqn. 6.15 (propeller analysis chapter).
+  Vinduced = 0.5 * (-Vel + sqrt(Vel*Vel + 2.0*Thrust/(rho*Area)));
+
   omega = RPS*2.0*M_PI;
 
   vFn(1) = Thrust;
@@ -203,12 +244,12 @@ double FGPropeller::Calculate(double PowerAvailable)
   vH(eY) = 0.0;
   vH(eZ) = 0.0;
 
-  if (omega > 0.0) ExcessTorque = GearRatio * PowerAvailable / omega;
-  else             ExcessTorque = GearRatio * PowerAvailable / 1.0;
+  if (omega > 0.0) ExcessTorque = PowerAvailable / omega;
+  else             ExcessTorque = PowerAvailable / 1.0;
 
   RPM = (RPS + ((ExcessTorque / Ixx) / (2.0 * M_PI)) * deltaT) * 60.0;
 
-  if (RPM < 1.0) RPM = 0; // Engine friction stops rotation arbitrarily at 1 RPM.
+  if (RPM < 0.0) RPM = 0.0; // Engine won't turn backwards
 
   // Transform Torque and momentum first, as PQR is used in this
   // equation and cannot be transformed itself.
@@ -223,19 +264,23 @@ double FGPropeller::GetPowerRequired(void)
 {
   double cPReq, J;
   double rho = fdmex->GetAtmosphere()->GetDensity();
+  double Vel = fdmex->GetAuxiliary()->GetAeroUVW(eU);
   double RPS = RPM / 60.0;
 
-  if (RPS != 0) J = fdmex->GetAuxiliary()->GetAeroUVW(eU) / (Diameter * RPS);
-  else          J = 1000.0; // Set J to a high number
+  if (RPS != 0.0) J = Vel / (Diameter * RPS);
+  else            J = Vel / Diameter; 
 
-  if (MaxPitch == MinPitch) { // Fixed pitch prop
-    Pitch = MinPitch;
+  if (MaxPitch == MinPitch) {   // Fixed pitch prop
     cPReq = cPower->GetValue(J);
+
   } else {                      // Variable pitch prop
 
-    if (MaxRPM != MinRPM) {   // fixed-speed prop
+    if (ConstantSpeed != 0) {   // Constant Speed Mode
 
       // do normal calculation when propeller is neither feathered nor reversed
+      // Note:  This method of feathering and reversing was added to support the
+      //        turboprop model.  It's left here for backward compatablity, but
+      //        now feathering and reversing should be done in Manual Pitch Mode.
       if (!Feathered) {
         if (!Reversed) {
 
@@ -267,19 +312,29 @@ double FGPropeller::GetPowerRequired(void)
         Pitch += (MaxPitch - Pitch) / 300; // just a guess (about 5 sec to fully feathered)
       }
 
-    } else { // Variable Speed Prop
-      Pitch = MinPitch + (MaxPitch - MinPitch) * Advance;
+    } else { // Manual Pitch Mode, pitch is controlled externally
+
     }
+  
     cPReq = cPower->GetValue(J, Pitch);
   }
+
+  // Apply optional scaling factor to Cp (default value = 1)
   cPReq *= CpFactor;
 
-  if (RPS > 0) {
+  // Apply optional Mach effects from CP_MACH table
+  if (CpMach) cPReq *= CpMach->GetValue(HelicalTipMach);
+
+  if (RPS > 0.1) {
     PowerRequired = cPReq*RPS*RPS*RPS*D5*rho;
     vTorque(eX) = -Sense*PowerRequired / (RPS*2.0*M_PI);
   } else {
-    PowerRequired = 0.0;
-    vTorque(eX) = 0.0;
+     // For a stationary prop we have to estimate torque first.
+     double CL = (90.0 - Pitch) / 20.0;
+     if (CL > 1.5) CL = 1.5;
+     double BladeArea = Diameter * Diameter / 32.0 * numBlades;
+     vTorque(eX) = -Sense*BladeArea*Diameter*Vel*Vel*rho*0.19*CL;
+     PowerRequired = vTorque(eX)*0.2*M_PI;
   }
 
   return PowerRequired;

diff --git a/src/FDM/JSBSim/models/propulsion/FGPropeller.h b/src/FDM/JSBSim/models/propulsion/FGPropeller.h
index 500e6798599bf2372f7eedd2f052887525a26f0f..ea7953e1eabc8eba4c422104b02b3b63e7d3b932 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGPropeller.h
+++ b/src/FDM/JSBSim/models/propulsion/FGPropeller.h
@@ -45,7 +45,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_PROPELLER "$Id$"
+#define ID_PROPELLER "$Id: FGPropeller.h,v 1.16 2010/04/09 12:44:06 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -71,6 +71,7 @@ CLASS DOCUMENTATION
   <maxpitch> {number} </maxpitch>
   <minrpm> {number} </minrpm>
   <maxrpm> {number} </maxrpm>
+  <constspeed> {number} </constspeed>
   <reversepitch> {number} </reversepitch>
   <sense> {1 | -1} </sense>
   <p_factor> {number} </p_factor>
@@ -89,6 +90,19 @@ CLASS DOCUMENTATION
     </tableData>
   </table>
 
+  <table name="CT_MACH" type="internal">
+    <tableData>
+      {numbers}
+    </tableData>
+  </table>
+
+  <table name="CP_MACH" type="internal">
+    <tableData>
+      {numbers}
+    </tableData>
+  </table>
+
+
 </propeller>
 @endcode
 
@@ -102,6 +116,7 @@ CLASS DOCUMENTATION
     \<maxpitch>      - Maximum blade pitch angle.
     \<minrpm>        - Minimum rpm target for constant speed propeller.
     \<maxrpm>        - Maximum rpm target for constant speed propeller.
+    \<constspeed>    - 1 = constant speed mode, 0 = manual pitch mode. 
     \<reversepitch>  - Blade pitch angle for reverse.
     \<sense>         - Direction of rotation (1=clockwise as viewed from cockpit,
                         -1=anti-clockwise as viewed from cockpit).
@@ -111,7 +126,10 @@ CLASS DOCUMENTATION
 </pre>
 
     Two tables are needed. One for coefficient of thrust (Ct) and one for
-    coefficient of power (Cp).  
+    coefficient of power (Cp).
+
+    Two tables are optional. They apply a factor to Ct and Cp based on the
+    helical tip Mach.  
     <br>
 
     Several references were helpful, here:<ul>
@@ -123,7 +141,7 @@ CLASS DOCUMENTATION
     <li>Various NACA Technical Notes and Reports</li>
     </ul>
     @author Jon S. Berndt
-    @version $Id$
+    @version $Id: FGPropeller.h,v 1.16 2010/04/09 12:44:06 jberndt Exp $
     @see FGEngine
     @see FGThruster
 */
@@ -169,6 +187,9 @@ public:
   /// Sets the P-Factor constant
   void SetPFactor(double pf) {P_Factor = pf;}
 
+  /// Sets propeller into constant speed mode, or manual pitch mode
+  void SetConstantSpeed(int mode) {ConstantSpeed = mode;} 
+
   /// Sets coefficient of thrust multiplier
   void SetCtFactor(double ctf) {CtFactor = ctf;}
 
@@ -204,6 +225,11 @@ public:
   /// Retrieves propeller power table
   FGTable* GetCPowerTable(void)  const { return cPower; }
 
+  /// Retrieves propeller thrust Mach effects factor
+  FGTable* GetCtMachTable(void) const { return CtMach; }
+  /// Retrieves propeller power Mach effects factor
+  FGTable* GetCpMachTable(void) const { return CpMach; }
+
   /// Retrieves the Torque in foot-pounds (Don't you love the English system?)
   double GetTorque(void)        { return vTorque(eX);    }
 
@@ -233,6 +259,10 @@ public:
   void   SetFeather (bool f) { Feathered = f; }
   bool   GetFeather (void) { return Feathered; }
   double GetThrustCoefficient(void) const {return ThrustCoeff;}
+  double GetHelicalTipMach(void) const {return HelicalTipMach;}
+  int    GetConstantSpeed(void) const {return ConstantSpeed;}
+  void   SetInducedVelocity(double Vi) {Vinduced = Vi;}
+  double GetInducedVelocity(void) const {return Vinduced;}
 
 private:
   int   numBlades;
@@ -251,14 +281,19 @@ private:
   double ExcessTorque;
   double D4;
   double D5;
+  double HelicalTipMach;
+  double Vinduced;
   FGColumnVector3 vTorque;
   FGTable *cThrust;
   FGTable *cPower;
+  FGTable *CtMach;
+  FGTable *CpMach;
   double CtFactor;
   double CpFactor;
+  int    ConstantSpeed;
   void Debug(int from);
   double ReversePitch; // Pitch, when fully reversed
-  bool   Reversed;              // true, when propeller is reversed
+  bool   Reversed;     // true, when propeller is reversed
   double Reverse_coef; // 0 - 1 defines AdvancePitch (0=MIN_PITCH 1=REVERSE_PITCH)
   bool   Feathered;    // true, if feather command
 };

diff --git a/src/FDM/JSBSim/models/propulsion/FGRocket.cpp b/src/FDM/JSBSim/models/propulsion/FGRocket.cpp
index 85b0fd57f63324291181f0aa1ae13c65b3d3eeda..52ab88cb25827b533738d2476323786a924e624b 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGRocket.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGRocket.cpp
@@ -41,7 +41,6 @@ INCLUDES
 #include <iostream>
 #include <sstream>
 #include "FGRocket.h"
-#include "FGState.h"
 #include "models/FGPropulsion.h"
 #include "FGThruster.h"
 #include "FGTank.h"
@@ -50,7 +49,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGRocket.cpp,v 1.19 2010/02/25 05:21:36 jberndt Exp $";
 static const char *IdHdr = ID_ROCKET;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -66,9 +65,9 @@ FGRocket::FGRocket(FGFDMExec* exec, Element *el, int engine_number)
   previousFuelNeedPerTank = 0.0;
   previousOxiNeedPerTank = 0.0;
   PropellantFlowRate = 0.0;
-  FuelFlowRate = 0.0;
-  OxidizerFlowRate = 0.0;
-  SLOxiFlowMax = 0.0;
+  FuelFlowRate = FuelExpended = 0.0;
+  OxidizerFlowRate = OxidizerExpended = 0.0;
+  SLOxiFlowMax = SLFuelFlowMax = 0.0;
   BuildupTime = 0.0;
   It = 0.0;
   ThrustVariation = 0.0;
@@ -127,7 +126,7 @@ FGRocket::~FGRocket(void)
 
 double FGRocket::Calculate(void)
 {
-  double dT = State->Getdt()*Propulsion->GetRate();
+  double dT = FDMExec->GetDeltaT()*Propulsion->GetRate();
   double thrust;
 
   if (!Flameout && !Starved) ConsumeFuel();
@@ -157,7 +156,7 @@ double FGRocket::Calculate(void)
         VacThrust *= sin((BurnTime/BuildupTime)*M_PI/2.0);
         // VacThrust *= (1-cos((BurnTime/BuildupTime)*M_PI))/2.0; // 1 - cos approach
       }
-      BurnTime += State->Getdt(); // Increment burn time
+      BurnTime += FDMExec->GetDeltaT(); // Increment burn time
     } else {
       VacThrust = 0.0;
     }
@@ -210,14 +209,16 @@ void FGRocket::ConsumeFuel(void)
   // a solid rocket is being modeled.
 
   for (i=0; i<SourceTanks.size(); i++) {
-    Tank = Propulsion->GetTank(SourceTanks[i]);
+    Tank = Propulsion->GetTank(i);
     switch(Tank->GetType()) {
       case FGTank::ttFUEL:
-        if (Tank->GetContents() > 0.0 && Tank->GetSelected()) ++TanksWithFuel;
+        if (Tank->GetContents() > 0.0 && Tank->GetSelected() && SourceTanks[i] > 0) ++TanksWithFuel;
         break;
       case FGTank::ttOXIDIZER:
-        haveOxTanks = true;
-        if (Tank->GetContents() > 0.0 && Tank->GetSelected()) ++TanksWithOxidizer;
+        if (Tank->GetContents() > 0.0 && Tank->GetSelected() && SourceTanks[i] > 0) {
+          haveOxTanks = true;
+          ++TanksWithOxidizer;
+        }
         break;
     }
   }
@@ -232,12 +233,15 @@ void FGRocket::ConsumeFuel(void)
   // Expend fuel from the engine's tanks if the tank is selected as a source
   // for this engine.
 
-  double fuelNeedPerTank = CalcFuelNeed()/TanksWithFuel;
-  double oxiNeedPerTank = CalcOxidizerNeed()/TanksWithOxidizer;
+  double fuelNeedPerTank = 0;
+  double oxiNeedPerTank = 0;
+
+  if (TanksWithFuel > 0) fuelNeedPerTank = CalcFuelNeed()/TanksWithFuel;
+  if (TanksWithOxidizer > 0) oxiNeedPerTank = CalcOxidizerNeed()/TanksWithOxidizer;
 
   for (i=0; i<SourceTanks.size(); i++) {
-    Tank = Propulsion->GetTank(SourceTanks[i]);
-    if ( ! Tank->GetSelected()) continue; // If this tank is not selected as a source, skip it.
+    Tank = Propulsion->GetTank(i);
+    if ( ! Tank->GetSelected() || SourceTanks[i] == 0) continue; // If this tank is not selected as a source, skip it.
     switch(Tank->GetType()) {
       case FGTank::ttFUEL:
         Fshortage += Tank->Drain(2.0*fuelNeedPerTank - previousFuelNeedPerTank);
@@ -263,7 +267,7 @@ void FGRocket::ConsumeFuel(void)
 
 double FGRocket::CalcFuelNeed(void)
 {
-  double dT = State->Getdt()*Propulsion->GetRate();
+  double dT = FDMExec->GetDeltaT()*Propulsion->GetRate();
 
   if (ThrustTable != 0L) {          // Thrust table given - infers solid fuel
     FuelFlowRate = VacThrust/Isp;   // This calculates wdot (weight flow rate in lbs/sec)
@@ -280,7 +284,7 @@ double FGRocket::CalcFuelNeed(void)
 
 double FGRocket::CalcOxidizerNeed(void)
 {
-  double dT = State->Getdt()*Propulsion->GetRate();
+  double dT = FDMExec->GetDeltaT()*Propulsion->GetRate();
   OxidizerFlowRate = SLOxiFlowMax*PctPower;
   OxidizerExpended = OxidizerFlowRate*dT;
   return OxidizerExpended;
@@ -367,7 +371,8 @@ void FGRocket::Debug(int from)
       cout << "      Minimum Throttle = " << MinThrottle << endl;
       cout << "      Fuel Flow (max) = " << SLFuelFlowMax << endl;
       cout << "      Oxidizer Flow (max) = " << SLOxiFlowMax << endl;
-      cout << "      Mixture ratio = " << SLOxiFlowMax/SLFuelFlowMax << endl;
+      if (SLFuelFlowMax > 0)
+        cout << "      Mixture ratio = " << SLOxiFlowMax/SLFuelFlowMax << endl;
     }
   }
   if (debug_lvl & 2 ) { // Instantiation/Destruction notification

diff --git a/src/FDM/JSBSim/models/propulsion/FGRocket.h b/src/FDM/JSBSim/models/propulsion/FGRocket.h
index 4ff539572ff97cc6863a5c2a0009e3a777dd1a35..8692a5c1a8ba8ca853946e2d99fedf405870d124 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGRocket.h
+++ b/src/FDM/JSBSim/models/propulsion/FGRocket.h
@@ -46,7 +46,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_ROCKET "$Id$"
+#define ID_ROCKET "$Id: FGRocket.h,v 1.12 2009/11/08 02:24:17 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -118,7 +118,7 @@ for the rocket engine to be throttle up to 1. At that time, the solid rocket
 fuel begins burning and thrust is provided.
 
     @author Jon S. Berndt
-    $Id$
+    $Id: FGRocket.h,v 1.12 2009/11/08 02:24:17 jberndt Exp $
     @see FGNozzle,
     FGThruster,
     FGForce,

diff --git a/src/FDM/JSBSim/models/propulsion/FGRotor.cpp b/src/FDM/JSBSim/models/propulsion/FGRotor.cpp
index 6ef33e7c03feb540ce5a8c517126b73c30f82abd..b1c1661d034710fa386b04e1fa1ac537ef65340a 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGRotor.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGRotor.cpp
@@ -5,7 +5,7 @@
  Date started: 08/24/00
  Purpose:      Encapsulates the rotor object
 
- ------------- Copyright (C) 2000  Jon S. Berndt (jon@jsbsim.org) -------------
+ ------------- Copyright (C) 2000  Jon S. Berndt (jsb@hal-pc.org) -------------
 
  This program is free software; you can redistribute it and/or modify it under
  the terms of the GNU Lesser General Public License as published by the Free Software
@@ -30,32 +30,733 @@ FUNCTIONAL DESCRIPTION
 HISTORY
 --------------------------------------------------------------------------------
 08/24/00  JSB  Created
+01/01/10  T.Kreitler test implementation
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include "FGRotor.h"
 #include <iostream>
+#include <sstream>
+
+#include "FGRotor.h"
+
+#include "models/FGPropagate.h"
+#include "models/FGAtmosphere.h"
+#include "models/FGAuxiliary.h"
+#include "models/FGMassBalance.h"
+
+#include "input_output/FGXMLElement.h"
+
+#include "math/FGRungeKutta.h"
 
 using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGRotor.cpp,v 1.9 2010/06/05 12:12:34 jberndt Exp $";
 static const char *IdHdr = ID_ROTOR;
 
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+MISC
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+static int dump_req; // debug schwafel flag
+
+static inline double sqr(double x) { return x*x; }
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+// starting with 'inner' rotor, FGRotor constructor is further down
+
+FGRotor::rotor::~rotor() { }
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// hmm, not a real alternative to a pretty long initializer list
+
+void FGRotor::rotor::zero() {
+  FGColumnVector3 zero_vec(0.0, 0.0, 0.0);
+
+  flags               = 0;
+  parent              = NULL  ;
+
+  reports             = 0;
+
+  // configuration
+  Radius              = 0.0 ;
+  BladeNum            = 0   ;
+  RelDistance_xhub    = 0.0 ;
+  RelShift_yhub       = 0.0 ;
+  RelHeight_zhub      = 0.0 ;
+  NominalRPM          = 0.0 ;
+  MinRPM              = 0.0 ;
+  BladeChord          = 0.0 ;
+  LiftCurveSlope      = 0.0 ;
+  BladeFlappingMoment = 0.0 ;
+  BladeTwist          = 0.0 ;
+  BladeMassMoment     = 0.0 ;
+  TipLossB            = 0.0 ;
+  PolarMoment         = 0.0 ;
+  InflowLag           = 0.0 ;
+  ShaftTilt           = 0.0 ;
+  HingeOffset         = 0.0 ;
+  HingeOffset_hover   = 0.0 ;
+  CantAngleD3         = 0.0 ;
+
+  theta_shaft         = 0.0 ;
+  phi_shaft           = 0.0 ;
+
+  // derived parameters
+  LockNumberByRho     = 0.0 ;
+  solidity            = 0.0 ;
+  RpmRatio            = 0.0 ;
 
-FGRotor::FGRotor(FGFDMExec *FDMExec, Element* rotor_element, int num)
-                    : FGThruster(FDMExec, rotor_element, num)
+  for (int i=0; i<5; i++) R[i] = 0.0;
+  for (int i=0; i<6; i++) B[i] = 0.0;
+
+  BodyToShaft.InitMatrix();
+  ShaftToBody.InitMatrix();
+
+  // dynamic values
+  ActualRPM           = 0.0 ;
+  Omega               = 0.0 ;
+  beta_orient         = 0.0 ;
+  a0                  = 0.0 ;
+  a_1 = b_1 = a_dw    = 0.0 ;
+  a1s = b1s           = 0.0 ;
+  H_drag = J_side     = 0.0 ;
+
+  Torque              = 0.0 ;
+  Thrust              = 0.0 ;
+  Ct                  = 0.0 ;
+  lambda              = 0.0 ;
+  mu                  = 0.0 ;
+  nu                  = 0.0 ;
+  v_induced           = 0.0 ;
+
+  force      = zero_vec ;
+  moment     = zero_vec ;
+
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// 5in1: value-fetch-convert-default-return function 
+
+double FGRotor::rotor::cnf_elem(  const string& ename, double default_val, 
+                                  const string& unit, bool tell)
 {
-  Debug(0);
+
+  Element *e = NULL;
+  double val=default_val;
+
+  std::string pname = "*No parent element*";
+
+  if (parent) {
+    e = parent->FindElement(ename);
+    pname = parent->GetName();
+  }
+
+  if (e) {
+    if (unit.empty()) {
+      // val = e->FindElementValueAsNumber(ename); 
+      // yields to: Attempting to get single data value from multiple lines
+      val = parent->FindElementValueAsNumber(ename);
+    } else {
+      // val = e->FindElementValueAsNumberConvertTo(ename,unit); 
+      // yields to: Attempting to get non-existent element diameter + crash, why ?
+      val = parent->FindElementValueAsNumberConvertTo(ename,unit);
+    }
+  } else {
+    if (tell) {
+      cerr << pname << ": missing element '" << ename <<"' using estimated value: " << default_val << endl;
+    }
+  }
+
+  return val;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGRotor::rotor::cnf_elem(const string& ename, double default_val, bool tell)
+{
+  return cnf_elem(ename, default_val, "", tell);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// 1. read configuration and try to fill holes, ymmv
+// 2. calculate derived parameters and transforms
+void FGRotor::rotor::configure(int f, const rotor *xmain)
+{
+
+  double estimate;
+  const bool yell   = true;
+  const bool silent = false;
+
+  flags = f;
+
+  estimate = (xmain) ? 2.0 * xmain->Radius * 0.2 : 42.0;
+  Radius = 0.5 * cnf_elem("diameter", estimate, "FT", yell);
+
+  estimate = (xmain) ? xmain->BladeNum  : 2.0;
+  estimate = Constrain(1.0,estimate,4.0);
+  BladeNum = (int) cnf_elem("numblades", estimate, yell);
+
+  estimate = (xmain) ? - xmain->Radius * 1.05 - Radius : - 0.025 * Radius ; 
+  RelDistance_xhub = cnf_elem("xhub", estimate, "FT", yell);
+
+  RelShift_yhub = cnf_elem("yhub", 0.0, "FT", silent);
+  
+  estimate = - 0.1 * Radius - 4.0;
+  RelHeight_zhub = cnf_elem("zhub", estimate, "FT", yell);
+  
+  // make sure that v_tip (omega*r) is below 0.7mach ~ 750ft/s
+  estimate = (750.0/Radius)/(2.0*M_PI) * 60.0;  // 7160/Radius
+  NominalRPM = cnf_elem("nominalrpm", estimate, yell);
+
+  MinRPM = cnf_elem("minrpm", 1.0, silent);
+  MinRPM = Constrain(1.0, MinRPM, NominalRPM-1.0);
+
+  estimate = (xmain) ? 0.12 : 0.07;  // guess solidity
+  estimate = estimate * M_PI*Radius/BladeNum;
+  BladeChord = cnf_elem("chord", estimate, "FT", yell);
+
+  LiftCurveSlope = cnf_elem("liftcurveslope", 6.0, yell); // "1/RAD"
+
+  estimate = sqr(BladeChord) * sqr(Radius) * 0.57;
+  BladeFlappingMoment = cnf_elem("flappingmoment", estimate, "SLUG*FT2", yell);   
+  BladeFlappingMoment = Constrain(0.1, BladeFlappingMoment, 1e9);
+
+  BladeTwist = cnf_elem("twist", -0.17, "RAD", yell);
+
+  estimate = sqr(BladeChord) * BladeChord * 15.66; // might be really wrong!
+  BladeMassMoment = cnf_elem("massmoment", estimate, yell); // slug-ft
+  BladeMassMoment = Constrain(0.1, BladeMassMoment, 1e9);
+
+  TipLossB = cnf_elem("tiplossfactor", 0.98, silent);
+
+  estimate = 1.1 * BladeFlappingMoment * BladeNum;
+  PolarMoment = cnf_elem("polarmoment", estimate, "SLUG*FT2", silent);
+  PolarMoment = Constrain(0.1, PolarMoment, 1e9);
+
+  InflowLag = cnf_elem("inflowlag", 0.2, silent); // fixme, depends on size
+
+  estimate = (xmain) ? 0.0 : -0.06;  
+  ShaftTilt = cnf_elem("shafttilt", estimate, "RAD", silent);
+
+  // ignore differences between teeter/hingeless/fully-articulated constructions
+  estimate = 0.05 * Radius;
+  HingeOffset = cnf_elem("hingeoffset", estimate, "FT", (xmain) ? silent : yell);
+
+  CantAngleD3 = cnf_elem("cantangle", 0.0, "RAD", silent);  
+
+  // derived parameters
+
+  // precalc often used powers
+  R[0]=1.0; R[1]=Radius;   R[2]=R[1]*R[1]; R[3]=R[2]*R[1]; R[4]=R[3]*R[1];
+  B[0]=1.0; B[1]=TipLossB; B[2]=B[1]*B[1]; B[3]=B[2]*B[1]; B[4]=B[3]*B[1]; B[5]=B[4]*B[1];
+
+  LockNumberByRho = LiftCurveSlope * BladeChord * R[4] / BladeFlappingMoment;
+  solidity = BladeNum * BladeChord / (M_PI * Radius);
+
+  // use simple orientations at the moment
+  if (flags & eTail) { // axis parallel to Y_body
+    theta_shaft = 0.0; // no tilt
+    phi_shaft = 0.5*M_PI;
+
+    // opposite direction if main rotor is spinning CW
+    if (xmain && (xmain->flags & eRotCW) ) { 
+      phi_shaft = -phi_shaft; 
+    }
+  } else {  // more or less upright
+    theta_shaft = ShaftTilt;
+    phi_shaft = 0.0; 
+  }
+
+  // setup Shaft-Body transforms, see /SH79/ eqn(17,18)
+  double st = sin(theta_shaft);
+  double ct = cos(theta_shaft);
+  double sp = sin(phi_shaft);
+  double cp = cos(phi_shaft);
+
+  ShaftToBody.InitMatrix(    ct, st*sp, st*cp,
+                            0.0,    cp,   -sp,
+                            -st, ct*sp, ct*cp  );
+
+  BodyToShaft  =  ShaftToBody.Inverse();
+
+  // misc defaults
+  nu = 0.001; // help the flow solver by providing some moving molecules
+  
+  return;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// calculate control-axes components of total airspeed at the hub.
+// sets rotor orientation angle (beta) as side effect. /SH79/ eqn(19-22)
+
+FGColumnVector3 FGRotor::rotor::hub_vel_body2ca( const FGColumnVector3 &uvw, 
+                                                 const FGColumnVector3 &pqr,
+                                                 double a_ic, double b_ic)
+{
+
+  FGColumnVector3  v_r, v_shaft, v_w;
+  FGColumnVector3  pos(RelDistance_xhub,0.0,RelHeight_zhub);
+
+  v_r = uvw + pqr*pos;
+  v_shaft = BodyToShaft * v_r;
+
+  beta_orient = atan2(v_shaft(eV),v_shaft(eU));
+
+  v_w(eU) = v_shaft(eU)*cos(beta_orient) + v_shaft(eV)*sin(beta_orient);
+  v_w(eV) = 0.0;
+  v_w(eW) = v_shaft(eW) - b_ic*v_shaft(eU) - a_ic*v_shaft(eV);
+
+  return v_w;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// express fuselage angular velocity in control axes /SH79/ eqn(30,31)
+
+FGColumnVector3 FGRotor::rotor::fus_angvel_body2ca( const FGColumnVector3 &pqr)
+{
+  FGColumnVector3 av_s_fus, av_w_fus;    
+
+  av_s_fus = BodyToShaft * pqr;
+
+  av_w_fus(eP)=   av_s_fus(eP)*cos(beta_orient) + av_s_fus(eQ)*sin(beta_orient);
+  av_w_fus(eQ)= - av_s_fus(eP)*sin(beta_orient) + av_s_fus(eQ)*cos(beta_orient);
+  av_w_fus(eR)=   av_s_fus(eR);
+         
+  return av_w_fus;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// problem function passed to rk solver
+
+  double FGRotor::rotor::dnuFunction::pFunc(double x, double nu) {
+    double d_nu;
+    d_nu =  k_sat * (ct_lambda * (k_wor - nu) + k_theta) / 
+                     (2.0 * sqrt( mu2 + sqr(k_wor - nu)) ); 
+    d_nu = d_nu * k_flowscale - nu;
+    return  d_nu; 
+  }; 
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+  // merge params to keep the equation short
+  void FGRotor::rotor::dnuFunction::update_params(rotor *r, double ct_t01, double fs, double w) {
+    k_sat       = 0.5* r->solidity * r->LiftCurveSlope;
+    ct_lambda   = 1.0/2.0*r->B[2] + 1.0/4.0 * r->mu*r->mu;
+    k_wor       = w/(r->Omega*r->Radius);
+    k_theta     = ct_t01;
+    mu2         = r->mu * r->mu;
+    k_flowscale = fs;
+  };
+
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// Calculate rotor thrust and inflow-ratio (lambda), this is achieved by
+// approximating a solution for the differential equation:
+// 
+//  dnu/dt = 1/tau ( Ct / (2*sqrt(mu^2+lambda^2))  -  nu )  , /SH79/ eqn(26).
+// 
+// Propper calculation of the inflow-ratio (lambda) is vital for the
+// following calculations. Simple implementations (i.e. Newton-Raphson w/o
+// checking) tend to oscillate or overshoot in the low speed region,
+// therefore a more expensive solver is used.
+//
+// The flow_scale parameter is used to approximate a reduction of inflow
+// if the helicopter is close to the ground, yielding to higher thrust,
+// see /TA77/ eqn(10a). Doing the ground effect calculation here seems
+// more favorable then to code it in the fdm_config.
+
+void FGRotor::rotor::calc_flow_and_thrust(    
+                           double dt, double rho, double theta_0,
+                           double Uw, double Ww, double flow_scale)
+{
+
+  double ct_over_sigma = 0.0;
+  double ct_l, ct_t0, ct_t1;
+  double nu_ret = 0.0;
+
+  mu = Uw/(Omega*Radius); // /SH79/ eqn(24)
+
+  ct_t0 = (1.0/3.0*B[3] + 1.0/2.0 * TipLossB*mu*mu - 4.0/(9.0*M_PI) * mu*mu*mu )*theta_0;
+  ct_t1 = (1.0/4.0*B[4] + 1.0/4.0 * B[2]*mu*mu)*BladeTwist;
+
+  // merge params together
+  flowEquation.update_params(this, ct_t0+ct_t1, flow_scale, Ww);
+  
+  nu_ret = rk.evolve(nu, &flowEquation);
+
+  if (rk.getStatus() != FGRungeKutta::eNoError) { // never observed so far
+    cerr << "# IEHHHH [" << flags << "]: Solver Error - resetting!" << endl;
+    rk.clearStatus();
+    nu_ret = nu; // use old value and keep fingers crossed.
+  }
+
+  // keep an eye on the solver, but be quiet after a hundred messages
+  if (reports < 100 && rk.getIterations()>6) {
+    cerr << "# LOOK [" << flags << "]: Solver took " 
+         << rk.getIterations() << " rounds." << endl;
+    reports++;
+    if (reports==100) {
+      cerr << "# stopped babbling after 100 notifications." << endl;
+    }
+  }
+
+  // now from nu to lambda, Ct, and Thrust
+
+  nu = nu_ret;
+  lambda = Ww/(Omega*Radius) - nu; // /SH79/ eqn(25)
+
+  ct_l  = (1.0/2.0*B[2] + 1.0/4.0 * mu*mu)*lambda;  
+  ct_over_sigma = (LiftCurveSlope/2.0)*(ct_l + ct_t0 + ct_t1); // /SH79/ eqn(27)
+
+  Thrust = BladeNum*BladeChord*Radius*rho*sqr(Omega*Radius) * ct_over_sigma;
+
+  Ct = ct_over_sigma * solidity;
+  v_induced = nu * (Omega*Radius);
+
+  if (dump_req && (flags & eMain) ) {
+    printf("# mu %f : nu %f lambda %f vi %f\n", mu, nu, lambda, v_induced);
+  }
+
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// this is the most arcane part in the calculation chain the
+// constants used should be reverted to more general parameters.
+// otoh: it works also for smaller rotors, sigh!
+// See /SH79/ eqn(36), and /BA41/ for a richer set of equations.
+
+void FGRotor::rotor::calc_torque(double rho, double theta_0)
+{
+  double Qa0;
+  double cq_s_m[5], cq_over_sigma;
+  double l,m,t075; // shortcuts
+
+  t075 = theta_0 + 0.75 * BladeTwist;
+
+  m = mu;
+  l = lambda;
+
+  cq_s_m[0] = 0.00109 - 0.0036*l - 0.0027*t075 - 1.10*sqr(l) - 0.545*l*t075 + 0.122*sqr(t075);
+  cq_s_m[2] = ( 0.00109 - 0.0027*t075 - 3.13*sqr(l) - 6.35*l*t075 - 1.93*sqr(t075) ) * sqr(m);
+  cq_s_m[3] = - 0.133*l*t075 * sqr(m)*m;
+  cq_s_m[4] = ( - 0.976*sqr(l) - 6.38*l*t075 - 5.26*sqr(t075) ) * sqr(m)*sqr(m);
+
+  cq_over_sigma = cq_s_m[0] + cq_s_m[2] + cq_s_m[3] + cq_s_m[4];
+  // guess an a (LiftCurveSlope) is included in eqn above, so check if there is a large
+  // influence when  a_'other-model'/ a_'ch54' diverts from 1.0.
+
+  Qa0 = BladeNum * BladeChord * R[2] * rho * sqr(Omega*Radius);
+
+// TODO: figure out how to handle negative cq_over_sigma/torque
+
+  Torque =  Qa0 *  cq_over_sigma;
+
+  return;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// The coning angle doesn't apply for teetering rotors, but calculating
+// doesn't hurt. /SH79/ eqn(29)
+
+void FGRotor::rotor::calc_coning_angle(double rho, double theta_0)
+{
+  double lock_gamma = LockNumberByRho * rho;
+
+  double a0_l  = (1.0/6.0  * B[3] + 0.04 * mu*mu*mu) * lambda;
+  double a0_t0 = (1.0/8.0  * B[4] + 1.0/8.0  * B[2]*mu*mu) * theta_0;
+  double a0_t1 = (1.0/10.0 * B[5] + 1.0/12.0 * B[3]*mu*mu) * BladeTwist;
+  a0 = lock_gamma * ( a0_l + a0_t0 + a0_t1);
+  return;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// Flapping angles relative to control axes /SH79/ eqn(32)
+
+void FGRotor::rotor::calc_flapping_angles(  double rho, double theta_0, 
+                                            const FGColumnVector3 &pqr_fus_w)
+{
+  double lock_gamma = LockNumberByRho * rho;
+
+  double mu2_2B2 = sqr(mu)/(2.0*B[2]);
+  double t075 = theta_0 + 0.75 * BladeTwist;  // common approximation for rectangular blades
+  
+  a_1 = 1.0/(1.0 - mu2_2B2) * (
+                                 (2.0*lambda + (8.0/3.0)*t075)*mu
+                               + pqr_fus_w(eP)/Omega
+                               - 16.0 * pqr_fus_w(eQ)/(B[4]*lock_gamma*Omega)
+                             );
+  
+  b_1 = 1.0/(1.0 + mu2_2B2) * (
+                                 (4.0/3.0)*mu*a0
+                               - pqr_fus_w(eQ)/Omega
+                               - 16.0 * pqr_fus_w(eP)/(B[4]*lock_gamma*Omega)
+                             );
+  
+  // used in  force calc
+  a_dw = 1.0/(1.0 - mu2_2B2) * (
+                                 (2.0*lambda + (8.0/3.0)*t075)*mu
+                               - 24.0 * pqr_fus_w(eQ)/(B[4]*lock_gamma*Omega)
+                                 * ( 1.0 - ( 0.29 * t075 / (Ct/solidity) ) )
+                             );
+  
+  return;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// /SH79/ eqn(38,39)
+
+void FGRotor::rotor::calc_drag_and_side_forces(double rho, double theta_0)
+{
+  double cy_over_sigma  ;
+  double t075 = theta_0 + 0.75 * BladeTwist;
+
+  H_drag = Thrust * a_dw;
+  
+  cy_over_sigma = (
+                      0.75*b_1*lambda - 1.5*a0*mu*lambda + 0.25*a_1*b_1*mu
+                    - a0*a_1*sqr(mu) + (1.0/6.0)*a0*a_1
+                    - (0.75*mu*a0 - (1.0/3.0)*b_1 - 0.5*sqr(mu)*b_1)*t075
+                  );
+  cy_over_sigma *= LiftCurveSlope/2.0;
+  
+  J_side = BladeNum * BladeChord * Radius * rho * sqr(Omega*Radius) * cy_over_sigma;
+
+  return;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// transform rotor forces from control axes to shaft axes, and express
+// in body axes /SH79/ eqn(40,41)
+
+FGColumnVector3 FGRotor::rotor::body_forces(double a_ic, double b_ic)
+{
+    FGColumnVector3 F_s(
+          - H_drag*cos(beta_orient) - J_side*sin(beta_orient) + Thrust*b_ic,
+          - H_drag*sin(beta_orient) + J_side*cos(beta_orient) + Thrust*a_ic,
+          - Thrust);    
+
+    if (dump_req && (flags & eMain) ) {
+      printf("# abß:  % f % f % f\n", a_ic, b_ic, beta_orient );
+      printf("# HJT:  % .2f % .2f % .2f\n", H_drag, J_side, Thrust );
+      printf("# F_s:  % .2f % .2f % .2f\n", F_s(1), F_s(2), F_s(3) );
+      FGColumnVector3 F_h;   
+      F_h = ShaftToBody * F_s;
+      printf("# F_h:  % .2f % .2f % .2f\n", F_h(1), F_h(2), F_h(3) );
+    }
+
+    return ShaftToBody * F_s;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// rotational sense is handled here
+// still a todo: how to get propper values for 'BladeMassMoment'
+// here might be a good place to tweak hovering stability, check /AM50/.
+
+FGColumnVector3 FGRotor::rotor::body_moments(FGColumnVector3 F_h, double a_ic, double b_ic)
+{
+  FGColumnVector3 M_s, M_hub, M_h;
+  
+  FGColumnVector3 h_pos(RelDistance_xhub, 0.0, RelHeight_zhub);
+
+  // vermutlich ein biege moment, bzw.widerstands moment ~ d^3
+  double M_w_tilde = 0.0 ;
+  double mf = 0.0 ;
+ 
+  M_w_tilde = BladeMassMoment;
+
+  // cyclic flapping relative to shaft axes /SH79/ eqn(43)
+  a1s = a_1*cos(beta_orient) + b_1*sin(beta_orient) - b_ic;
+  b1s = b_1*cos(beta_orient) - a_1*sin(beta_orient) + a_ic;
+
+  // mind this: no HingeOffset, no additional pitch/roll moments
+  mf = 0.5 * (HingeOffset+HingeOffset_hover) * BladeNum * Omega*Omega * M_w_tilde;
+  M_s(eL) = mf*b1s;
+  M_s(eM) = mf*a1s;
+  M_s(eN) = Torque;
+
+  if (flags & eRotCW) {
+    M_s(eN) = -M_s(eN);
+  }
+
+  if (flags & eCoaxial) {
+    M_s(eN) = 0.0;
+  }
+
+  M_hub = ShaftToBody * M_s;
+
+  M_h = M_hub + (h_pos * F_h);
+
+  return M_h;
 }
 
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// Constructor
+
+FGRotor::FGRotor(FGFDMExec *exec, Element* rotor_element, int num)
+                    : FGThruster(exec, rotor_element, num)
+{
+
+  FGColumnVector3 location, orientation;
+  Element *thruster_element;
+
+  PropertyManager = fdmex->GetPropertyManager();
+  dt = fdmex->GetDeltaT();
+
+  /* apply defaults */
+
+  rho = 0.002356; // just a sane value
+  
+  RPM = 0.0;
+  Sense = 1.0;
+  tailRotorPresent = false;
+  
+  effective_tail_col = 0.001; // just a sane value 
+
+  prop_inflow_ratio_lambda =  0.0;
+  prop_advance_ratio_mu = 0.0; 
+  prop_inflow_ratio_induced_nu = 0.0;
+  prop_mr_torque = 0.0;
+  prop_thrust_coefficient = 0.0;
+  prop_coning_angle = 0.0;
+
+  prop_theta_downwash = prop_phi_downwash = 0.0;
+
+  hover_threshold = 0.0;
+  hover_scale = 0.0;
+
+  mr.zero();
+  tr.zero();
+
+  // debug stuff
+  prop_DumpFlag = 0;
+
+  /* configure */
+
+  Type = ttRotor;
+  SetTransformType(FGForce::tCustom);
+
+  // get data from parent and 'mount' the rotor system
+
+  thruster_element = rotor_element->GetParent()->FindElement("sense");
+  if (thruster_element) {
+    Sense = thruster_element->GetDataAsNumber() >= 0.0 ? 1.0: -1.0;
+  }
+
+  thruster_element = rotor_element->GetParent()->FindElement("location");
+  if (thruster_element)  location = thruster_element->FindElementTripletConvertTo("IN");
+  else          cerr << "No thruster location found." << endl;
+
+  thruster_element = rotor_element->GetParent()->FindElement("orient");
+  if (thruster_element)  orientation = thruster_element->FindElementTripletConvertTo("RAD");
+  else          cerr << "No thruster orientation found." << endl;
+
+  SetLocation(location);
+  SetAnglesToBody(orientation);
+
+  // get main rotor parameters 
+  mr.parent = rotor_element;
+
+  int flags = eMain;
+
+  string a_val="";
+  a_val = rotor_element->GetAttributeValue("variant");
+  if ( a_val == "coaxial" ) {
+    flags += eCoaxial;
+    cerr << "# found 'coaxial' variant" << endl;
+  }  
+
+  if (Sense<0.0) {
+    flags += eRotCW;
+  }
+    
+  mr.configure(flags);
+
+  mr.rk.init(0,dt,6);
+
+  // get tail rotor parameters
+  tr.parent=rotor_element->FindElement("tailrotor");
+  if (tr.parent) {
+    tailRotorPresent = true;
+  } else {
+    tailRotorPresent = false;
+    cerr << "# No tailrotor found, assuming a single rotor." << endl;
+  }
+
+  if (tailRotorPresent) {
+    int flags = eTail;
+    if (Sense<0.0) {
+      flags += eRotCW;
+    }
+    tr.configure(flags, &mr);
+    tr.rk.init(0,dt,6);
+    tr.RpmRatio = tr.NominalRPM/mr.NominalRPM; // 'connect'
+  }
+
+  /* remaining parameters */
+
+  // ground effect  
+  double c_ground_effect = 0.0;  // uh1 ~ 0.28 , larger values increase the effect
+  ground_effect_exp = 0.0;  
+  ground_effect_shift = 0.0;
+
+  if (rotor_element->FindElement("cgroundeffect"))
+    c_ground_effect = rotor_element->FindElementValueAsNumber("cgroundeffect");
+
+  if (rotor_element->FindElement("groundeffectshift"))
+    ground_effect_shift = rotor_element->FindElementValueAsNumberConvertTo("groundeffectshift","FT");
+
+  // prepare calculations, see /TA77/
+  if (c_ground_effect > 1e-5) {
+    ground_effect_exp = 1.0 / ( 2.0*mr.Radius * c_ground_effect );
+  } else {
+    ground_effect_exp = 0.0; // disable
+  }
+
+  // smooth out jumps in hagl reported, otherwise the ground effect
+  // calculation would cause jumps too. 1Hz seems sufficient.
+  damp_hagl = Filter(1.0,dt);
+
+
+  // misc, experimental
+  if (rotor_element->FindElement("hoverthreshold"))
+    hover_threshold = rotor_element->FindElementValueAsNumberConvertTo("hoverthreshold", "FT/SEC");
+
+  if (rotor_element->FindElement("hoverscale"))
+    hover_scale = rotor_element->FindElementValueAsNumber("hoverscale");
+
+  // enable import-export
+  bind();
+
+  // unused right now
+  prop_rotorbrake->setDoubleValue(0.0);
+  prop_freewheel_factor->setDoubleValue(1.0);  
+
+  Debug(0);
+
+}  // Constructor
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 FGRotor::~FGRotor()
@@ -65,23 +766,295 @@ FGRotor::~FGRotor()
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+// mea-culpa - the connection to the engine might be wrong, but the calling
+// convention appears to be 'variable' too.
+//   piston call:  
+//        return Thruster->Calculate((Eng_HP * hptoftlbssec)-Thruster->GetPowerRequired());
+//   turbine call: 
+//        Thrust = Thruster->Calculate(Thrust); // allow thruster to modify thrust (i.e. reversing)
+//
+// Here 'Calculate' takes thrust and estimates the power provided.
+
 double FGRotor::Calculate(double PowerAvailable)
 {
-  return 0.0;
+  // controls
+  double A_IC;       // lateral (roll) control in radians
+  double B_IC;       // longitudinal (pitch) control in radians
+  double theta_col;  // main rotor collective pitch in radians
+  double tail_col;   // tail rotor collective in radians
+
+  // state
+  double h_agl_ft = 0.0;
+  double Vt ;
+
+  FGColumnVector3 UVW_h;
+  FGColumnVector3 PQR_h;
+
+  /* total vehicle velocity including wind effects in feet per second. */
+  Vt = fdmex->GetAuxiliary()->GetVt();
+
+  dt = fdmex->GetDeltaT(); // might be variable ?
+
+  dump_req = prop_DumpFlag;
+  prop_DumpFlag = 0;
+
+  // fetch often used values
+  rho = fdmex->GetAtmosphere()->GetDensity(); // slugs/ft^3.
+
+  UVW_h = fdmex->GetAuxiliary()->GetAeroUVW();
+  PQR_h = fdmex->GetAuxiliary()->GetAeroPQR();
+
+  // handle present RPM now, calc omega values.
+
+  if (RPM < mr.MinRPM) { // kludge, otherwise calculations go bananas 
+    RPM = mr.MinRPM;
+  }
+
+  mr.ActualRPM = RPM;
+  mr.Omega = (RPM/60.0)*2.0*M_PI;
+
+  if (tailRotorPresent) {
+    tr.ActualRPM = RPM*tr.RpmRatio;
+    tr.Omega = (RPM*tr.RpmRatio/60.0)*2.0*M_PI;
+  }
+
+  // read control inputs
+
+  A_IC      = prop_lateral_ctrl->getDoubleValue();
+  B_IC      = prop_longitudinal_ctrl->getDoubleValue();
+  theta_col = prop_collective_ctrl->getDoubleValue();
+  tail_col  = 0.0;
+  if (tailRotorPresent) {
+    tail_col  = prop_antitorque_ctrl->getDoubleValue();
+  }
+
+
+  FGColumnVector3  vHub_ca = mr.hub_vel_body2ca(UVW_h,PQR_h,A_IC,B_IC);
+  FGColumnVector3 avFus_ca = mr.fus_angvel_body2ca(PQR_h);
+
+
+  h_agl_ft = fdmex->GetPropagate()->GetDistanceAGL();
+
+  double filtered_hagl;
+  filtered_hagl = damp_hagl.execute( h_agl_ft + ground_effect_shift );
+
+  // gnuplot> plot [-1:50] 1 - exp((-x/44)/.28)
+  double ge_factor = 1.0;  
+  if (ground_effect_exp > 1e-5) {
+    ge_factor -= exp(-filtered_hagl*ground_effect_exp);
+  }
+  // clamp
+  if (ge_factor<0.5) ge_factor=0.5;
+
+  if (dump_req) {
+    printf("# GE h: %.3f  (%.3f) f: %f\n", filtered_hagl, h_agl_ft + ground_effect_shift, ge_factor);
+  }
+
+
+  // EXPERIMENTAL: modify rotor for hover, see rotor::body_moments for the consequences
+  if (hover_threshold > 1e-5 && Vt < hover_threshold) {
+    double scale = 1.0 - Vt/hover_threshold;
+    mr.HingeOffset_hover = scale*hover_scale*mr.Radius;
+  } else {
+    mr.HingeOffset_hover = 0.0;
+  }
+
+  // all set, start calculations
+
+  /* MAIN ROTOR */
+
+  mr.calc_flow_and_thrust(dt, rho, theta_col, vHub_ca(eU), vHub_ca(eW), ge_factor);
+
+  prop_inflow_ratio_lambda = mr.lambda;
+  prop_advance_ratio_mu = mr.mu;
+  prop_inflow_ratio_induced_nu = mr.nu;
+  prop_thrust_coefficient = mr.Ct;
+
+  mr.calc_coning_angle(rho, theta_col);
+  prop_coning_angle = mr.a0;
+
+  mr.calc_torque(rho, theta_col);
+  prop_mr_torque = mr.Torque;
+
+  mr.calc_flapping_angles(rho, theta_col, avFus_ca);
+  mr.calc_drag_and_side_forces(rho, theta_col);
+
+  FGColumnVector3 F_h_mr = mr.body_forces(A_IC,B_IC);
+  FGColumnVector3 M_h_mr = mr.body_moments(F_h_mr, A_IC, B_IC); 
+
+  // export downwash angles
+  // theta: positive for downwash moving from +z_h towards +x_h
+  // phi:   positive for downwash moving from +z_h towards -y_h
+
+  prop_theta_downwash = atan2( - UVW_h(eU), mr.v_induced - UVW_h(eW));
+  prop_phi_downwash   = atan2(   UVW_h(eV), mr.v_induced - UVW_h(eW));
+
+  mr.force(eX) = F_h_mr(1);
+  mr.force(eY) = F_h_mr(2);
+  mr.force(eZ) = F_h_mr(3);
+
+  mr.moment(eL) =  M_h_mr(1);
+  mr.moment(eM) =  M_h_mr(2); 
+  mr.moment(eN) =  M_h_mr(3);
+
+  /* TAIL ROTOR */
+
+  FGColumnVector3 F_h_tr(0.0, 0.0, 0.0);
+  FGColumnVector3 M_h_tr(0.0, 0.0, 0.0);
+
+  if (tailRotorPresent) {
+    FGColumnVector3  vHub_ca_tr = tr.hub_vel_body2ca(UVW_h,PQR_h);
+    FGColumnVector3 avFus_ca_tr = tr.fus_angvel_body2ca(PQR_h);
+
+    tr.calc_flow_and_thrust(dt, rho, tail_col, vHub_ca_tr(eU), vHub_ca_tr(eW));
+    tr.calc_coning_angle(rho, tail_col);
+
+    // test code for cantered tail rotor, see if it has a notable effect. /SH79/ eqn(47)
+    if (fabs(tr.CantAngleD3)>1e-5) {
+      double tan_d3 = tan(tr.CantAngleD3);
+      double d_t0t;
+      double ca_dt = dt/12.0;
+      for (int i = 0; i<12; i++) {
+        d_t0t = 1/0.1*(tail_col - tr.a0 * tan_d3 - effective_tail_col);
+        effective_tail_col += d_t0t*ca_dt;
+      }
+    } else {
+      effective_tail_col = tail_col;
+    }
+
+    tr.calc_torque(rho, effective_tail_col);
+    tr.calc_flapping_angles(rho, effective_tail_col, avFus_ca_tr);
+    tr.calc_drag_and_side_forces(rho, effective_tail_col);
+
+    F_h_tr = tr.body_forces();
+    M_h_tr = tr.body_moments(F_h_tr); 
+  }
+
+  tr.force(eX)  =   F_h_tr(1) ;
+  tr.force(eY)  =   F_h_tr(2) ;
+  tr.force(eZ)  =   F_h_tr(3) ;
+  tr.moment(eL) =   M_h_tr(1) ;
+  tr.moment(eM) =   M_h_tr(2) ;
+  tr.moment(eN) =   M_h_tr(3) ;
+
+/* 
+    TODO: 
+      check negative mr.Torque conditions
+      freewheel factor: assure [0..1] just multiply with available power
+      rotorbrake: just steal from available power
+
+*/
+
+  // calculate new RPM, assuming a stiff connection between engine and rotor. 
+
+  double engine_hp     =  PowerAvailable/2.24; // 'undo' force via the estimation factor used in aeromatic
+  double engine_torque =  550.0*engine_hp/mr.Omega;
+  double Omega_dot     = (engine_torque - mr.Torque) / mr.PolarMoment;
+
+  RPM += ( Omega_dot * dt )/(2.0*M_PI) * 60.0;
+
+  if (0 && dump_req) {
+    printf("# SENSE      :  % d % d\n", mr.flags & eRotCW ? -1 : 1, tr.flags & eRotCW ? -1 : 1);
+    printf("# vi         :  % f % f\n", mr.v_induced, tr.v_induced);
+    printf("# a0 a1 b1   :  % f % f % f\n", mr.a0, mr.a_1, mr.b_1 );
+    printf("# m  forces  :  % f % f % f\n", mr.force(eX), mr.force(eY), mr.force(eZ) );
+    printf("# m  moments :  % f % f % f\n", mr.moment(eL), mr.moment(eM), mr.moment(eN) );
+    printf("# t  forces  :  % f % f % f\n", tr.force(eX), tr.force(eY), tr.force(eZ) );
+    printf("# t  moments :  % f % f % f\n", tr.moment(eL), tr.moment(eM), tr.moment(eN) );
+  }
+
+  // finally set vFn & vMn
+  vFn = mr.force  + tr.force;
+  vMn = mr.moment + tr.moment;
+
+  // and just lie here
+  Thrust = 0.0; 
+
+  // return unmodified thrust to the turbine. 
+  // :TK: As far as I can see the return value is unused.
+  return PowerAvailable;
+
+}  // Calculate
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+// FGThruster does return 0.0 (the implicit direct thruster)
+// piston CALL:  return Thruster->Calculate((Eng_HP * hptoftlbssec)-Thruster->GetPowerRequired());
+
+double FGRotor::GetPowerRequired(void)
+{
+  PowerRequired = 0.0;
+  return PowerRequired;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGRotor::bind(void) {
+
+  string property_name, base_property_name;
+  base_property_name = CreateIndexedPropertyName("propulsion/engine", EngineNum);
+
+  PropertyManager->Tie( base_property_name + "/rotor-rpm", this, &FGRotor::GetRPM );
+  PropertyManager->Tie( base_property_name + "/thrust-mr-lbs", &mr.Thrust );
+  PropertyManager->Tie( base_property_name + "/vi-mr-fps", &mr.v_induced );
+  PropertyManager->Tie( base_property_name + "/a0-mr-rad", &mr.a0 );
+  PropertyManager->Tie( base_property_name + "/a1-mr-rad", &mr.a1s ); // s means shaft axes
+  PropertyManager->Tie( base_property_name + "/b1-mr-rad", &mr.b1s );
+  PropertyManager->Tie( base_property_name + "/thrust-tr-lbs", &tr.Thrust );
+  PropertyManager->Tie( base_property_name + "/vi-tr-fps", &tr.v_induced );
+
+  // lambda
+  PropertyManager->Tie( base_property_name + "/inflow-ratio", &prop_inflow_ratio_lambda );
+  // mu
+  PropertyManager->Tie( base_property_name + "/advance-ratio", &prop_advance_ratio_mu );
+  // nu
+  PropertyManager->Tie( base_property_name + "/induced-inflow-ratio", &prop_inflow_ratio_induced_nu );
+
+  PropertyManager->Tie( base_property_name + "/torque-mr-lbsft", &prop_mr_torque );
+  PropertyManager->Tie( base_property_name + "/thrust-coefficient", &prop_thrust_coefficient );
+  PropertyManager->Tie( base_property_name + "/main-rotor-rpm", &mr.ActualRPM );
+  PropertyManager->Tie( base_property_name + "/tail-rotor-rpm", &tr.ActualRPM );
+
+  // position of the downwash
+  PropertyManager->Tie( base_property_name + "/theta-downwash-rad", &prop_theta_downwash );
+  PropertyManager->Tie( base_property_name + "/phi-downwash-rad", &prop_phi_downwash );  
+
+  // nodes to use via get<xyz>Value
+  prop_collective_ctrl = PropertyManager->GetNode(base_property_name + "/collective-ctrl-rad",true);
+  prop_lateral_ctrl = PropertyManager->GetNode(base_property_name + "/lateral-ctrl-rad",true);
+  prop_longitudinal_ctrl = PropertyManager->GetNode(base_property_name + "/longitudinal-ctrl-rad",true);
+  prop_antitorque_ctrl =   PropertyManager->GetNode(base_property_name + "/antitorque-ctrl-rad",true);
+
+  prop_rotorbrake =   PropertyManager->GetNode(base_property_name + "/rotorbrake-hp", true);
+  prop_freewheel_factor =   PropertyManager->GetNode(base_property_name + "/freewheel-factor", true);
+
+  PropertyManager->Tie( base_property_name + "/dump-flag", &prop_DumpFlag );
+
+  return true;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 string FGRotor::GetThrusterLabels(int id, string delimeter)
 {
-  return "";
+
+  std::ostringstream buf;
+
+  buf << Name << " RPM (engine " << id << ")";
+
+  return buf.str();
+
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 string FGRotor::GetThrusterValues(int id, string delimeter)
 {
-  return "";
+  std::ostringstream buf;
+
+  buf << RPM;
+
+  return buf.str();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -109,7 +1082,7 @@ void FGRotor::Debug(int from)
 
   if (debug_lvl & 1) { // Standard console startup message output
     if (from == 0) { // Constructor
-
+      cout << "\n    Rotor Name: " << Name << endl;
     }
   }
   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
@@ -129,4 +1102,6 @@ void FGRotor::Debug(int from)
     }
   }
 }
-}
+
+} // namespace JSBSim 
+

diff --git a/src/FDM/JSBSim/models/propulsion/FGRotor.h b/src/FDM/JSBSim/models/propulsion/FGRotor.h
index 6188f40d9fa2e3ce5f246e635d8227e4608cc07e..0663fba46ac474b2584c9f2fa10c025dc74f460b 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGRotor.h
+++ b/src/FDM/JSBSim/models/propulsion/FGRotor.h
@@ -1,10 +1,10 @@
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
  Header:       FGRotor.h
- Author:       Jon S. Berndt
+ Author:       T. Kreitler
  Date started: 08/24/00
 
- ------------- Copyright (C) 2000  Jon S. Berndt (jon@jsbsim.org) -------------
+ ------------- Copyright (C) 2010  T. Kreitler -------------
 
  This program is free software; you can redistribute it and/or modify it under
  the terms of the GNU Lesser General Public License as published by the Free Software
@@ -25,7 +25,7 @@
 
 HISTORY
 --------------------------------------------------------------------------------
-08/24/00  JSB  Created
+01/01/10  T.Kreitler test implementation
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 SENTRY
@@ -39,12 +39,14 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGThruster.h"
+#include "math/FGTable.h"
+#include "math/FGRungeKutta.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_ROTOR "$Id$"
+#define ID_ROTOR "$Id: FGRotor.h,v 1.6 2010/06/02 04:05:13 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -56,7 +58,145 @@ namespace JSBSim {
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-/** Models a rotor (such as for a helicopter); NOT YET IMPLEMENTED.
+/** Models a rotor system. The default configuration consists of main and
+    tail rotor. A practical way to define the positions is to start with an
+    imaginary gear-box near the cg of the vehicle. 
+
+    In this case the location in the thruster definition should be
+    approximately equal to the cg defined in the <tt>fdm_config/mass_balance</tt>
+    section. If the default orientation (roll=pitch=yaw=0) is used the
+    positions of the rotor hubs are now defined relative to the location
+    of the thruster (i.e. the cg-centered body coordinate system).
+
+
+<h3>Configuration File Format:</h3>
+@code
+<rotor name="{string}" variant="{string}">
+  <diameter unit="{LENGTH}"> {number} </diameter>
+  <numblades> {number} </numblades>
+  <xhub unit="{LENGTH}">  {number} </xhub>
+  <zhub unit="{LENGTH}"> {number} </zhub>
+  <nominalrpm> {number} </nominalrpm>
+  <minrpm>   {number} </minrpm>
+  <chord unit="{LENGTH}"> {number} </chord>
+  <liftcurveslope Xunit="1/RAD"> {number} </liftcurveslope>
+  <flappingmoment unit="{MOMENT}"> {number} </flappingmoment>
+  <twist unit="{ANGLE}"> {number} </twist>
+  <massmoment Xunit="SLUG*FT"> {number} </massmoment>
+  <tiplossfactor> {number} </tiplossfactor>
+  <polarmoment unit="{MOMENT}"> {number}</polarmoment>
+  <inflowlag> {number} </inflowlag>
+  <shafttilt unit="{ANGLE}"> {number} </shafttilt>
+  <hingeoffset unit="{LENGTH}"> {number} </hingeoffset>
+  <tailrotor>
+    <diameter unit="{LENGTH}"> {number} </diameter>
+    <numblades> {number} </numblades>
+    <xhub unit="{LENGTH}">{number} </xhub>
+    <zhub unit="{LENGTH}">{number} </zhub>
+    <nominalrpm> {number} </nominalrpm>
+    <chord unit="{LENGTH}"> {number} </chord>
+    <liftcurveslope Xunit="1/RAD"> {number} </liftcurveslope>
+    <flappingmoment unit="{MOMENT}"> {number} </flappingmoment>
+    <twist unit="RAD"> {number} </twist>
+    <massmoment Xunit="SLUG*FT"> {number} </massmoment>
+    <tiplossfactor> {number} </tiplossfactor>
+    <inflowlag> {number} </inflowlag>
+    <hingeoffset unit="{LENGTH}"> {number} </hingeoffset>
+    <cantangle unit="{ANGLE}"> {number} </cantangle>
+  </tailrotor>
+  <cgroundeffect> {number} </cgroundeffect>
+  <groundeffectshift unit="{LENGTH}"> {number} </groundeffectshift>
+</rotor>
+
+//  LENGTH means any of the supported units, same for ANGLE and MOMENT.
+//  Xunit-attributes are a hint for currently unsupported units, so 
+//  values must be provided accordingly.
+
+@endcode
+
+<h3>Configuration Parameters:</h3>
+
+  Brief description and the symbol frequently found in the literature.
+
+<pre>
+    \<diameter>           - Rotor disk diameter (R).
+    \<numblades>          - Number of blades (b).
+    \<xhub>               - Relative height in body coordinate system, thus usually negative.
+    \<zhub>               - Relative distance in body coordinate system, close to zero 
+                             for main rotor, and usually negative for the tail rotor. 
+    \<nominalrpm>         - RPM at which the rotor usally operates. 
+    \<minrpm>             - Lowest RPM generated by the code, optional.
+    \<chord>              - Blade chord, (c).
+    \<liftcurveslope>     - Slope of curve of section lift against section angle of attack,
+                             per rad (a).
+    \<flappingmoment>     - Flapping moment of inertia (I_b).
+    \<twist>              - Blade twist from root to tip, (theta_1).
+    \<massmoment>         - Blade mass moment. (Biege/Widerstands-moment)
+    \<tiplossfactor>      - Tip-loss factor. The Blade fraction that produces lift.
+                              Value usually ranges between 0.95 - 1.0, optional (B).
+    \<polarmoment>        - Moment of inertia for the whole rotor disk, optional.
+    \<inflowlag>          - Rotor inflow time constant, sec.
+    \<shafttilt>          - Orientation of the rotor shaft, negative angles define
+                              a 'forward' tilt. Used by main rotor, optional.
+    \<hingeoffset>        - Rotor flapping-hinge offset (e).
+    
+    Experimental properties
+    
+    \<cantangle>          - Flapping hinge cantangle used by tail rotor, optional.
+    \<cgroundeffect>      - Parameter for exponent in ground effect approximation. Value should
+                              be in the range 0.2 - 0.35, 0.0 disables, optional.
+    \<groundeffectshift>  - Further adjustment of ground effect. 
+
+</pre>
+
+<h3>Notes:</h3>  
+
+   The behavior of the rotor is controlled/influenced by 5 inputs.<ul>
+     <li> The power provided by the engine. This is handled by the regular engine controls.</li>
+     <li> The collective control input. This is read from the <tt>fdm</tt> property 
+          <tt>propulsion/engine[x]/collective-ctrl-rad</tt>.</li>
+     <li> The lateral cyclic input. Read from
+          <tt>propulsion/engine[x]/lateral-ctrl-rad</tt>.</li>
+     <li> The longitudinal cyclic input. Read from 
+          <tt>propulsion/engine[x]/longitudinal-ctrl-rad</tt>.</li>
+     <li> The tail collective (aka antitorque, aka pedal) control input. Read from
+          <tt>propulsion/engine[x]/antitorque-ctrl-rad</tt>.</li>
+
+   </ul>
+
+   In order to keep the rotor speed constant, use of a RPM-Governor system is encouraged.
+
+   It is possible to use different orientation/locations for the rotor system, but then xhub
+   and zhub are no longer aligned to the body frame and need proper recalculation.
+
+   To model a standalone main rotor just omit the <tailrotor/> element. If you provide
+   a plain <tailrotor/> element all tail rotor parameters are estimated.
+   
+   The 'sense' parameter from the thruster is interpreted as follows, sense=1 means
+   counter clockwise rotation of the main rotor, as viewed from above. This is as a far
+   as I know more popular than clockwise rotation, which is defined by setting sense to
+   -1 (to be honest, I'm just 99.9% sure that the orientation is handled properly).
+   
+   Concerning coaxial designs: By providing the 'variant' attribute with value 'coaxial'
+   a Kamov-style rotor is modeled - i.e. the rotor produces no torque.
+
+
+<h3>References:</h3>  
+
+    <dl>    
+    <dt>/SH79/</dt><dd>Shaugnessy, J. D., Deaux, Thomas N., and Yenni, Kenneth R.,
+              "Development and Validation of a Piloted Simulation of a 
+              Helicopter and External Sling Load",  NASA TP-1285, 1979.</dd>
+    <dt>/BA41/</dt><dd>Bailey,F.J.,Jr., "A Simplified Theoretical Method of Determining
+              the Characteristics of a Lifting Rotor in Forward Flight", NACA Rep.716, 1941.</dd>
+    <dt>/AM50/</dt><dd>Amer, Kenneth B.,"Theory of Helicopter Damping in Pitch or Roll and a
+              Comparison With Flight Measurements", NACA TN-2136, 1950.</dd>
+    <dt>/TA77/</dt><dd>Talbot, Peter D., Corliss, Lloyd D., "A Mathematical Force and Moment
+              Model of a UH-1H Helicopter for Flight Dynamics Simulations", NASA TM-73,254, 1977.</dd>   
+    </dl>
+
+    @author Thomas Kreitler
+    @version $Id: FGRotor.h,v 1.6 2010/06/02 04:05:13 jberndt Exp $
   */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -65,18 +205,197 @@ CLASS DECLARATION
 
 class FGRotor : public FGThruster {
 
+   enum eRotorFlags {eNone=0, eMain=1, eTail=2, eCoaxial=4, eRotCW=8} ;
+   struct rotor {
+
+     virtual ~rotor();
+     void zero();
+     void configure(int f, const rotor *xmain = NULL);
+
+     // assist in parameter retrieval
+     double cnf_elem(const string& ename, double default_val=0.0, const string& unit = "", bool tell=false);
+     double cnf_elem(const string& ename, double default_val=0.0, bool tell=false);
+
+     // rotor dynamics
+     void calc_flow_and_thrust(double dt, double rho, double theta_0, double Uw, double Ww, double flow_scale = 1.0);
+
+     void calc_torque(double rho, double theta_0);
+     void calc_coning_angle(double rho, double theta_0);
+     void calc_flapping_angles(double rho, double theta_0, const FGColumnVector3 &pqr_fus_w);
+     void calc_drag_and_side_forces(double rho, double theta_0);
+
+     // transformations
+     FGColumnVector3 hub_vel_body2ca( const FGColumnVector3 &uvw, const FGColumnVector3 &pqr, 
+                                      double a_ic = 0.0 , double b_ic = 0.0 );
+     FGColumnVector3 fus_angvel_body2ca( const FGColumnVector3 &pqr);
+
+     FGColumnVector3 body_forces(double a_ic = 0.0 , double b_ic = 0.0 );
+     FGColumnVector3 body_moments(FGColumnVector3 F_h, double a_ic = 0.0 , double b_ic = 0.0 );
+         
+     // bookkeeping
+     int flags                  ;
+     Element *parent            ;
+
+     // used in flow calculation
+     // FGRK4 rk                  ;  // use this after checking
+     FGRKFehlberg rk            ;
+     int          reports       ;
+
+     // configuration parameters
+     double Radius              ;
+     int    BladeNum            ;
+     double RelDistance_xhub    ;
+     double RelShift_yhub       ;
+     double RelHeight_zhub      ;
+     double NominalRPM          ;
+     double MinRPM              ;
+     double BladeChord          ;
+     double LiftCurveSlope      ;
+     double BladeFlappingMoment ;
+     double BladeTwist          ;
+     double BladeMassMoment     ;
+     double TipLossB            ;
+     double PolarMoment         ;
+     double InflowLag           ;
+     double ShaftTilt           ;
+     double HingeOffset         ;
+     double HingeOffset_hover   ;
+     double CantAngleD3         ;
+
+     double theta_shaft         ;
+     double phi_shaft           ;
+
+     // derived parameters
+     double LockNumberByRho     ;
+     double solidity            ; // aka sigma
+     double RpmRatio            ; // main_to_tail, hmm
+     double R[5]                ; // Radius powers
+     double B[6]                ; // TipLossB powers
+
+     FGMatrix33 BodyToShaft     ; // [S]T, see /SH79/ eqn(17,18)
+     FGMatrix33 ShaftToBody     ; // [S]
+
+     // dynamic values
+     double ActualRPM           ;
+     double Omega               ; // must be > 0 
+     double beta_orient         ;
+     double a0                  ; // coning angle (rad)
+     double a_1, b_1, a_dw      ;
+     double a1s, b1s            ; // cyclic flapping relative to shaft axes, /SH79/ eqn(43)
+     double H_drag, J_side      ;
+
+     double Torque              ;
+     double Thrust              ;
+     double Ct                  ;
+     double lambda              ; // inflow ratio
+     double mu                  ; // tip-speed ratio 
+     double nu                  ; // induced inflow ratio
+     double v_induced           ; // always positive [ft/s]
+
+     // results
+     FGColumnVector3 force      ;
+     FGColumnVector3 moment     ;
+
+
+     // declare the problem function
+     class dnuFunction : public FGRungeKuttaProblem {
+       public:
+         void update_params(rotor *r, double ct_t01, double fs, double w);
+       private:
+         double pFunc(double x, double y);
+         // some shortcuts
+         double k_sat, ct_lambda, k_wor, k_theta, mu2, k_flowscale;
+     } flowEquation;
+
+
+   };
+
+
 public:
-  /// Constructor
-  FGRotor(FGFDMExec *FDMExec, Element* rotor_element, int num);
+  /** Constructor
+      @param exec pointer to executive structure
+      @param rotor_element pointer to XML element in the config file
+      @param num the number of this rotor  */
+  FGRotor(FGFDMExec *exec, Element* rotor_element, int num);
+
   /// Destructor
   ~FGRotor();
 
+  void SetRPM(double rpm) {RPM = rpm;}
+
+  /** Calculates forces and moments created by the rotor(s) and updates 
+      vFn,vMn state variables. RPM changes are handled inside, too. 
+      The RPM change is based on estimating the torque provided by the engine.
+
+      @param PowerAvailable here this is the thrust (not power) provided by a turbine
+      @return PowerAvailable */
   double Calculate(double);
+
+  double GetRPM(void)     const { return RPM;           }
+  double GetDiameter(void)      { return mr.Radius*2.0; }
+
+  // Stubs. Right now this rotor-to-engine interface is just a hack.
+  double GetTorque(void)        { return 0.0; /* return mr.Torque;*/  }
+  double GetPowerRequired(void); 
+
+  // Stubs. Only main rotor RPM is returned
   string GetThrusterLabels(int id, string delimeter);
   string GetThrusterValues(int id, string delimeter);
 
 private:
+
+  bool bind(void);
+
+  double RPM;
+  double Sense; // default is counter clockwise rotation of the main rotor (viewed from above)
+  bool   tailRotorPresent;
+
   void Debug(int from);
+
+  FGPropertyManager* PropertyManager;
+
+  rotor mr;
+  rotor tr; 
+
+  Filter damp_hagl;
+
+  double rho;
+  
+  double effective_tail_col; // /SH79/ eqn(47)
+
+  double ground_effect_exp;
+  double ground_effect_shift;
+
+  double hover_threshold;
+  double hover_scale;
+
+  // fdm imported controls
+  FGPropertyManager* prop_collective_ctrl;
+  FGPropertyManager* prop_lateral_ctrl;
+  FGPropertyManager* prop_longitudinal_ctrl;
+  FGPropertyManager* prop_antitorque_ctrl;
+
+  FGPropertyManager* prop_freewheel_factor;
+  FGPropertyManager* prop_rotorbrake;
+
+  // fdm export ...
+  double prop_inflow_ratio_lambda;
+  double prop_advance_ratio_mu;
+  double prop_inflow_ratio_induced_nu;
+  double prop_mr_torque;
+  double prop_coning_angle;
+
+  double prop_theta_downwash;
+  double prop_phi_downwash;
+
+  double prop_thrust_coefficient;
+  double prop_lift_coefficient;
+
+  double dt; // deltaT doesn't do the thing 
+
+  // devel/debug stuff  
+  int prop_DumpFlag;   // causes 1-time dump on stdout
+
 };
 }
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGTank.cpp b/src/FDM/JSBSim/models/propulsion/FGTank.cpp
index f05831b73a0bf6ab7129a32784644f16cb781d0c..c9d38dab871b08c8396143f284d4a122098df3dd 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGTank.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGTank.cpp
@@ -48,7 +48,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGTank.cpp,v 1.28 2010/01/24 19:26:04 jberndt Exp $";
 static const char *IdHdr = ID_TANK;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -66,6 +66,7 @@ FGTank::FGTank(FGFDMExec* exec, Element* el, int tank_number)
   InitialTemperature = Temperature = -9999.0;
   Ixx = Iyy = Izz = 0.0;
   Radius = Contents = Standpipe = Length = InnerRadius = 0.0;
+  InitialStandpipe = 0.0;
   Capacity = 0.00001;
   Priority = InitialPriority = 1;
   PropertyManager = Exec->GetPropertyManager();

diff --git a/src/FDM/JSBSim/models/propulsion/FGTank.h b/src/FDM/JSBSim/models/propulsion/FGTank.h
index 55930543f660ef5c4f4227ebc135434bff683ceb..12e7e5fc9e6b2899399888ea4d9028f1966e45f8 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGTank.h
+++ b/src/FDM/JSBSim/models/propulsion/FGTank.h
@@ -52,7 +52,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_TANK "$Id$"
+#define ID_TANK "$Id: FGTank.h,v 1.21 2010/02/05 05:53:00 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -195,6 +195,9 @@ public:
   /// Destructor
   ~FGTank();
 
+  enum TankType {ttUNKNOWN, ttFUEL, ttOXIDIZER};
+  enum GrainType {gtUNKNOWN, gtCYLINDRICAL, gtENDBURNING};
+
   /** Removes fuel from the tank.
       This function removes fuel from a tank. If the tank empties, it is
       deselected.
@@ -275,6 +278,8 @@ public:
   const FGColumnVector3 GetXYZ(void);
   const double GetXYZ(int idx);
 
+  const GrainType GetGrainType(void) {return grainType;}
+
   double Fill(double amount);
   void SetContents(double amount);
   void SetContentsGallons(double gallons);
@@ -282,9 +287,6 @@ public:
   void SetStandpipe(double amount) { Standpipe = amount; }
   void SetSelected(bool sel) { sel==true ? SetPriority(1):SetPriority(0); }
 
-  enum TankType {ttUNKNOWN, ttFUEL, ttOXIDIZER};
-  enum GrainType {gtUNKNOWN, gtCYLINDRICAL, gtENDBURNING};
-
 private:
   TankType Type;
   GrainType grainType;

diff --git a/src/FDM/JSBSim/models/propulsion/FGThruster.cpp b/src/FDM/JSBSim/models/propulsion/FGThruster.cpp
index 32a508ee17c9f55111a805fe138d776d94537d9d..064177a2b31670a7316879ca1cf6c2dfd57aed84 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGThruster.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGThruster.cpp
@@ -45,7 +45,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGThruster.cpp,v 1.12 2009/10/24 22:59:30 jberndt Exp $";
 static const char *IdHdr = ID_THRUSTER;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGThruster.h b/src/FDM/JSBSim/models/propulsion/FGThruster.h
index 886b678dc5c96d89b09b17b808812ab63c7e0ba0..118005f5a408b0498619efcf6c82230cb7197b8d 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGThruster.h
+++ b/src/FDM/JSBSim/models/propulsion/FGThruster.h
@@ -46,7 +46,7 @@ INCLUDES
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_THRUSTER "$Id$"
+#define ID_THRUSTER "$Id: FGThruster.h,v 1.15 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -74,7 +74,7 @@ CLASS DOCUMENTATION
     1.57 (pi/2) results in no thrust at all.
  
     @author Jon Berndt
-    @version $Id$
+    @version $Id: FGThruster.h,v 1.15 2009/10/24 22:59:30 jberndt Exp $
     */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGTurbine.cpp b/src/FDM/JSBSim/models/propulsion/FGTurbine.cpp
index b690d72f0cbf5e5b54cec99af18d763f1f1e3ceb..c61667b4b2ddc98fac8c9757b62fbab7036e37f8 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGTurbine.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGTurbine.cpp
@@ -42,15 +42,16 @@ INCLUDES
 #include <iostream>
 #include <sstream>
 #include "FGTurbine.h"
-#include "FGState.h"
-#include "models/FGPropulsion.h"
 #include "FGThruster.h"
+#include "models/FGPropulsion.h"
+#include "models/FGAuxiliary.h"
+#include "models/FGAtmosphere.h"
 
 using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGTurbine.cpp,v 1.27 2010/05/24 11:26:37 jberndt Exp $";
 static const char *IdHdr = ID_TURBINE;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -118,7 +119,7 @@ double FGTurbine::Calculate(void)
 
   TAT = (Auxiliary->GetTotalTemperature() - 491.69) * 0.5555556;
   double qbar = Auxiliary->Getqbar();
-  dt = State->Getdt() * Propulsion->GetRate();
+  dt = FDMExec->GetDeltaT() * Propulsion->GetRate();
   ThrottlePos = FCS->GetThrottlePos(EngineNumber);
   if (ThrottlePos > 1.0) {
     AugmentCmd = ThrottlePos - 1.0;
@@ -145,7 +146,7 @@ double FGTurbine::Calculate(void)
 
   if (!Running && Cutoff && Starter) {
      if (phase == tpOff) phase = tpSpinUp;
-     }
+  }
 
   // start
   if ((Starter == true) || (qbar > 30.0)) {
@@ -223,7 +224,7 @@ double FGTurbine::Run()
 
   if (!Augmentation) {
     correctedTSFC = TSFC * sqrt(T/389.7) * (0.84 + (1-N2norm)*(1-N2norm));
-    FuelFlow_pph = Seek(&FuelFlow_pph, thrust * correctedTSFC, 1000.0, 100000);
+    FuelFlow_pph = Seek(&FuelFlow_pph, thrust * correctedTSFC, 1000.0, 10000.0);
     if (FuelFlow_pph < IdleFF) FuelFlow_pph = IdleFF;
     NozzlePosition = Seek(&NozzlePosition, 1.0 - N2norm, 0.8, 0.8);
     thrust = thrust * (1.0 - BleedDemand);
@@ -388,7 +389,7 @@ double FGTurbine::Trim()
 
 double FGTurbine::CalcFuelNeed(void)
 {
-  double dT = State->Getdt() * Propulsion->GetRate();
+  double dT = FDMExec->GetDeltaT() * Propulsion->GetRate();
   FuelFlowRate = FuelFlow_pph / 3600.0; // Calculates flow in lbs/sec from lbs/hr
   FuelExpended = FuelFlowRate * dT;     // Calculates fuel expended in this time step
   return FuelExpended;
@@ -539,12 +540,12 @@ void FGTurbine::bindmodel()
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 int FGTurbine::InitRunning(void) {
-  State->SuspendIntegration();
+  FDMExec->SuspendIntegration();
   Cutoff=false;
   Running=true;  
   N2=IdleN2;
   Calculate();
-  State->ResumeIntegration();
+  FDMExec->ResumeIntegration();
   return phase==tpRun;
 }
 

diff --git a/src/FDM/JSBSim/models/propulsion/FGTurbine.h b/src/FDM/JSBSim/models/propulsion/FGTurbine.h
index 9eebc335d9dc7c0be7ec989a622ebe5e26304374..1fff92c6789256876d2cf29f43c487dd9415e86b 100644 (file)
--- a/src/FDM/JSBSim/models/propulsion/FGTurbine.h
+++ b/src/FDM/JSBSim/models/propulsion/FGTurbine.h
@@ -42,7 +42,7 @@ INCLUDES
 
 #include "FGEngine.h"
 
-#define ID_TURBINE "$Id$"
+#define ID_TURBINE "$Id: FGTurbine.h,v 1.18 2009/10/24 22:59:30 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -146,7 +146,7 @@ CLASS DOCUMENTATION
     /engine/direct.xml
 </pre>
     @author David P. Culp
-    @version "$Id$"
+    @version "$Id: FGTurbine.h,v 1.18 2009/10/24 22:59:30 jberndt Exp $"
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

diff --git a/src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp b/src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp
index 9ebef96df9b4ced5f41fd20cadd556073f2be0b6..f384877fc502f8fce0599c7c15c1f74ad8c3aa10 100755 (executable)
--- a/src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp
+++ b/src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp
@@ -44,16 +44,15 @@ INCLUDES
 #include <iostream>
 #include <sstream>
 #include "FGTurboProp.h"
-
 #include "FGPropeller.h"
-#include "FGState.h"
+#include "models/FGPropulsion.h"
 #include "models/FGAuxiliary.h"
 
 using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGTurboProp.cpp,v 1.16 2010/02/25 05:21:36 jberndt Exp $";
 static const char *IdHdr = ID_TURBOPROP;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -162,7 +161,7 @@ bool FGTurboProp::Load(FGFDMExec* exec, Element *el)
 double FGTurboProp::Calculate(void)
 {
   TAT = (Auxiliary->GetTotalTemperature() - 491.69) * 0.5555556;
-  dt = State->Getdt() * Propulsion->GetRate();
+  dt = FDMExec->GetDeltaT() * Propulsion->GetRate();
 
   ThrottleCmd = FCS->GetThrottleCmd(EngineNumber);
 
@@ -406,7 +405,7 @@ double FGTurboProp::Start(void)
 
 double FGTurboProp::CalcFuelNeed(void)
 {
-  double dT = State->Getdt() * Propulsion->GetRate();
+  double dT = FDMExec->GetDeltaT() * Propulsion->GetRate();
   FuelFlowRate = FuelFlow_pph / 3600.0;
   FuelExpended = FuelFlowRate * dT;
   return FuelExpended;
@@ -505,12 +504,12 @@ string FGTurboProp::GetEngineValues(const string& delimiter)
 
 int FGTurboProp::InitRunning(void)
 {
-  State->SuspendIntegration();
+  FDMExec->SuspendIntegration();
   Cutoff=false;
   Running=true;  
   N2=16.0;
   Calculate();
-  State->ResumeIntegration();
+  FDMExec->ResumeIntegration();
   return phase==tpRun;
 }
 

diff --git a/src/FDM/JSBSim/models/propulsion/FGTurboProp.h b/src/FDM/JSBSim/models/propulsion/FGTurboProp.h
index cb10f85b99dcce08f030a75fbb30c8cf00a93fe2..66febb1915fde6c262e1953ff744f543d1e9ace6 100755 (executable)
--- a/src/FDM/JSBSim/models/propulsion/FGTurboProp.h
+++ b/src/FDM/JSBSim/models/propulsion/FGTurboProp.h
@@ -46,7 +46,7 @@ INCLUDES
 #include "input_output/FGXMLElement.h"
 #include "math/FGTable.h"
 
-#define ID_TURBOPROP "$Id$"
+#define ID_TURBOPROP "$Id: FGTurboProp.h,v 1.11 2009/10/26 03:48:42 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS

diff --git a/src/FDM/LaRCsim/LaRCsim.cxx b/src/FDM/LaRCsim/LaRCsim.cxx
index 611849dff2d2379ce7053f20fad48b0b886b2a76..850532f34532e698e28c3bbb84cca0899f846377 100644 (file)
--- a/src/FDM/LaRCsim/LaRCsim.cxx
+++ b/src/FDM/LaRCsim/LaRCsim.cxx
@@ -31,7 +31,6 @@
 #include <simgear/debug/logstream.hxx>
 #include <simgear/scene/model/placement.hxx>
 
-#include <Aircraft/aircraft.hxx>
 #include <Aircraft/controls.hxx>
 #include <FDM/flight.hxx>
 #include <FDM/UIUCModel/uiuc_aircraft.h>

diff --git a/src/FDM/Makefile.am b/src/FDM/Makefile.am
index 04e9ff8f4fdb4dff241c4e2adea6033f99c8331b..e1e764c8243ed18b297dd501bb17761fdfeb80ae 100644 (file)
--- a/src/FDM/Makefile.am
+++ b/src/FDM/Makefile.am
@@ -11,8 +11,10 @@ noinst_LIBRARIES = libFlight.a
 
 libFlight_a_SOURCES = \
        flight.cxx flight.hxx \
+       fdm_shell.cxx fdm_shell.hxx \
+       flightProperties.cxx flightProperties.hxx \
        groundcache.cxx groundcache.hxx \
        UFO.cxx UFO.hxx \
        NullFDM.cxx NullFDM.hxx
 
-INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src
+INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src -I$(top_srcdir)/src/FDM/JSBSim

diff --git a/src/FDM/SP/ADA.cxx b/src/FDM/SP/ADA.cxx
index 9aaa468fac9f6ee20427b18614328067595adf58..7585b428afb15bd690f9ed2185092c6e2922eb1d 100644 (file)
--- a/src/FDM/SP/ADA.cxx
+++ b/src/FDM/SP/ADA.cxx
@@ -22,6 +22,8 @@
 #  include <config.h>
 #endif
 
+#include <cstring>
+
 #include <simgear/io/iochannel.hxx>
 #include <simgear/io/sg_socket.hxx>
 #include <simgear/constants.h>
@@ -261,14 +263,15 @@ bool FGADA::copy_from_FGADA() {
     _set_Velocities_Local( V_north, V_east, V_down ); //same as UVW_local in fps
 
     //Positions and attitude for ship
-       _set_daux(1,sixdof_to_visuals.aux1);//ship lat
-    _set_daux(2,sixdof_to_visuals.aux2);//ship lon
-    _set_daux(3,sixdof_to_visuals.aux3);//ship alt+heave
-    _set_daux(4,sixdof_to_visuals.aux4);//distance of a/c from ski-jump exit
-    _set_faux(1,sixdof_to_visuals.aux9);//ship pitch
-    _set_faux(2,sixdof_to_visuals.aux10);//ship roll
-    _set_faux(3,sixdof_to_visuals.aux11);//ship yaw
-    _set_iaux(1,sixdof_to_visuals.iaux1);//flag for drawing ship
+    
+    fgSetDouble("/fdm-ada/ship-lat", sixdof_to_visuals.aux1);
+    fgSetDouble("/fdm-ada/ship-lon", sixdof_to_visuals.aux2);
+    fgSetDouble("/fdm-ada/ship-alt", sixdof_to_visuals.aux3);
+    fgSetDouble("/fdm-ada/skijump-dist", sixdof_to_visuals.aux4);
+    fgSetDouble("/fdm-ada/ship-pitch", sixdof_to_visuals.aux9); // faux1
+    fgSetDouble("/fdm-ada/ship-roll", sixdof_to_visuals.aux10); // faux2
+    fgSetDouble("/fdm-ada/ship-yaw", sixdof_to_visuals.aux11);  // faux3
+    fgSetInt("/fdm-ada/draw-ship", sixdof_to_visuals.iaux1);
 
     // controls
     globals->get_controls()->set_throttle(0,throttle/131.0);
@@ -284,30 +287,30 @@ bool FGADA::copy_from_FGADA() {
     _set_Mach_number( Machno);
     _set_Climb_Rate( W_local*SG_METER_TO_FEET ); //pressure alt in feet for lca(navy)
 
-    _set_iaux(2,sixdof_to_visuals.iaux2);//control law mode switch posn
-    _set_iaux(3,sixdof_to_visuals.iaux3);//ldg gear posn
-    _set_iaux(4,sixdof_to_visuals.iaux4);// wow nose status
-    _set_iaux(5,sixdof_to_visuals.iaux5);// wow main status
-    _set_iaux(6,sixdof_to_visuals.iaux6);// arrester hook posn
-    _set_iaux(7,sixdof_to_visuals.iaux7);
-    _set_iaux(8,sixdof_to_visuals.iaux8);
-    _set_iaux(9,sixdof_to_visuals.iaux9);
-    _set_iaux(10,sixdof_to_visuals.iaux10);
-    _set_iaux(11,sixdof_to_visuals.iaux11);
-    _set_iaux(12,sixdof_to_visuals.iaux12);
-
-    _set_daux(5,sixdof_to_visuals.aux5);
-    _set_daux(6,sixdof_to_visuals.aux6);
-    _set_daux(7,sixdof_to_visuals.aux7);
-    _set_daux(8,sixdof_to_visuals.aux8);
-
-    _set_faux(4,sixdof_to_visuals.aux12);
-    _set_faux(5,sixdof_to_visuals.aux13);
-    _set_faux(6,sixdof_to_visuals.aux14);
-    _set_faux(7,sixdof_to_visuals.aux15);
-    _set_faux(8,sixdof_to_visuals.aux16);
-    _set_faux(9,sixdof_to_visuals.aux17);
-    _set_faux(10,sixdof_to_visuals.aux18);
+    fgSetInt("/fdm-ada/iaux2", sixdof_to_visuals.iaux2); //control law mode switch posn
+    fgSetInt("/fdm-ada/iaux3", sixdof_to_visuals.iaux3); //ldg gear posn
+    fgSetInt("/fdm-ada/iaux4", sixdof_to_visuals.iaux4); // wow nose status
+    fgSetInt("/fdm-ada/iaux5", sixdof_to_visuals.iaux5); // wow main status
+    fgSetInt("/fdm-ada/iaux6", sixdof_to_visuals.iaux6); // arrester hook posn
+    fgSetInt("/fdm-ada/iaux7", sixdof_to_visuals.iaux7);
+    fgSetInt("/fdm-ada/iaux8", sixdof_to_visuals.iaux8);
+    fgSetInt("/fdm-ada/iaux9", sixdof_to_visuals.iaux9);
+    fgSetInt("/fdm-ada/iaux10", sixdof_to_visuals.iaux10);
+    fgSetInt("/fdm-ada/iaux11", sixdof_to_visuals.iaux11);
+    fgSetInt("/fdm-ada/iaux12", sixdof_to_visuals.iaux12);
+
+    fgSetDouble("/fdm-ada/aux5", sixdof_to_visuals.aux5);
+    fgSetDouble("/fdm-ada/aux6", sixdof_to_visuals.aux6);
+    fgSetDouble("/fdm-ada/aux7", sixdof_to_visuals.aux7);
+    fgSetDouble("/fdm-ada/aux8", sixdof_to_visuals.aux8);
+
+    fgSetDouble("/fdm-ada/aux12", sixdof_to_visuals.aux12);
+    fgSetDouble("/fdm-ada/aux13", sixdof_to_visuals.aux13);
+    fgSetDouble("/fdm-ada/aux14", sixdof_to_visuals.aux14);
+    fgSetDouble("/fdm-ada/aux15", sixdof_to_visuals.aux15);
+    fgSetDouble("/fdm-ada/aux16", sixdof_to_visuals.aux16);
+    fgSetDouble("/fdm-ada/aux17", sixdof_to_visuals.aux17);
+    fgSetDouble("/fdm-ada/aux18", sixdof_to_visuals.aux18);
 
     // Angular rates 
     _set_Omega_Body( P_body, Q_body, R_body );

diff --git a/src/FDM/SP/BalloonSim.cpp b/src/FDM/SP/BalloonSim.cpp
index 264d49b373ac564356512577df414c5f3729961e..add046caca860317a79ff5d554bd668a03f3bc77 100644 (file)
--- a/src/FDM/SP/BalloonSim.cpp
+++ b/src/FDM/SP/BalloonSim.cpp
@@ -48,8 +48,6 @@ HISTORY
 
 #include <simgear/constants.h>
 
-#include <Aircraft/aircraft.hxx>
-
 #include "BalloonSim.h"
 
 /****************************************************************************/

diff --git a/src/FDM/SP/MagicCarpet.cxx b/src/FDM/SP/MagicCarpet.cxx
index 44bffd0ef7e5dd324647fcbfb0c9ae9c32564611..822c1aa89f665a3e24ba41c276a511ae0f7590e8 100644 (file)
--- a/src/FDM/SP/MagicCarpet.cxx
+++ b/src/FDM/SP/MagicCarpet.cxx
@@ -115,4 +115,5 @@ void FGMagicCarpet::update( double dt ) {
     _update_ground_elev_at_pos();
     _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET);
     _set_Altitude( get_Altitude() + climb );
+    _set_Altitude_AGL( get_Altitude() - get_Runway_altitude() );
 }

diff --git a/src/FDM/UIUCModel/uiuc_gear.cpp b/src/FDM/UIUCModel/uiuc_gear.cpp
index da120d29f5eadfd6c09daeee18bd28ff263e1cb6..31a87d0b98493960bba9e929fa683f3901c26fbf 100644 (file)
--- a/src/FDM/UIUCModel/uiuc_gear.cpp
+++ b/src/FDM/UIUCModel/uiuc_gear.cpp
@@ -67,7 +67,6 @@
 
 #include <simgear/compiler.h>
 #include <simgear/misc/sg_path.hxx>
-#include <Aircraft/aircraft.hxx>
 #include <Main/fg_props.hxx>
 
 #include "uiuc_gear.h"

diff --git a/src/FDM/UIUCModel/uiuc_recorder.cpp b/src/FDM/UIUCModel/uiuc_recorder.cpp
index 97e93b59c2da98b81ebb35107ade12951c932ab0..3264ad184af86601dc755d01f133f39276b2ab3b 100644 (file)
--- a/src/FDM/UIUCModel/uiuc_recorder.cpp
+++ b/src/FDM/UIUCModel/uiuc_recorder.cpp
@@ -94,7 +94,6 @@
 
 #include <simgear/compiler.h>
 #include <simgear/misc/sg_path.hxx>
-#include <Aircraft/aircraft.hxx>
 #include <Main/fg_props.hxx>
 
 #include "uiuc_recorder.h"

diff --git a/src/FDM/UIUCModel/uiuc_wrapper.cpp b/src/FDM/UIUCModel/uiuc_wrapper.cpp
index c11cbc97e5fbc6157be4d398f87ed45cd05119e2..47897560e644e1d9e919b437116e4b4c866dc62b 100644 (file)
--- a/src/FDM/UIUCModel/uiuc_wrapper.cpp
+++ b/src/FDM/UIUCModel/uiuc_wrapper.cpp
@@ -83,10 +83,10 @@
 #endif
 
 #include <iostream>
+#include <cstring>
 
 #include <simgear/compiler.h>
 #include <simgear/misc/sg_path.hxx>
-#include <Aircraft/aircraft.hxx>
 #include <Main/fg_props.hxx>
 
 #include "uiuc_aircraft.h"

diff --git a/src/FDM/YASim/.gitignore b/src/FDM/YASim/.gitignore
new file mode 100644 (file)
index 0000000..3608c84
--- /dev/null
+++ b/src/FDM/YASim/.gitignore
@@ -0,0 +1,2 @@
+proptest
+yasim

diff --git a/src/FDM/fdm_shell.cxx b/src/FDM/fdm_shell.cxx
new file mode 100644 (file)
index 0000000..a4cfad3
--- /dev/null
+++ b/src/FDM/fdm_shell.cxx
@@ -0,0 +1,266 @@
+// fdm_shell.cxx -- encapsulate FDM implementations as well-behaved subsystems
+//
+// Written by James Turner, started June 2010.
+//
+// Copyright (C) 2010  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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+// $Id$
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include <simgear/structure/exception.hxx>
+
+#include <FDM/fdm_shell.hxx>
+#include <FDM/flight.hxx>
+#include <Aircraft/replay.hxx>
+#include <Main/globals.hxx>
+#include <Main/fg_props.hxx>
+#include <Scenery/scenery.hxx>
+
+// all the FDMs, since we are the factory method
+#if ENABLE_SP_FDM
+#include <FDM/SP/ADA.hxx>
+#include <FDM/SP/ACMS.hxx>
+#include <FDM/SP/MagicCarpet.hxx>
+#include <FDM/SP/Balloon.h>
+#endif
+#include <FDM/ExternalNet/ExternalNet.hxx>
+#include <FDM/ExternalPipe/ExternalPipe.hxx>
+#include <FDM/JSBSim/JSBSim.hxx>
+#include <FDM/LaRCsim/LaRCsim.hxx>
+#include <FDM/UFO.hxx>
+#include <FDM/NullFDM.hxx>
+#include <FDM/YASim/YASim.hxx>
+
+/*
+ * Evil global variable required by Network/FGNative,
+ * see that class for more information
+ */
+FGInterface* evil_global_fdm_state = NULL;
+
+FDMShell::FDMShell() :
+  _impl(NULL),
+  _dataLogging(false)
+{
+}
+
+FDMShell::~FDMShell()
+{
+  delete _impl;
+}
+
+void FDMShell::init()
+{
+  _props = globals->get_props();
+  fgSetBool("/sim/fdm-initialized", false);
+  createImplementation();
+}
+
+void FDMShell::reinit()
+{
+  if (_impl) {
+    fgSetBool("/sim/fdm-initialized", false);
+    evil_global_fdm_state = NULL;
+    _impl->unbind();
+    delete _impl;
+    _impl = NULL;
+  }
+  
+  init();
+}
+
+void FDMShell::bind()
+{
+  if (_impl && _impl->get_inited()) {
+    if (_impl->get_bound()) {
+      throw sg_exception("FDMShell::bind of bound FGInterface impl");
+    }
+    
+    _impl->bind();
+  }
+}
+
+void FDMShell::unbind()
+{
+  if( _impl ) _impl->unbind();
+}
+
+void FDMShell::update(double dt)
+{
+  if (!_impl) {
+    return;
+  }
+  
+  if (!_impl->get_inited()) {
+    // Check for scenery around the aircraft.
+    double lon = fgGetDouble("/sim/presets/longitude-deg");
+    double lat = fgGetDouble("/sim/presets/latitude-deg");
+        
+    double range = 1000.0; // in metres
+    SGGeod geod = SGGeod::fromDeg(lon, lat);
+    if (globals->get_scenery()->scenery_available(geod, range)) {
+        SG_LOG(SG_FLIGHT, SG_INFO, "Scenery loaded, will init FDM");
+        _impl->init();
+        if (_impl->get_bound()) {
+          _impl->unbind();
+        }
+        _impl->bind();
+        
+        evil_global_fdm_state = _impl;
+        fgSetBool("/sim/fdm-initialized", true);
+        fgSetBool("/sim/signals/fdm-initialized", true);
+    }
+  }
+
+  if (!_impl->get_inited()) {
+    return; // still waiting
+  }
+
+// pull environmental data in, since the FDMs are lazy
+  _impl->set_Velocities_Local_Airmass(
+      _props->getDoubleValue("environment/wind-from-north-fps", 0.0),
+                       _props->getDoubleValue("environment/wind-from-east-fps", 0.0),
+                       _props->getDoubleValue("environment/wind-from-down-fps", 0.0));
+
+  if (_props->getBoolValue("environment/params/control-fdm-atmosphere")) {
+    // convert from Rankine to Celsius
+    double tempDegC = _props->getDoubleValue("environment/temperature-degc");
+    _impl->set_Static_temperature((9.0/5.0) * (tempDegC + 273.15));
+    
+    // convert from inHG to PSF
+    double pressureInHg = _props->getDoubleValue("environment/pressure-inhg");
+    _impl->set_Static_pressure(pressureInHg * 70.726566);
+    // keep in slugs/ft^3
+    _impl->set_Density(_props->getDoubleValue("environment/density-slugft3"));
+  }
+
+  bool doLog = _props->getBoolValue("/sim/temp/fdm-data-logging", false);
+  if (doLog != _dataLogging) {
+    _dataLogging = doLog;
+    _impl->ToggleDataLogging(doLog);
+  }
+
+// FIXME - replay manager should handle most of this           
+  int replayState = fgGetInt("/sim/freeze/replay-state", 0);
+  if (replayState == 0) {
+    _impl->update(dt); // normal code path
+  } else if (replayState == 1) {
+    // should be inside FGReplay!
+    SGPropertyNode* replay_time = fgGetNode("/sim/replay/time", true);
+    FGReplay *r = (FGReplay *)(globals->get_subsystem( "replay" ));
+    r->replay( replay_time->getDoubleValue() );
+    replay_time->setDoubleValue( replay_time->getDoubleValue()
+                                             + ( dt
+                                                 * fgGetInt("/sim/speed-up") ) );
+  
+  } else if (replayState == 2) {
+    // paused replay, no-op
+  } else {
+    throw sg_range_exception("unknown FGReplay state");
+  }  
+}
+
+void FDMShell::createImplementation()
+{
+  assert(!_impl);
+  
+  double dt = 1.0 / fgGetInt("/sim/model-hz");
+  string model = fgGetString("/sim/flight-model");
+
+    if ( model == "larcsim" ) {
+        _impl = new FGLaRCsim( dt );
+    } else if ( model == "jsb" ) {
+        _impl = new FGJSBsim( dt );
+#if ENABLE_SP_FDM
+    } else if ( model == "ada" ) {
+        _impl = new FGADA( dt );
+    } else if ( model == "acms" ) {
+        _impl = new FGACMS( dt );
+    } else if ( model == "balloon" ) {
+        _impl = new FGBalloonSim( dt );
+    } else if ( model == "magic" ) {
+        _impl = new FGMagicCarpet( dt );
+#endif
+    } else if ( model == "ufo" ) {
+        _impl = new FGUFO( dt );
+    } else if ( model == "external" ) {
+        // external is a synonym for "--fdm=null" and is
+        // maintained here for backwards compatibility
+        _impl = new FGNullFDM( dt );
+    } else if ( model.find("network") == 0 ) {
+        string host = "localhost";
+        int port1 = 5501;
+        int port2 = 5502;
+        int port3 = 5503;
+        string net_options = model.substr(8);
+        string::size_type begin, end;
+        begin = 0;
+        // host
+        end = net_options.find( ",", begin );
+        if ( end != string::npos ) {
+            host = net_options.substr(begin, end - begin);
+            begin = end + 1;
+        }
+        // port1
+        end = net_options.find( ",", begin );
+        if ( end != string::npos ) {
+            port1 = atoi( net_options.substr(begin, end - begin).c_str() );
+            begin = end + 1;
+        }
+        // port2
+        end = net_options.find( ",", begin );
+        if ( end != string::npos ) {
+            port2 = atoi( net_options.substr(begin, end - begin).c_str() );
+            begin = end + 1;
+        }
+        // port3
+        end = net_options.find( ",", begin );
+        if ( end != string::npos ) {
+            port3 = atoi( net_options.substr(begin, end - begin).c_str() );
+            begin = end + 1;
+        }
+        _impl = new FGExternalNet( dt, host, port1, port2, port3 );
+    } else if ( model.find("pipe") == 0 ) {
+        // /* old */ string pipe_path = model.substr(5);
+        // /* old */ _impl = new FGExternalPipe( dt, pipe_path );
+        string pipe_path = "";
+        string pipe_protocol = "";
+        string pipe_options = model.substr(5);
+        string::size_type begin, end;
+        begin = 0;
+        // pipe file path
+        end = pipe_options.find( ",", begin );
+        if ( end != string::npos ) {
+            pipe_path = pipe_options.substr(begin, end - begin);
+            begin = end + 1;
+        }
+        // protocol (last option)
+        pipe_protocol = pipe_options.substr(begin);
+        _impl = new FGExternalPipe( dt, pipe_path, pipe_protocol );
+    } else if ( model == "null" ) {
+        _impl = new FGNullFDM( dt );
+    } else if ( model == "yasim" ) {
+        _impl = new YASim( dt );
+    } else {
+        throw sg_exception(string("Unrecognized flight model '") + model
+               + "', cannot init flight dynamics model.");
+    }
+
+}
+

diff --git a/src/FDM/fdm_shell.hxx b/src/FDM/fdm_shell.hxx
new file mode 100644 (file)
index 0000000..be0b1f8
--- /dev/null
+++ b/src/FDM/fdm_shell.hxx
@@ -0,0 +1,62 @@
+// fdm_shell.hxx -- encapsulate FDM implementations as well-behaved subsystems
+//
+// Written by James Turner, started June 2010.
+//
+// Copyright (C) 2010  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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+// $Id$
+
+#ifndef FG_FDM_SHELL_HXX
+#define FG_FDM_SHELL_HXX
+
+#include <simgear/structure/subsystem_mgr.hxx>
+
+// forward decls
+class FGInterface;
+
+/**
+ * Wrap an FDM implementation in a subsystem with standard semantics
+ * Notably, deal with the various cases in which update() should not
+ * be called, such as replay or before scenery has loaded
+ *
+ * This class also provides the factory method which creates the
+ * specific FDM class (createImplementation)
+ */
+class FDMShell : public SGSubsystem
+{
+public:
+  FDMShell();
+  ~FDMShell();
+  
+  virtual void init();
+  virtual void reinit();
+  
+  virtual void bind();
+  virtual void unbind();
+  
+  virtual void update(double dt);
+  
+private:
+
+  void createImplementation();
+  
+  FGInterface* _impl;
+  SGPropertyNode* _props; // root property tree for this FDM instance
+  bool _dataLogging;
+};
+
+#endif // of FG_FDM_SHELL_HXX

diff --git a/src/FDM/flight.cxx b/src/FDM/flight.cxx
index 10ce9948a18722f84d4b596a6726c574d70b5f5a..5676e688b87f00d1b48e1c7e2c81b4ac8b703c61 100644 (file)
--- a/src/FDM/flight.cxx
+++ b/src/FDM/flight.cxx
@@ -44,8 +44,6 @@ static inline void assign(double* ptr, const SGVec3d& vec)
   ptr[2] = vec[2];
 }
 
-FGInterface *cur_fdm_state = 0;
-
 // Constructor
 FGInterface::FGInterface()
 {
@@ -253,7 +251,7 @@ FGInterface::bind ()
         false);
   fgSetArchivable("/position/altitude-ft");
   fgTie("/position/altitude-agl-ft", this,
-        &FGInterface::get_Altitude_AGL); // read-only
+        &FGInterface::get_Altitude_AGL, &FGInterface::set_AltitudeAGL);
   fgSetArchivable("/position/ground-elev-ft");
   fgTie("/position/ground-elev-ft", this,
         &FGInterface::get_Runway_altitude); // read-only
@@ -264,7 +262,8 @@ FGInterface::bind ()
         &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
+        &FGInterface::get_Sea_level_radius,
+        &FGInterface::_set_Sea_level_radius);
 
                                // Orientation
   fgTie("/orientation/roll-deg", this,
@@ -285,12 +284,16 @@ FGInterface::bind ()
   // Body-axis "euler rates" (rotation speed, but in a funny
   // representation).
   fgTie("/orientation/roll-rate-degps", this,
-       &FGInterface::get_Phi_dot_degps);
+       &FGInterface::get_Phi_dot_degps, &FGInterface::set_Phi_dot_degps);
   fgTie("/orientation/pitch-rate-degps", this,
-       &FGInterface::get_Theta_dot_degps);
+       &FGInterface::get_Theta_dot_degps, &FGInterface::set_Theta_dot_degps);
   fgTie("/orientation/yaw-rate-degps", this,
-       &FGInterface::get_Psi_dot_degps);
+       &FGInterface::get_Psi_dot_degps, &FGInterface::set_Psi_dot_degps);
 
+  fgTie("/orientation/p-body", this, &FGInterface::get_P_body);
+  fgTie("/orientation/q-body", this, &FGInterface::get_Q_body);
+  fgTie("/orientation/r-body", this, &FGInterface::get_R_body);
+  
                                 // Ground speed knots
   fgTie("/velocities/groundspeed-kt", this,
         &FGInterface::get_V_ground_speed_kt);
@@ -301,6 +304,9 @@ FGInterface::bind ()
        &FGInterface::set_V_calibrated_kts,
        false);
 
+    fgTie("/velocities/equivalent-kt", this,
+        &FGInterface::get_V_equiv_kts);
+
                                // Mach number
   fgTie("/velocities/mach", this,
        &FGInterface::get_Mach_number,
@@ -325,11 +331,19 @@ FGInterface::bind ()
                                // LaRCSim are fixed (LaRCSim adds the
                                // earth's rotation to the east velocity).
   fgTie("/velocities/speed-north-fps", this,
-       &FGInterface::get_V_north);
+       &FGInterface::get_V_north, &FGInterface::set_V_north);
   fgTie("/velocities/speed-east-fps", this,
-       &FGInterface::get_V_east);
+       &FGInterface::get_V_east, &FGInterface::set_V_east);
   fgTie("/velocities/speed-down-fps", this,
-       &FGInterface::get_V_down);
+       &FGInterface::get_V_down, &FGInterface::set_V_down);
+
+  fgTie("/velocities/north-relground-fps", this,
+    &FGInterface::get_V_north_rel_ground);
+  fgTie("/velocities/east-relground-fps", this,
+    &FGInterface::get_V_east_rel_ground);
+  fgTie("/velocities/down-relground-fps", this,
+    &FGInterface::get_V_down_rel_ground);
+
 
                                // Relative wind
                                // FIXME: temporarily archivable, until
@@ -358,11 +372,11 @@ FGInterface::bind ()
   &FGInterface::get_Gamma_vert_rad,
   &FGInterface::set_Gamma_vert_rad );
   fgTie("/orientation/side-slip-rad", this,
-       &FGInterface::get_Beta); // read-only
+       &FGInterface::get_Beta, &FGInterface::_set_Beta);
   fgTie("/orientation/side-slip-deg", this,
   &FGInterface::get_Beta_deg); // read-only
   fgTie("/orientation/alpha-deg", this,
-  &FGInterface::get_Alpha_deg); // read-only
+  &FGInterface::get_Alpha_deg, &FGInterface::set_Alpha_deg); // read-only
   fgTie("/accelerations/nlf", this,
   &FGInterface::get_Nlf); // read-only
 
@@ -376,11 +390,13 @@ FGInterface::bind ()
 
                                 // Pilot accelerations
   fgTie("/accelerations/pilot/x-accel-fps_sec",
-        this, &FGInterface::get_A_X_pilot);
+        this, &FGInterface::get_A_X_pilot, &FGInterface::set_A_X_pilot);
   fgTie("/accelerations/pilot/y-accel-fps_sec",
-        this, &FGInterface::get_A_Y_pilot);
+        this, &FGInterface::get_A_Y_pilot, &FGInterface::set_A_Y_pilot);
   fgTie("/accelerations/pilot/z-accel-fps_sec",
-        this, &FGInterface::get_A_Z_pilot);
+        this, &FGInterface::get_A_Z_pilot, &FGInterface::set_A_Z_pilot);
+        
+  fgTie("/accelerations/n-z-cg-fps_sec", this, &FGInterface::get_N_Z_cg);
 
 }
 
@@ -394,6 +410,10 @@ FGInterface::bind ()
 void
 FGInterface::unbind ()
 {
+  if (!bound) {
+    return;
+  }
+  
   bound = false;
 
   fgUntie("/position/latitude-deg");
@@ -411,15 +431,22 @@ FGInterface::unbind ()
   fgUntie("/orientation/roll-rate-degps");
   fgUntie("/orientation/pitch-rate-degps");
   fgUntie("/orientation/yaw-rate-degps");
+  fgUntie("/orientation/p-body");
+  fgUntie("/orientation/q-body");
+  fgUntie("/orientation/r-body");
   fgUntie("/orientation/side-slip-rad");
   fgUntie("/orientation/side-slip-deg");
   fgUntie("/orientation/alpha-deg");
   fgUntie("/velocities/airspeed-kt");
   fgUntie("/velocities/groundspeed-kt");
+  fgUntie("/velocities/equivalent-kt");
   fgUntie("/velocities/mach");
   fgUntie("/velocities/speed-north-fps");
   fgUntie("/velocities/speed-east-fps");
   fgUntie("/velocities/speed-down-fps");
+  fgUntie("/velocities/north-relground-fps");
+  fgUntie("/velocities/east-relground-fps");
+  fgUntie("/velocities/down-relground-fps");
   fgUntie("/velocities/uBody-fps");
   fgUntie("/velocities/vBody-fps");
   fgUntie("/velocities/wBody-fps");
@@ -432,6 +459,7 @@ FGInterface::unbind ()
   fgUntie("/accelerations/ned/north-accel-fps_sec");
   fgUntie("/accelerations/ned/east-accel-fps_sec");
   fgUntie("/accelerations/ned/down-accel-fps_sec");
+  fgUntie("/accelerations/n-z-cg-fps_sec");
 }
 
 /**
@@ -893,6 +921,3 @@ FGInterface::release_wire(void)
   ground_cache.release_wire();
 }
 
-void fgToggleFDMdataLogging(void) {
-  cur_fdm_state->ToggleDataLogging();
-}

diff --git a/src/FDM/flight.hxx b/src/FDM/flight.hxx
index 222df3b546492a29ac427982eda29c3e034f39fa..6965d30983e401c520e49eabaf8b0d8124439ef9 100644 (file)
--- a/src/FDM/flight.hxx
+++ b/src/FDM/flight.hxx
@@ -187,13 +187,18 @@ private:
     double altitude_agl;
     double track;
 
-    double daux[16];           // auxilliary doubles
-    float  faux[16];           // auxilliary floats
-    int    iaux[16];           // auxilliary ints
-
     // the ground cache object itself.
     FGGroundCache ground_cache;
 
+    void set_A_X_pilot(double x)
+    { _set_Accels_Pilot_Body(x, a_pilot_body_v[1], a_pilot_body_v[2]); }
+    
+    void set_A_Y_pilot(double y)
+    { _set_Accels_Pilot_Body(a_pilot_body_v[0], y, a_pilot_body_v[2]); }
+    
+    void set_A_Z_pilot(double z)
+    { _set_Accels_Pilot_Body(a_pilot_body_v[0], a_pilot_body_v[1], z); }
+    
 protected:
 
     int _calc_multiloop (double dt);
@@ -284,6 +289,22 @@ public:
        euler_rates_v[1] = theta;
        euler_rates_v[2] = psi;
     }
+    
+    void set_Phi_dot_degps(double x)
+    {
+      euler_rates_v[0] = x * SG_DEGREES_TO_RADIANS;
+    }
+    
+    void set_Theta_dot_degps(double x)
+    {
+      euler_rates_v[1] = x * SG_DEGREES_TO_RADIANS;
+    }
+    
+    void set_Psi_dot_degps(double x)
+    {
+      euler_rates_v[2] = x * SG_DEGREES_TO_RADIANS;
+    }
+    
     inline void _set_Geocentric_Rates( double lat, double lon, double rad ) {
        geocentric_rates_v[0] = lat;
        geocentric_rates_v[1] = lon;
@@ -328,6 +349,9 @@ public:
     inline void _set_T_Local_to_Body( int i, int j, double value) { }
     inline void _set_Alpha( double a ) { alpha = a; }
     inline void _set_Beta( double b ) { beta = b; }
+    
+    inline void set_Alpha_deg( double a ) { alpha = a * SG_DEGREES_TO_RADIANS; }
+    
     inline void _set_Gamma_vert_rad( double gv ) { gamma_vert_rad = gv; }
     inline void _set_Density( double d ) { density = d; }
     inline void _set_Mach_number( double m ) { mach_number = m; }
@@ -339,10 +363,6 @@ public:
     inline void _set_Runway_altitude( double alt ) { runway_altitude = alt; }
     inline void _set_Climb_Rate(double rate) { climb_rate = rate; }
 
-    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();
@@ -623,11 +643,6 @@ public:
 
     inline double get_Climb_Rate() const { return climb_rate; }
 
-    // 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]; }
-
     // Note that currently this is the "same" value runway altitude...
     inline double get_ground_elev_ft() const { return runway_altitude; }
 
@@ -712,10 +727,4 @@ public:
     void release_wire(void);
 };
 
-extern FGInterface * cur_fdm_state;
-
-// Toggle data logging on/off
-void fgToggleFDMdataLogging(void);
-
-
 #endif // _FLIGHT_HXX

diff --git a/src/FDM/flightProperties.cxx b/src/FDM/flightProperties.cxx
new file mode 100644 (file)
index 0000000..aa4d3cc
--- /dev/null
+++ b/src/FDM/flightProperties.cxx
@@ -0,0 +1,311 @@
+// flightProperties.cxx -- expose FDM properties via helper methods
+//
+// Written by James Turner, started June 2010.
+//
+// Copyright (C) 2010  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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+// $Id$
+
+#include <FDM/flightProperties.hxx>
+
+#include <simgear/props/props.hxx>
+#include <simgear/math/SGMath.hxx>
+
+#include <Main/globals.hxx>
+
+FlightProperties::FlightProperties(SGPropertyNode* root) :
+  _root(root)
+{
+  if (!_root) {
+    _root = globals->get_props();
+  }
+}
+
+FlightProperties::~FlightProperties()
+{
+}
+
+double FlightProperties::get_V_north() const
+{
+  return _root->getDoubleValue("velocities/speed-north-fps", 0.0);
+}
+
+double FlightProperties::get_V_east() const
+{
+  return _root->getDoubleValue("velocities/speed-east-fps", 0.0);
+}
+
+double FlightProperties::get_V_down() const
+{
+  return _root->getDoubleValue("velocities/speed-down-fps", 0.0);
+}
+
+double FlightProperties::get_uBody () const
+{
+  return _root->getDoubleValue("velocities/uBody-fps", 0.0);
+}
+
+double FlightProperties::get_vBody () const
+{
+  return _root->getDoubleValue("velocities/vBody-fps", 0.0);
+}
+
+double FlightProperties::get_wBody () const
+{
+  return _root->getDoubleValue("velocities/wBody-fps", 0.0);
+}
+
+double FlightProperties::get_A_X_pilot() const
+{
+  return _root->getDoubleValue("accelerations/pilot/x-accel-fps_sec", 0.0);
+}
+
+double FlightProperties::get_A_Y_pilot() const
+{
+  return _root->getDoubleValue("/accelerations/pilot/y-accel-fps_sec", 0.0);
+}
+
+double FlightProperties::get_A_Z_pilot() const
+{
+  return _root->getDoubleValue("/accelerations/pilot/z-accel-fps_sec", 0.0);
+}
+
+SGGeod FlightProperties::getPosition() const
+{
+  return SGGeod::fromDegFt(get_Longitude_deg(), get_Latitude_deg(), get_Altitude());
+}
+
+double FlightProperties::get_Latitude() const
+{
+  return get_Latitude_deg() * SG_DEGREES_TO_RADIANS;
+}
+
+double FlightProperties::get_Longitude() const
+{
+  return get_Longitude_deg() * SG_DEGREES_TO_RADIANS;
+}
+
+double FlightProperties::get_Altitude() const
+{
+  return _root->getDoubleValue("position/altitude-ft");
+}
+
+double FlightProperties::get_Altitude_AGL(void) const
+{
+  return _root->getDoubleValue("position/altitude-agl-ft");
+}
+
+double FlightProperties::get_Latitude_deg () const
+{
+  return _root->getDoubleValue("position/latitude-deg");
+}
+
+double FlightProperties::get_Longitude_deg () const
+{
+  return _root->getDoubleValue("position/longitude-deg");
+}
+
+double FlightProperties::get_Track(void) const
+{
+  return _root->getDoubleValue("orientation/track-deg");
+}
+
+double FlightProperties::get_Phi_deg() const
+{
+  return _root->getDoubleValue("orientation/roll-deg");
+}
+
+double FlightProperties::get_Theta_deg() const
+{
+  return _root->getDoubleValue("orientation/pitch-deg");
+}
+
+double FlightProperties::get_Psi_deg() const
+{
+  return _root->getDoubleValue("orientation/heading-deg");
+}
+
+double FlightProperties::get_Phi_dot() const
+{
+  return get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
+}
+
+double FlightProperties::get_Theta_dot() const
+{
+   return get_Theta_dot_degps() * SG_DEGREES_TO_RADIANS;
+}
+
+double FlightProperties::get_Psi_dot() const
+{
+   return get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
+}
+
+double FlightProperties::get_Alpha() const
+{
+  return _root->getDoubleValue("orientation/alpha-deg") * SG_DEGREES_TO_RADIANS;
+}
+
+double FlightProperties::get_Beta() const
+{
+  return _root->getDoubleValue("orientation/beta-deg") * SG_DEGREES_TO_RADIANS;
+}
+
+double FlightProperties::get_Phi_dot_degps() const
+{
+  return _root->getDoubleValue("orientation/roll-rate-degps");
+}
+
+double FlightProperties::get_Theta_dot_degps() const
+{
+  return _root->getDoubleValue("orientation/pitch-rate-degps");
+}
+
+double FlightProperties::get_Psi_dot_degps() const
+{
+  return _root->getDoubleValue("orientation/yaw-rate-degps");
+}
+  
+double FlightProperties::get_Total_temperature() const
+{
+  return 0.0;
+}
+
+double FlightProperties::get_Total_pressure() const
+{
+  return 0.0;
+}
+
+double FlightProperties::get_Dynamic_pressure() const
+{
+  return 0.0;
+}
+
+void FlightProperties::set_Longitude(double l)
+{
+  _root->setDoubleValue("position/longitude-deg", l * SG_RADIANS_TO_DEGREES);
+}
+
+void FlightProperties::set_Latitude(double l)
+{
+  _root->setDoubleValue("position/latitude-deg", l * SG_RADIANS_TO_DEGREES);
+}
+
+void FlightProperties::set_Altitude(double ft)
+{
+  _root->setDoubleValue("position/altitude-ft", ft);
+}
+
+void FlightProperties::set_Euler_Angles(double phi, double theta, double psi)
+{
+  _root->setDoubleValue("orientation/roll-deg", phi * SG_RADIANS_TO_DEGREES);
+  _root->setDoubleValue("orientation/pitch-deg", theta * SG_RADIANS_TO_DEGREES);
+  _root->setDoubleValue("orientation/heading-deg", psi * SG_RADIANS_TO_DEGREES);
+}
+
+void FlightProperties::set_V_calibrated_kts(double kts)
+{
+  _root->setDoubleValue("velocities/airspeed-kt", kts);
+}
+
+void FlightProperties::set_Climb_Rate(double fps)
+{
+  _root->setDoubleValue("velocities/vertical-speed-fps", fps);
+}
+
+double FlightProperties::get_V_ground_speed() const
+{
+  const double KNOTS_TO_FTS = (SG_NM_TO_METER * SG_METER_TO_FEET)/ 3600.0;
+  return _root->getDoubleValue("velocities/groundspeed-kt") * KNOTS_TO_FTS;
+}
+
+double FlightProperties::get_V_calibrated_kts() const
+{
+  return _root->getDoubleValue("velocities/airspeed-kt");
+}
+
+double FlightProperties::get_V_equiv_kts() const
+{
+  return _root->getDoubleValue("velocities/equivalent-kt");
+}
+
+double FlightProperties::get_Climb_Rate() const
+{
+  return _root->getDoubleValue("velocities/vertical-speed-fps");
+}
+
+double FlightProperties::get_Runway_altitude_m() const
+{
+  return _root->getDoubleValue("environment/ground-elevation-m");
+}
+
+void FlightProperties::set_Accels_Pilot_Body(double x, double y, double z)
+{
+  _root->setDoubleValue("accelerations/pilot/x-accel-fps_sec", x);
+  _root->setDoubleValue("accelerations/pilot/y-accel-fps_sec", y);
+  _root->setDoubleValue("accelerations/pilot/z-accel-fps_sec", z);
+}
+
+void FlightProperties::set_Velocities_Local(double x, double y, double z)
+{
+  _root->setDoubleValue("velocities/speed-north-fps", x);
+  _root->setDoubleValue("velocities/speed-east-fps", y);
+  _root->setDoubleValue("velocities/speed-down-fps", z);
+}
+
+void FlightProperties::set_Velocities_Wind_Body(double x, double y, double z)
+{
+  _root->setDoubleValue("velocities/vBody-fps", x);
+  _root->setDoubleValue("velocities/uBody-fps", y);
+  _root->setDoubleValue("velocities/wBody-fps", z);
+}
+
+void FlightProperties::set_Euler_Rates(double x, double y, double z)
+{
+  _root->setDoubleValue("orientation/roll-rate-degps", x * SG_RADIANS_TO_DEGREES);
+  _root->setDoubleValue("orientation/pitch-rate-degps", y * SG_RADIANS_TO_DEGREES);
+  _root->setDoubleValue("orientation/yaw-rate-degps", z * SG_RADIANS_TO_DEGREES);
+}
+
+void FlightProperties::set_Alpha(double a)
+{
+  _root->setDoubleValue("orientation/alpha-deg", a * SG_RADIANS_TO_DEGREES);
+}
+
+void FlightProperties::set_Beta(double b)
+{
+  _root->setDoubleValue("orientation/side-slip-rad", b);
+}
+
+void FlightProperties::set_Altitude_AGL(double ft)
+{
+  _root->setDoubleValue("position/altitude-agl-ft", ft);
+}
+
+double FlightProperties::get_P_body() const
+{
+  return _root->getDoubleValue("orientation/p-body", 0.0);
+}
+
+double FlightProperties::get_Q_body() const
+{
+  return _root->getDoubleValue("orientation/q-body", 0.0);
+}
+
+double FlightProperties::get_R_body() const
+{
+  return _root->getDoubleValue("orientation/r-body", 0.0);
+}

diff --git a/src/FDM/flightProperties.hxx b/src/FDM/flightProperties.hxx
new file mode 100644 (file)
index 0000000..62a082e
--- /dev/null
+++ b/src/FDM/flightProperties.hxx
@@ -0,0 +1,128 @@
+// flightProperties.hxx -- expose FDM properties via helper methods
+//
+// Written by James Turner, started June 2010.
+//
+// Copyright (C) 2010  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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+//
+// $Id$
+
+#ifndef FG_FLIGHT_PROPERTIES_HXX
+#define FG_FLIGHT_PROPERTIES_HXX
+
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include <memory>
+#include <simgear/math/SGMathFwd.hxx> // for SGVec3d 
+#include <simgear/math/SGMisc.hxx>
+
+// forward decls
+class SGPropertyNode;
+class SGGeoc;
+class SGGeod;
+
+/**
+ * Encapsulate the FDM properties in some getter/setter helpers.
+ * This class intentionally mimics portions of
+ * @FGInterface, to permit easy migration of code outside the FDMs,
+ * to use properties instead of global variables.
+ */
+class FlightProperties
+{
+public:
+  FlightProperties(SGPropertyNode* aRoot = NULL);
+  ~FlightProperties();
+
+  double get_V_north() const;
+  double get_V_east() const;
+  double get_V_down() const;
+  double get_uBody () const;
+  double get_vBody () const;
+  double get_wBody () const;
+  
+  double get_A_X_pilot() const;
+  double get_A_Y_pilot() const;
+  double get_A_Z_pilot() const;
+  
+  double get_P_body() const;
+  double get_Q_body() const;
+  double get_R_body() const;
+    
+  SGGeod getPosition() const;
+
+  double get_Latitude() const;
+  double get_Longitude() const;
+  double get_Altitude() const;
+  
+  double get_Altitude_AGL(void) const;
+  double get_Track(void) const;
+
+  double get_Latitude_deg () const;
+  double get_Longitude_deg () const;
+  
+  double get_Phi_deg() const;
+  double get_Theta_deg() const;
+  double get_Psi_deg() const;
+  
+  double get_Phi() const { return SGMiscd::deg2rad(get_Phi_deg()); }
+  double get_Theta() const { return SGMiscd::deg2rad(get_Theta_deg()); }
+  double get_Psi() const { return SGMiscd::deg2rad(get_Psi_deg()); }
+
+  double get_Phi_dot() const;
+  double get_Theta_dot() const;
+  double get_Psi_dot() const;
+  double get_Alpha() const;
+  double get_Beta() const;
+  
+  double get_Phi_dot_degps() const;
+  double get_Theta_dot_degps() const;
+  double get_Psi_dot_degps() const;
+  
+  double get_V_ground_speed() const; // in feet/s
+  double get_V_equiv_kts() const;
+  double get_V_calibrated_kts() const;
+  double get_Climb_Rate() const;
+  double get_Runway_altitude_m() const;
+  
+  double get_Total_temperature() const;
+  double get_Total_pressure() const;
+  double get_Dynamic_pressure() const;
+  
+  void set_Longitude(double l); // radians
+  void set_Latitude(double l); // radians
+  void set_Altitude(double ft); // feet
+    
+  void set_Euler_Angles(double phi, double theta, double psi);
+  void set_Euler_Rates(double x, double y, double z);
+  
+  void set_Alpha(double a);
+  void set_Beta(double b);
+  
+  void set_Altitude_AGL(double ft);
+  
+  void set_V_calibrated_kts(double kts);
+  void set_Climb_Rate(double fps);
+  
+  void set_Velocities_Local(double x, double y, double z);
+  void set_Velocities_Wind_Body(double x, double y, double z);
+  void set_Accels_Pilot_Body(double x, double y, double z);
+private:
+  SGPropertyNode* _root;
+};
+
+#endif // of FG_FLIGHT_PROPERTIES_HXX

diff --git a/src/GUI/.gitignore b/src/GUI/.gitignore
new file mode 100644 (file)
index 0000000..f3cd5f6
--- /dev/null
+++ b/src/GUI/.gitignore
@@ -0,0 +1 @@
+layout-test

diff --git a/src/GUI/dialog.hxx b/src/GUI/dialog.hxx
index e08dbe75ae2c414d3d5edc5b927dda34ea3f2f35..090ef2bbc36aa8e81018db646d9c76ffab5428be 100644 (file)
--- a/src/GUI/dialog.hxx
+++ b/src/GUI/dialog.hxx
@@ -161,7 +161,7 @@ private:
     bool _needsRelayout;
 
     // Nasal module.
-    string _module;
+    std::string _module;
     SGPropertyNode_ptr _nasal_close;
 
     // PUI provides no way for userdata to be deleted automatically
@@ -173,7 +173,7 @@ private:
         PropertyObject (const char * name,
                         puObject * object,
                         SGPropertyNode_ptr node);
-        string name;
+        std::string name;
         puObject * object;
         SGPropertyNode_ptr node;
     };

diff --git a/src/GUI/gui.h b/src/GUI/gui.h
index 2563251d888688a8be64482035a2829e0b02b3b3..4ea7b588de5558b77bfe53c870855a1c3d79fda3 100644 (file)
--- a/src/GUI/gui.h
+++ b/src/GUI/gui.h
@@ -55,15 +55,12 @@ extern fntTexFont *guiFntHandle;
 extern int gui_menu_on;
 
 // from gui_funcs.cxx
-extern void reInit(void);
 extern void fgDumpSnapShotWrapper();
 #ifdef TR_HIRES_SNAP
 extern void fgHiResDumpWrapper();
 extern void fgHiResDump();
 #endif
-#if defined( _WIN32 ) && !defined(__MINGW32__)
-extern void printScreen();
-#endif
+
 extern void helpCb();
 
 typedef struct {

diff --git a/src/GUI/gui_funcs.cxx b/src/GUI/gui_funcs.cxx
index 52eb06662e95582229c0cf11af4f55bd89d031bf..ff6971549c1aee4ee53375dd35a3f5bff543618c 100644 (file)
--- a/src/GUI/gui_funcs.cxx
+++ b/src/GUI/gui_funcs.cxx
@@ -53,11 +53,8 @@
 
 #ifdef _WIN32
 #  include <shellapi.h>
-# if !defined(__MINGW32__)
-#  include <simgear/screen/win32-printer.h>
-#  include <simgear/screen/GlBitmaps.h>
-# endif
 #endif
+
 #include "gui.h"
 
 using std::string;
@@ -75,9 +72,6 @@ const __fg_gui_fn_t __fg_gui_fn[] = {
         {"dumpHiResSnapShot", fgHiResDumpWrapper},
 #endif
         {"dumpSnapShot", fgDumpSnapShotWrapper},
-#if defined( _WIN32 ) && !defined(__MINGW32__)
-        {"printScreen", printScreen},
-#endif
         // Help
         {"helpCb", helpCb},
 
@@ -403,61 +397,6 @@ void fgHiResDump()
 }
 #endif // #if defined( TR_HIRES_SNAP)
 
-
-#if defined( _WIN32 ) && !defined(__MINGW32__)
-
-void rotateView( double roll, double pitch, double yaw )
-{
-       // rotate view
-}
-
-GlBitmap *b1 = NULL;
-GLubyte *hiResScreenCapture( int multiplier )
-{
-    float oldfov = fgGetDouble("/sim/current-view/field-of-view");
-    float fov = oldfov / multiplier;
-    FGViewer *v = globals->get_current_view();
-    fgSetDouble("/sim/current-view/field-of-view", fov);
-//     globals->get_renderer()->init();
-    int cur_width = fgGetInt("/sim/startup/xsize");
-    int cur_height = fgGetInt("/sim/startup/ysize");
-    delete( b1 );
-    // New empty (mostly) bitmap
-    b1 = new GlBitmap( GL_RGB, 1, 1, (unsigned char *)"123" );
-    int x,y;
-    for ( y = 0; y < multiplier; y++ ) {
-       for ( x = 0; x < multiplier; x++ ) {
-           globals->get_renderer()->resize( cur_width, cur_height );
-           // pan to tile
-           rotateView( 0, (y*fov)-((multiplier-1)*fov/2), (x*fov)-((multiplier-1)*fov/2) );
-           globals->get_renderer()->update( false );
-           // restore view
-           GlBitmap b2;
-           b1->copyBitmap( &b2, cur_width*x, cur_height*y );
-       }
-    }
-    fgSetDouble("/sim/current-view/field-of-view", oldfov);
-    return b1->getBitmap();
-}
-#endif
-
-#if defined( _WIN32 ) && !defined(__MINGW32__)
-// win32 print screen function
-void printScreen () {
-    int mouse = fgGetMouseCursor();
-    fgSetMouseCursor(MOUSE_CURSOR_NONE);
-
-    CGlPrinter p( CGlPrinter::PRINT_BITMAP );
-    int cur_width = fgGetInt("/sim/startup/xsize");
-    int cur_height = fgGetInt("/sim/startup/ysize");
-    p.Begin( "FlightGear", cur_width*3, cur_height*3 );
-    p.End( hiResScreenCapture(3) );
-
-    fgSetMouseCursor(mouse);
-}
-#endif // #ifdef _WIN32
-
-
 void fgDumpSnapShotWrapper () {
     fgDumpSnapShot();
 }

diff --git a/src/GUI/menubar.cxx b/src/GUI/menubar.cxx
index 89246a5ede79a1a6c68478c7af8aa4748a6be86e..5675b14e434d2507c07d132ef0b0e4e6c927f584 100644 (file)
--- a/src/GUI/menubar.cxx
+++ b/src/GUI/menubar.cxx
@@ -36,16 +36,6 @@ do_hires_snapshot_dialog (const SGPropertyNode * arg)
 }
 #endif // TR_HIRES_SNAP
 
-#if defined( _WIN32 ) && !defined(__MINGW32__)
-extern void printScreen ();
-static bool
-do_print_dialog (const SGPropertyNode * arg)
-{
-    printScreen();
-    return true;
-}
-#endif
-
 extern void helpCb ();
 static bool
 do_help_dialog (const SGPropertyNode * arg)
@@ -60,9 +50,6 @@ static struct {
 } deprecated_dialogs [] = {
 #if defined(TR_HIRES_SNAP)
     { "old-hires-snapshot-dialog", do_hires_snapshot_dialog },
-#endif
-#if defined( _WIN32 ) && !defined(__MINGW32__)
-    { "old-print-dialog", do_print_dialog },
 #endif
     { "old-help-dialog", do_help_dialog },
     { 0, 0 }

diff --git a/src/Include/.gitignore b/src/Include/.gitignore
new file mode 100644 (file)
index 0000000..e76f663
--- /dev/null
+++ b/src/Include/.gitignore
@@ -0,0 +1,4 @@
+config.h
+config.h.*
+stamp-h1
+version.h

diff --git a/src/Include/config.h-msvc6.in b/src/Include/config.h-msvc6.in
deleted file mode 100644 (file)
index 4ddcd91..0000000
--- a/src/Include/config.h-msvc6.in
+++ /dev/null
@@ -1,198 +0,0 @@
-
-/* Special single config.h for MSVC6 build - Geoff McLane - 23 July, 2003  */
-
-/* Define to enable plib joystick support */
-#ifndef  ENABLE_PLIB_JOYSTICK
-#define ENABLE_PLIB_JOYSTICK
-#endif   // #ifndef  ENABLE_PLIB_JOYSTICK
-
-/* Define to enable threaded tile paging */
-#undef ENABLE_THREADS
-
-/* Define so that JSBSim compiles in 'library' mode */
-#define FGFS 1
-
-/* Define to build with jpeg screen shot server */
-#undef FG_JPEG_SERVER
-
-/* Define for no logging output */
-#undef FG_NDEBUG
-
-/* Define to build with Oliver's networking */
-#undef FG_NETWORK_OLK
-
-/* Define to enable plib joystick name support */
-#define FG_PLIB_JOYSTICK_GETNAME
-
-/* Define to build with Christian Mayer's weather code */
-#undef FG_WEATHERCM
-
-/* Define if the X Window System is missing or not being used.  */
-#define X_DISPLAY_MISSING 1
-
-/* Define if the CONSOLE output has no ANSI driver (eg no "esc [ ..." seqs.) */
-#define  NO_ANSI_DRIVER
-
-/* Define to empty if the keyword does not work.  */
-/* #undef const */
-
-/* Define if you don't have vprintf but do have _doprnt.  */
-/* #undef HAVE_DOPRNT */
-
-/* Define if you have the vprintf function.  */
-#define HAVE_VPRINTF 1
-
-/* Define to package name - not used? */
-#define PACKAGE "FlightGear"
-
-/* Define to package version - use in main.cxx */
-#define FLIGHTGEAR_VERSION "MSVC6-WIN32-@VERSION@"
-
-/* Define as the return type of signal handlers (int or void).  */
-#define RETSIGTYPE void
-
-/* Define to `unsigned' if <sys/types.h> doesn't define.  */
-/* #undef size_t */
-
-/* Define if you have the ANSI C header files.  */
-#define STDC_HEADERS 1
-
-/* Define if you can safely include both <sys/time.h> and <time.h>.  */
-/* #undef TIME_WITH_SYS_TIME */
-
-/* Define if your <sys/time.h> declares struct tm.  */
-#define TM_IN_SYS_TIME 1
-
-/* Define to version number */
-#define VERSION "@VERSION@"
-
-/* Define if compiling on a Winbloze (95, NT, etc.) platform */
-#define WIN32 1
-
-/* Define if you have the GetLocalTime function.  */
-#define HAVE_GETLOCALTIME 1
-
-/* Define if you have the ftime function.  */
-#define HAVE_FTIME 1
-
-/* Define if you have the getitimer function.  */
-/* #define HAVE_GETITIMER 1 */
-
-/* Define if you have the getrusage function.  */
-/* #define HAVE_GETRUSAGE 1 */
-
-/* Define if you have the gettimeofday function.  */
-/* #define HAVE_GETTIMEOFDAY 1 */
-
-/* Define if you have the mktime function.  */
-#define HAVE_MKTIME 1
-
-/* Define if you have the rand function.  */
-#define HAVE_RAND 1
-
-/* Define if you have the random function.  */
-/* #define HAVE_RANDOM 1   */
-
-/* Define if you have the rint function.  */
-/* #define HAVE_RINT 1 */
-
-/* Define if you have the setitimer function.  */
-/* #define HAVE_SETITIMER 1 */
-
-/* Define if you have the signal function.  */
-#define HAVE_SIGNAL 1
-
-/* Define if you have the strstr function.  */
-#define HAVE_STRSTR 1
-
-/* Define if you have the <fcntl.h> header file.  */
-#define HAVE_FCNTL_H 1
-
-/* Define if you have the <getopt.h> header file.  */
-#define HAVE_GETOPT_H 1
-
-/* Define if you have the <malloc.h> header file.  */
-#define HAVE_MALLOC_H 1
-
-/* Define if you have the <stdlib.h> header file.  */
-#define HAVE_STDLIB_H 1
-
-/* Define if you have the <sys/time.h> header file.  */
-/* #define HAVE_SYS_TIME_H 1 */
-
-/* Define if you have the <sys/timeb.h> header file.  */
-#define HAVE_SYS_TIMEB_H 1
-
-/* Define if you have the <unistd.h> header file.  */
-/* #define HAVE_UNISTD_H 1 */
-
-/* Define if you have the <values.h> header file.  */
-/* #define HAVE_VALUES_H 1 */
-
-/* Define if you have the <winbase.h> header file.  */
-#define HAVE_WINBASE_H 1
-
-/* Define if you have the <windows.h> header file.  */
-#define HAVE_WINDOWS_H 1
-
-/* Define if you have the GL library (-lGL).  */
-#define HAVE_LIBGL 1
-
-/* Define if you have the GLU library (-lGLU).  */
-#define HAVE_LIBGLU 1
-
-/* Define if you have the GLcore library (-lGLcore).  */
-/* #undef HAVE_LIBGLCORE */
-
-/* Define if you have the ICE library (-lICE).  */
-/* #define HAVE_LIBICE 1 */
-
-/* Define if you have the MesaGL library (-lMesaGL).  */
-/* #undef HAVE_LIBMESAGL */
-
-/* Define if you have the MesaGLU library (-lMesaGLU).  */
-/* #undef HAVE_LIBMESAGLU */
-
-/* Define if you have the SM library (-lSM).  */
-/* #define HAVE_LIBSM 1 */
-
-/* Define if you have the X11 library (-lX11).  */
-/* #define HAVE_LIBX11 1 */
-
-/* Define if you have the Xext library (-lXext).  */
-/* #define HAVE_LIBXEXT 1 */
-
-/* Define if you have the Xi library (-lXi).  */
-/* #define HAVE_LIBXI 1 */
-
-/* Define if you have the Xmu library (-lXmu).  */
-/* #define HAVE_LIBXMU 1 */
-
-/* Define if you have the Xt library (-lXt).  */
-/* #define HAVE_LIBXT 1 */
-
-/* Define if you have the glut library (-lglut).  */
-#define HAVE_LIBGLUT 1
-
-/* Define if you have the m library (-lm).  */
-#define HAVE_LIBM 1
-
-/* Define if you have the socket library (-lsocket).  */
-/* #undef HAVE_LIBSOCKET */
-
-/* Define if you have the <memory.h> header file.  */
-#define HAVE_MEMORY_H 1
-
-#define HAVE_MEMCPY 1
-
-#define NOMINMAX 1
-
-#ifndef ENABLE_AUDIO_SUPPORT
-#define  ENABLE_AUDIO_SUPPORT
-#endif
-
-#ifndef  FG_GLUT_H
-#define  FG_GLUT_H   <GL/glut.h>
-#endif   // #ifndef FG_GLUT_H
-
-// eof - config.h-msvc6 - single flightgear config.h file

diff --git a/src/Include/config.h-msvc71 b/src/Include/config.h-msvc71
old mode 100755 (executable)
new mode 100644 (file)
index 0e2c75d..0e7fc38
--- a/src/Include/config.h-msvc71
+++ b/src/Include/config.h-msvc71
@@ -163,8 +163,6 @@
 
 #define NOMINMAX 1
 
-#define HAVE_CULLSETTINGS_CLEAR_MASK 1
-
 #ifndef ENABLE_AUDIO_SUPPORT
 #define  ENABLE_AUDIO_SUPPORT
 #endif

diff --git a/src/Include/config.h-msvc71.in b/src/Include/config.h-msvc71.in
deleted file mode 100755 (executable)
index d67dcac..0000000
--- a/src/Include/config.h-msvc71.in
+++ /dev/null
@@ -1,172 +0,0 @@
-/* Special single config.h for MSVC71 build - F. Bouvier - 06 Jan, 2007 */
-
-/* Define if the X Window System is missing or not being used.  */
-#define X_DISPLAY_MISSING 1
-
-/* Define if the CONSOLE output has no ANSI driver (eg no "esc [ ..." seqs.) */
-#define  NO_ANSI_DRIVER
-
-/* Define to empty if the keyword does not work.  */
-/* #undef const */
-
-/* Define if you don't have vprintf but do have _doprnt.  */
-/* #undef HAVE_DOPRNT */
-
-/* Define if you have the vprintf function.  */
-#define HAVE_VPRINTF 1
-
-/* Define to package name - not used? */
-#define PACKAGE "FlightGear"
-
-/* Define to package version - use in main.cxx */
-#define FLIGHTGEAR_VERSION "MSVC7.1-WIN32-@VERSION@"
-
-/* Define as the return type of signal handlers (int or void).  */
-#define RETSIGTYPE void
-
-/* Define to `unsigned' if <sys/types.h> doesn't define.  */
-/* #undef size_t */
-
-/* Define if you have the ANSI C header files.  */
-#define STDC_HEADERS 1
-
-/* Define if you can safely include both <sys/time.h> and <time.h>.  */
-/* #undef TIME_WITH_SYS_TIME */
-
-/* Define if your <sys/time.h> declares struct tm.  */
-#define TM_IN_SYS_TIME 1
-
-/* Define to version number */
-#define VERSION "@VERSION@"
-#ifndef  FG_VERSION     /* allow override */
-#define  FG_VERSION     7
-#endif   /* FG_VERSION */
-
-/* Define if compiling on a Winbloze (95, NT, etc.) platform */
-#define WIN32 1
-
-/* Define if you have the GetLocalTime function.  */
-#define HAVE_GETLOCALTIME 1
-
-/* Define if you have the ftime function.  */
-#define HAVE_FTIME 1
-
-/* Define if you have the getitimer function.  */
-/* #define HAVE_GETITIMER 1 */
-
-/* Define if you have the getrusage function.  */
-/* #define HAVE_GETRUSAGE 1 */
-
-/* Define if you have the gettimeofday function.  */
-/* #define HAVE_GETTIMEOFDAY 1 */
-
-/* Define if you have the mktime function.  */
-#define HAVE_MKTIME 1
-
-/* Define if you have the rand function.  */
-#define HAVE_RAND 1
-
-/* Define if you have the random function.  */
-/* #define HAVE_RANDOM 1   */
-
-/* Define if you have the rint function.  */
-/* #define HAVE_RINT 1 */
-
-/* Define if you have the setitimer function.  */
-/* #define HAVE_SETITIMER 1 */
-
-/* Define if you have the signal function.  */
-#define HAVE_SIGNAL 1
-
-/* Define if you have the strstr function.  */
-#define HAVE_STRSTR 1
-
-/* Define if you have the <fcntl.h> header file.  */
-#define HAVE_FCNTL_H 1
-
-/* Define if you have the <getopt.h> header file.  */
-#define HAVE_GETOPT_H 1
-
-/* Define if you have the <malloc.h> header file.  */
-#define HAVE_MALLOC_H 1
-
-/* Define if you have the <stdlib.h> header file.  */
-#define HAVE_STDLIB_H 1
-
-/* Define if you have the <sys/time.h> header file.  */
-/* #define HAVE_SYS_TIME_H 1 */
-
-/* Define if you have the <sys/timeb.h> header file.  */
-#define HAVE_SYS_TIMEB_H 1
-
-/* Define if you have the <unistd.h> header file.  */
-/* #define HAVE_UNISTD_H 1 */
-
-/* Define if you have the <values.h> header file.  */
-/* #define HAVE_VALUES_H 1 */
-
-/* Define if you have the <winbase.h> header file.  */
-#define HAVE_WINBASE_H 1
-
-/* Define if you have the <windows.h> header file.  */
-#define HAVE_WINDOWS_H 1
-
-/* Define if you have the GL library (-lGL).  */
-#define HAVE_LIBGL 1
-
-/* Define if you have the GLU library (-lGLU).  */
-#define HAVE_LIBGLU 1
-
-/* Define if you have the GLcore library (-lGLcore).  */
-/* #undef HAVE_LIBGLCORE */
-
-/* Define if you have the ICE library (-lICE).  */
-/* #define HAVE_LIBICE 1 */
-
-/* Define if you have the MesaGL library (-lMesaGL).  */
-/* #undef HAVE_LIBMESAGL */
-
-/* Define if you have the MesaGLU library (-lMesaGLU).  */
-/* #undef HAVE_LIBMESAGLU */
-
-/* Define if you have the SM library (-lSM).  */
-/* #define HAVE_LIBSM 1 */
-
-/* Define if you have the X11 library (-lX11).  */
-/* #define HAVE_LIBX11 1 */
-
-/* Define if you have the Xext library (-lXext).  */
-/* #define HAVE_LIBXEXT 1 */
-
-/* Define if you have the Xi library (-lXi).  */
-/* #define HAVE_LIBXI 1 */
-
-/* Define if you have the Xmu library (-lXmu).  */
-/* #define HAVE_LIBXMU 1 */
-
-/* Define if you have the Xt library (-lXt).  */
-/* #define HAVE_LIBXT 1 */
-
-/* Define if you have the glut library (-lglut).  */
-#define HAVE_LIBGLUT 1
-
-/* Define if you have the m library (-lm).  */
-#define HAVE_LIBM 1
-
-/* Define if you have the socket library (-lsocket).  */
-/* #undef HAVE_LIBSOCKET */
-
-/* Define if you have the <memory.h> header file.  */
-#define HAVE_MEMORY_H 1
-
-#define HAVE_MEMCPY 1
-
-#define NOMINMAX 1
-
-#ifndef ENABLE_AUDIO_SUPPORT
-#define  ENABLE_AUDIO_SUPPORT
-#endif
-
-#define FG_GLUT_H <GL/glut.h>
-
-// eof - config.h-msvc71 - single flightgear config.h file

diff --git a/src/Include/config.h-msvc8 b/src/Include/config.h-msvc8
old mode 100755 (executable)
new mode 100644 (file)

diff --git a/src/Include/config.h-msvc8.in b/src/Include/config.h-msvc8.in
deleted file mode 100644 (file)
index cc630a0..0000000
--- a/src/Include/config.h-msvc8.in
+++ /dev/null
@@ -1,202 +0,0 @@
-
-/* Special single config.h for MSVC6 build - Geoff McLane - 23 July, 2003  */
-
-/* Define to enable plib joystick support */
-#ifndef  ENABLE_PLIB_JOYSTICK
-#define ENABLE_PLIB_JOYSTICK
-#endif   // #ifndef  ENABLE_PLIB_JOYSTICK
-
-/* Define to enable threaded tile paging */
-#define ENABLE_THREADS 1
-#define ENABLE_AUDIO_SUPPORT 1
-
-/* Define so that JSBSim compiles in 'library' mode */
-#define FGFS 1
-
-/* Define to build with jpeg screen shot server */
-#undef FG_JPEG_SERVER
-
-/* Define to build with multiplayer support */
-#define FG_MPLAYER_AS 1
-
-/* Define for no logging output */
-#undef FG_NDEBUG
-
-/* Define to build with Oliver's networking */
-#undef FG_NETWORK_OLK
-
-/* Define to enable plib joystick name support */
-#define FG_PLIB_JOYSTICK_GETNAME
-
-/* Define to build with Christian Mayer's weather code */
-#undef FG_WEATHERCM
-
-/* Define if the X Window System is missing or not being used.  */
-#define X_DISPLAY_MISSING 1
-
-/* Define if the CONSOLE output has no ANSI driver (eg no "esc [ ..." seqs.) */
-#define  NO_ANSI_DRIVER
-
-/* Define to empty if the keyword does not work.  */
-/* #undef const */
-
-/* Define if you don't have vprintf but do have _doprnt.  */
-/* #undef HAVE_DOPRNT */
-
-/* Define if you have the vprintf function.  */
-#define HAVE_VPRINTF 1
-
-/* Define to package name - not used? */
-#define PACKAGE "FlightGear"
-
-/* Define to package version - use in main.cxx */
-#define FLIGHTGEAR_VERSION "MSVC8-WIN32-@VERSION@"
-
-/* Define as the return type of signal handlers (int or void).  */
-#define RETSIGTYPE void
-
-/* Define to `unsigned' if <sys/types.h> doesn't define.  */
-/* #undef size_t */
-
-/* Define if you have the ANSI C header files.  */
-#define STDC_HEADERS 1
-
-/* Define if you can safely include both <sys/time.h> and <time.h>.  */
-/* #undef TIME_WITH_SYS_TIME */
-
-/* Define if your <sys/time.h> declares struct tm.  */
-#define TM_IN_SYS_TIME 1
-
-/* Define to version number */
-#define VERSION "@VERSION@"
-
-/* Define if compiling on a Winbloze (95, NT, etc.) platform */
-#define WIN32 1
-
-/* Define if you have the GetLocalTime function.  */
-#define HAVE_GETLOCALTIME 1
-
-/* Define if you have the ftime function.  */
-#define HAVE_FTIME 1
-
-/* Define if you have the getitimer function.  */
-/* #define HAVE_GETITIMER 1 */
-
-/* Define if you have the getrusage function.  */
-/* #define HAVE_GETRUSAGE 1 */
-
-/* Define if you have the gettimeofday function.  */
-/* #define HAVE_GETTIMEOFDAY 1 */
-
-/* Define if you have the mktime function.  */
-#define HAVE_MKTIME 1
-
-/* Define if you have the rand function.  */
-#define HAVE_RAND 1
-
-/* Define if you have the random function.  */
-/* #define HAVE_RANDOM 1   */
-
-/* Define if you have the rint function.  */
-/* #define HAVE_RINT 1 */
-
-/* Define if you have the setitimer function.  */
-/* #define HAVE_SETITIMER 1 */
-
-/* Define if you have the signal function.  */
-#define HAVE_SIGNAL 1
-
-/* Define if you have the strstr function.  */
-#define HAVE_STRSTR 1
-
-/* Define if you have the <fcntl.h> header file.  */
-#define HAVE_FCNTL_H 1
-
-/* Define if you have the <getopt.h> header file.  */
-#define HAVE_GETOPT_H 1
-
-/* Define if you have the <malloc.h> header file.  */
-#define HAVE_MALLOC_H 1
-
-/* Define if you have the <stdlib.h> header file.  */
-#define HAVE_STDLIB_H 1
-
-/* Define if you have the <sys/time.h> header file.  */
-/* #define HAVE_SYS_TIME_H 1 */
-
-/* Define if you have the <sys/timeb.h> header file.  */
-#define HAVE_SYS_TIMEB_H 1
-
-/* Define if you have the <unistd.h> header file.  */
-/* #define HAVE_UNISTD_H 1 */
-
-/* Define if you have the <values.h> header file.  */
-/* #define HAVE_VALUES_H 1 */
-
-/* Define if you have the <winbase.h> header file.  */
-#define HAVE_WINBASE_H 1
-
-/* Define if you have the <windows.h> header file.  */
-#define HAVE_WINDOWS_H 1
-
-/* Define if you have the GL library (-lGL).  */
-#define HAVE_LIBGL 1
-
-/* Define if you have the GLU library (-lGLU).  */
-#define HAVE_LIBGLU 1
-
-/* Define if you have the GLcore library (-lGLcore).  */
-/* #undef HAVE_LIBGLCORE */
-
-/* Define if you have the ICE library (-lICE).  */
-/* #define HAVE_LIBICE 1 */
-
-/* Define if you have the MesaGL library (-lMesaGL).  */
-/* #undef HAVE_LIBMESAGL */
-
-/* Define if you have the MesaGLU library (-lMesaGLU).  */
-/* #undef HAVE_LIBMESAGLU */
-
-/* Define if you have the SM library (-lSM).  */
-/* #define HAVE_LIBSM 1 */
-
-/* Define if you have the X11 library (-lX11).  */
-/* #define HAVE_LIBX11 1 */
-
-/* Define if you have the Xext library (-lXext).  */
-/* #define HAVE_LIBXEXT 1 */
-
-/* Define if you have the Xi library (-lXi).  */
-/* #define HAVE_LIBXI 1 */
-
-/* Define if you have the Xmu library (-lXmu).  */
-/* #define HAVE_LIBXMU 1 */
-
-/* Define if you have the Xt library (-lXt).  */
-/* #define HAVE_LIBXT 1 */
-
-/* Define if you have the glut library (-lglut).  */
-#define HAVE_LIBGLUT 1
-
-/* Define if you have the m library (-lm).  */
-#define HAVE_LIBM 1
-
-/* Define if you have the socket library (-lsocket).  */
-/* #undef HAVE_LIBSOCKET */
-
-/* Define if you have the <memory.h> header file.  */
-#define HAVE_MEMORY_H 1
-
-#define HAVE_MEMCPY 1
-#define NOMINMAX 1
-
-
-#ifndef ENABLE_AUDIO_SUPPORT
-#define  ENABLE_AUDIO_SUPPORT
-#endif
-
-#ifndef  FG_GLUT_H
-#define  FG_GLUT_H   <GL/glut.h>
-#endif   // #ifndef FG_GLUT_H
-
-// eof - config.h-msvc6 - single flightgear config.h file

diff --git a/src/Include/config.h-msvc90 b/src/Include/config.h-msvc90
old mode 100755 (executable)
new mode 100644 (file)

diff --git a/src/Include/config.h-msvc90.in b/src/Include/config.h-msvc90.in
deleted file mode 100644 (file)
index 52695b0..0000000
--- a/src/Include/config.h-msvc90.in
+++ /dev/null
@@ -1,174 +0,0 @@
-/* Special single config.h for MSVC90 build - F. Bouvier - 17 Jan, 2010 */
-
-/* Define if the X Window System is missing or not being used.  */
-#define X_DISPLAY_MISSING 1
-
-/* Define if the CONSOLE output has no ANSI driver (eg no "esc [ ..." seqs.) */
-#define  NO_ANSI_DRIVER
-
-/* Define to empty if the keyword does not work.  */
-/* #undef const */
-
-/* Define if you don't have vprintf but do have _doprnt.  */
-/* #undef HAVE_DOPRNT */
-
-/* Define if you have the vprintf function.  */
-#define HAVE_VPRINTF 1
-
-/* Define to package name - not used? */
-#define PACKAGE "FlightGear"
-
-/* Define to package version - use in main.cxx */
-#define FLIGHTGEAR_VERSION "MSVC9.0-WIN32-@VERSION@"
-
-/* Define as the return type of signal handlers (int or void).  */
-#define RETSIGTYPE void
-
-/* Define to `unsigned' if <sys/types.h> doesn't define.  */
-/* #undef size_t */
-
-/* Define if you have the ANSI C header files.  */
-#define STDC_HEADERS 1
-
-/* Define if you can safely include both <sys/time.h> and <time.h>.  */
-/* #undef TIME_WITH_SYS_TIME */
-
-/* Define if your <sys/time.h> declares struct tm.  */
-#define TM_IN_SYS_TIME 1
-
-/* Define to version number */
-#define VERSION "@VERSION@"
-#ifndef  FG_VERSION     /* allow override */
-#define  FG_VERSION     7
-#endif   /* FG_VERSION */
-
-/* Define if compiling on a Winbloze (95, NT, etc.) platform */
-#define WIN32 1
-
-/* Define if you have the GetLocalTime function.  */
-#define HAVE_GETLOCALTIME 1
-
-/* Define if you have the ftime function.  */
-#define HAVE_FTIME 1
-
-/* Define if you have the getitimer function.  */
-/* #define HAVE_GETITIMER 1 */
-
-/* Define if you have the getrusage function.  */
-/* #define HAVE_GETRUSAGE 1 */
-
-/* Define if you have the gettimeofday function.  */
-/* #define HAVE_GETTIMEOFDAY 1 */
-
-/* Define if you have the mktime function.  */
-#define HAVE_MKTIME 1
-
-/* Define if you have the rand function.  */
-#define HAVE_RAND 1
-
-/* Define if you have the random function.  */
-/* #define HAVE_RANDOM 1   */
-
-/* Define if you have the rint function.  */
-/* #define HAVE_RINT 1 */
-
-/* Define if you have the setitimer function.  */
-/* #define HAVE_SETITIMER 1 */
-
-/* Define if you have the signal function.  */
-#define HAVE_SIGNAL 1
-
-/* Define if you have the strstr function.  */
-#define HAVE_STRSTR 1
-
-/* Define if you have the <fcntl.h> header file.  */
-#define HAVE_FCNTL_H 1
-
-/* Define if you have the <getopt.h> header file.  */
-#define HAVE_GETOPT_H 1
-
-/* Define if you have the <malloc.h> header file.  */
-#define HAVE_MALLOC_H 1
-
-/* Define if you have the <stdlib.h> header file.  */
-#define HAVE_STDLIB_H 1
-
-/* Define if you have the <sys/time.h> header file.  */
-/* #define HAVE_SYS_TIME_H 1 */
-
-/* Define if you have the <sys/timeb.h> header file.  */
-#define HAVE_SYS_TIMEB_H 1
-
-/* Define if you have the <unistd.h> header file.  */
-/* #define HAVE_UNISTD_H 1 */
-
-/* Define if you have the <values.h> header file.  */
-/* #define HAVE_VALUES_H 1 */
-
-/* Define if you have the <winbase.h> header file.  */
-#define HAVE_WINBASE_H 1
-
-/* Define if you have the <windows.h> header file.  */
-#define HAVE_WINDOWS_H 1
-
-/* Define if you have the GL library (-lGL).  */
-#define HAVE_LIBGL 1
-
-/* Define if you have the GLU library (-lGLU).  */
-#define HAVE_LIBGLU 1
-
-/* Define if you have the GLcore library (-lGLcore).  */
-/* #undef HAVE_LIBGLCORE */
-
-/* Define if you have the ICE library (-lICE).  */
-/* #define HAVE_LIBICE 1 */
-
-/* Define if you have the MesaGL library (-lMesaGL).  */
-/* #undef HAVE_LIBMESAGL */
-
-/* Define if you have the MesaGLU library (-lMesaGLU).  */
-/* #undef HAVE_LIBMESAGLU */
-
-/* Define if you have the SM library (-lSM).  */
-/* #define HAVE_LIBSM 1 */
-
-/* Define if you have the X11 library (-lX11).  */
-/* #define HAVE_LIBX11 1 */
-
-/* Define if you have the Xext library (-lXext).  */
-/* #define HAVE_LIBXEXT 1 */
-
-/* Define if you have the Xi library (-lXi).  */
-/* #define HAVE_LIBXI 1 */
-
-/* Define if you have the Xmu library (-lXmu).  */
-/* #define HAVE_LIBXMU 1 */
-
-/* Define if you have the Xt library (-lXt).  */
-/* #define HAVE_LIBXT 1 */
-
-/* Define if you have the glut library (-lglut).  */
-#define HAVE_LIBGLUT 1
-
-/* Define if you have the m library (-lm).  */
-#define HAVE_LIBM 1
-
-/* Define if you have the socket library (-lsocket).  */
-/* #undef HAVE_LIBSOCKET */
-
-/* Define if you have the <memory.h> header file.  */
-#define HAVE_MEMORY_H 1
-
-#define HAVE_MEMCPY 1
-
-#define NOMINMAX 1
-
-#define HAVE_CULLSETTINGS_CLEAR_MASK 1
-
-#ifndef ENABLE_AUDIO_SUPPORT
-#define  ENABLE_AUDIO_SUPPORT
-#endif
-
-#define FG_GLUT_H <GL/glut.h>
-
-// eof - config.h-msvc90 - single flightgear config.h file

diff --git a/src/Include/general.hxx b/src/Include/general.hxx
index 0db2b8829fc046dfbab6f7f29ad870bc27b4fac4..c72f8031e21467099007a8587bfb0b5131cff5a8 100644 (file)
--- a/src/Include/general.hxx
+++ b/src/Include/general.hxx
@@ -56,10 +56,11 @@ class FGGeneral {
 #endif
 
 public:
-
+    inline char* get_glVendor() { return glVendor; }
     inline void set_glVendor( char *str ) { glVendor = str; }
     inline char* get_glRenderer() const { return glRenderer; }
     inline void set_glRenderer( char *str ) { glRenderer = str; }
+    inline char* get_glVersion() { return glVersion; }
     inline void set_glVersion( char *str ) { glVersion = str; }
     inline void set_glMaxTexSize( int i ) { glMaxTexSize = i; }
     inline int get_glMaxTexSize() const { return glMaxTexSize; }

diff --git a/src/Input/.gitignore b/src/Input/.gitignore
new file mode 100644 (file)
index 0000000..2abe61b
--- /dev/null
+++ b/src/Input/.gitignore
@@ -0,0 +1,2 @@
+fgjs
+js_demo

diff --git a/src/Input/FGButton.cxx b/src/Input/FGButton.cxx
index cb03aeac4f1a158333292781e2cf68638b1a9159..63a679d79e02f74cd3b7919af1617c69d6a1cb24 100644 (file)
--- a/src/Input/FGButton.cxx
+++ b/src/Input/FGButton.cxx
@@ -45,7 +45,7 @@ FGButton::~FGButton ()
 }
 
 
-void FGButton::init( const SGPropertyNode * node, const string name, string & module )
+void FGButton::init( const SGPropertyNode * node, const std::string name, std::string & module )
 {
   if (node == 0) {
     SG_LOG(SG_INPUT, SG_DEBUG, "No bindings for button " << name);

diff --git a/src/Input/FGButton.hxx b/src/Input/FGButton.hxx
index 6ab5347a00c68d691b89aea3f8582abb2bb56937..675f969d29ac5f254d5b60b93ecbf1526ffb9a1b 100644 (file)
--- a/src/Input/FGButton.hxx
+++ b/src/Input/FGButton.hxx
@@ -32,7 +32,7 @@ class FGButton : public FGCommonInput {
 public:
   FGButton();
   virtual ~FGButton();
-  void init( const SGPropertyNode * node, const string name, string & module );
+  void init( const SGPropertyNode * node, const std::string name, std::string & module );
   void update( int modifiers, bool pressed, int x = -1, int y = -1);
   bool is_repeatable;
   float interval_sec;

diff --git a/src/Input/FGCommonInput.hxx b/src/Input/FGCommonInput.hxx
index 575ab5402451a3dda8a3f2c1b3647980c04a41b9..046ce8264c8355315574b972ee6f4ab87e3d9fb8 100644 (file)
--- a/src/Input/FGCommonInput.hxx
+++ b/src/Input/FGCommonInput.hxx
@@ -39,14 +39,14 @@
 
 class FGCommonInput {
 public:
-  typedef vector<SGSharedPtr<SGBinding> > binding_list_t;
+  typedef std::vector<SGSharedPtr<SGBinding> > binding_list_t;
 
   /*
    read all "binding" nodes directly under the specified base node and fill the 
    vector of SGBinding supplied in binding_list. Reads all the mod-xxx bindings and 
    add the corresponding SGBindings.
    */
-  static void read_bindings (const SGPropertyNode * base, binding_list_t * binding_list, int modifiers, const string & module );
+  static void read_bindings (const SGPropertyNode * base, binding_list_t * binding_list, int modifiers, const std::string & module );
 };
 
 #endif

diff --git a/src/Input/FGDeviceConfigurationMap.hxx b/src/Input/FGDeviceConfigurationMap.hxx
index 27a3a8a143d6904a43d6140d15361d0808cc2e29..e89addc966b0ab6cf254850a490264577c91367e 100644 (file)
--- a/src/Input/FGDeviceConfigurationMap.hxx
+++ b/src/Input/FGDeviceConfigurationMap.hxx
@@ -33,9 +33,8 @@
 #include <simgear/misc/sg_path.hxx>
 
 #include <map>
-using std::map;
 
-class FGDeviceConfigurationMap : public map<string,SGPropertyNode_ptr> {
+class FGDeviceConfigurationMap : public std::map<std::string,SGPropertyNode_ptr> {
 public:
   FGDeviceConfigurationMap ( const char * relative_path, SGPropertyNode_ptr base, const char * childname );
   virtual ~FGDeviceConfigurationMap();

diff --git a/src/Input/FGMouseInput.cxx b/src/Input/FGMouseInput.cxx
index c0b7e3f87620169f7b43131d094f24ae109a74af..16bb7883e8a833cae35fb762dba12647ceecd46c 100644 (file)
--- a/src/Input/FGMouseInput.cxx
+++ b/src/Input/FGMouseInput.cxx
@@ -25,7 +25,7 @@
 #include "FGMouseInput.hxx"
 
 \f
-void ActivePickCallbacks::init( int b, const osgGA::GUIEventAdapter* ea ) 
+void ActivePickCallbacks::init( int b, const osgGA::GUIEventAdapter* ea )
 {
   // Get the list of hit callbacks. Take the first callback that
   // accepts the mouse button press and ignore the rest of them
@@ -44,7 +44,7 @@ void ActivePickCallbacks::init( int b, const osgGA::GUIEventAdapter* ea )
   }
 }
 
-void ActivePickCallbacks::update( double dt ) 
+void ActivePickCallbacks::update( double dt )
 {
   // handle repeatable mouse press events
   for( iterator mi = begin(); mi != end(); ++mi ) {
@@ -202,6 +202,7 @@ FGMouseInput::mouse::mouse ()
     save_y(-1),
     nModes(1),
     current_mode(0),
+    timeout(0),
     modes(NULL)
 {
 }

diff --git a/src/Instrumentation/HUD/HUD_label.cxx b/src/Instrumentation/HUD/HUD_label.cxx
index 98a6a1df0974612cd95815a9f47e8af1c6e3be3a..5cf2bcb57f0498809e2b525b7cf5ccbdc149a471 100644 (file)
--- a/src/Instrumentation/HUD/HUD_label.cxx
+++ b/src/Instrumentation/HUD/HUD_label.cxx
@@ -144,7 +144,7 @@ void HUD::Label::draw(void)
     char buf[BUFSIZE+1];
        buf[ BUFSIZE] = '\0';  // Be sure to terminate properly
     if (_mode == NONE)
-        snprintf(buf, BUFSIZE, _format.c_str());
+        snprintf(buf, BUFSIZE, _format.c_str(), 0);
     else if (_mode == STRING)
         snprintf(buf, BUFSIZE, _format.c_str(), _input.getStringValue());
     else if (_mode == INT)

diff --git a/src/Instrumentation/HUD/HUD_ladder.cxx b/src/Instrumentation/HUD/HUD_ladder.cxx
index 75b2e3afc29851b736e39151e0eca977c05e15c3..478ffa1b1ae50c51ea3c042c5b6b7e56c5a50e2b 100644 (file)
--- a/src/Instrumentation/HUD/HUD_ladder.cxx
+++ b/src/Instrumentation/HUD/HUD_ladder.cxx
@@ -24,11 +24,10 @@
 #endif
 
 #include <sstream>
-#include <simgear/math/vector.hxx>
+#include <simgear/math/SGGeometry.hxx>
 #include <Main/viewer.hxx>
 #include "HUD.hxx"
 
-
 // FIXME
 static float get__heading() { return fgGetFloat("/orientation/heading-deg") * M_PI / 180.0; }
 static float get__throttleval() { return fgGetFloat("/controls/engines/engine/throttle"); }
@@ -424,12 +423,11 @@ void HUD::Ladder::draw(void)
             // however the horizon line should always stay on the horizon.  We
             // project the alpha/beta offset onto the horizon line to get the
             // result we want.
-            sgdVec3 p1; // result
-            sgdVec3 p; sgdSetVec3(p, vel_x, vel_y, 0.0);
-            sgdVec3 p0; sgdSetVec3(p0, 0.0, 0.0, 0.0);
-            sgdVec3 d; sgdSetVec3(d, cos(roll_value), sin(roll_value), 0.0);
-            sgdClosestPointToLine(p1, p, p0, d);
-            glTranslatef(p1[0], p1[1], 0);
+            
+            SGVec3d d(cos(roll_value), sin(roll_value), 0.0);
+            SGRayd r(SGVec3d::zeros(), d);
+            SGVec3d p = r.getClosestPointTo(SGVec3d(vel_x, vel_y, 0.0));
+            glTranslatef(p[0], p[1], 0);
         }
     } else {
         // ladder position is fixed relative to the center of the screen.

diff --git a/src/Instrumentation/HUD/HUD_runway.cxx b/src/Instrumentation/HUD/HUD_runway.cxx
index 8eb443c36ac33371a68c88c79afe617987f6ec67..450f118a3cc4b1998b685c41e3fcb27dd9ebabb6 100644 (file)
--- a/src/Instrumentation/HUD/HUD_runway.cxx
+++ b/src/Instrumentation/HUD/HUD_runway.cxx
@@ -29,7 +29,6 @@
 
 #include <Main/globals.hxx>
 #include <Scenery/scenery.hxx>
-#include <Aircraft/aircraft.hxx>
 #include <Aircraft/controls.hxx>
 #include <FDM/flight.hxx>
 #include <Environment/environment.hxx>
@@ -180,7 +179,7 @@ FGRunway* HUD::Runway::get_active_runway()
 
 void HUD::Runway::get_rwy_points(sgdVec3 *_points3d)
 {
-    double alt = current_aircraft.fdm_state->get_Runway_altitude() * SG_FEET_TO_METER;
+    double alt = _runway->geod().getElevationM();
     double length = _runway->lengthM() * 0.5;
     double width = _runway->widthM() * 0.5;
     double frontLat = 0.0, frontLon = 0.0, backLat = 0.0, backLon = 0.0, az = 0.0, tempLat = 0.0, tempLon = 0.0;

diff --git a/src/Instrumentation/KLN89/kln89_page_apt.cxx b/src/Instrumentation/KLN89/kln89_page_apt.cxx
index 96cceea0d0c6c21e48b6295010bdba6f5aa22dd6..e15b1a45e4f746a8a7d10500fc38c4d1f118677f 100644 (file)
--- a/src/Instrumentation/KLN89/kln89_page_apt.cxx
+++ b/src/Instrumentation/KLN89/kln89_page_apt.cxx
@@ -26,7 +26,14 @@
 #endif
 
 #include "kln89_page_apt.hxx"
-#include <ATCDCL/commlist.hxx>
+
+#include <cassert>
+
+#if ENABLE_ATCDCL
+#    include <ATCDCL/commlist.hxx>
+#else
+  #include <ATC/atcutils.hxx>
+#endif
 #include <Main/globals.hxx>
 #include <Airports/runways.hxx>
 #include <Airports/simple.hxx>

diff --git a/src/Instrumentation/dclgps.cxx b/src/Instrumentation/dclgps.cxx
index d3da8e828e5902107f6400b70898a05bd31ad366..018e943c4cd62b4618360f664b5bf03dbbf9b9ae 100644 (file)
--- a/src/Instrumentation/dclgps.cxx
+++ b/src/Instrumentation/dclgps.cxx
@@ -1102,7 +1102,8 @@ FGPositioned* DCLGPS::FindTypedFirstById(const string& id, FGPositioned::Type ty
   
   if (exact) {
     FGPositioned::List matches = 
-      FGPositioned::findAllWithIdentSortedByRange(id, SGGeod::fromRad(_lon, _lat), &filter);
+      FGPositioned::findAllWithIdent(id, &filter);
+    FGPositioned::sortByRange(matches, SGGeod::fromRad(_lon, _lat));
     multi = (matches.size() > 1);
     return matches.empty() ? NULL : matches.front().ptr();
   }

diff --git a/src/Instrumentation/gps.cxx b/src/Instrumentation/gps.cxx
index 1ddb87e083356db9c883a4e360e67c6eca49ec9c..71e3becbd7016815be7b493aa57e49f358b8f293 100644 (file)
--- a/src/Instrumentation/gps.cxx
+++ b/src/Instrumentation/gps.cxx
@@ -11,6 +11,7 @@
 
 #include <memory>
 #include <set>
+#include <cstring>
 
 #include "Main/fg_props.hxx"
 #include "Main/globals.hxx" // for get_subsystem
@@ -144,10 +145,10 @@ public:
   DeprecatedPropListener(SGPropertyNode* gps)
   {
     _parents.insert(gps);
-    SGPropertyNode* wp = gps->getChild("wp"); 
+    SGPropertyNode* wp = gps->getChild("wp", 0, true); 
     _parents.insert(wp);
-    _parents.insert(wp->getChild("wp", 0));
-    _parents.insert(wp->getChild("wp", 1));
+    _parents.insert(wp->getChild("wp", 0, true));
+    _parents.insert(wp->getChild("wp", 1, true));
     
     std::set<SGPropertyNode*>::iterator it;
     for (it = _parents.begin(); it != _parents.end(); ++it) {
@@ -331,7 +332,7 @@ GPS::bind()
   
   tie(_gpsNode, "desired-course-deg", SGRawValueMethods<GPS, double>
     (*this, &GPS::getDesiredCourse, NULL));
-  _desiredCourseNode = _gpsNode->getChild("desired-course-deg");
+  _desiredCourseNode = _gpsNode->getChild("desired-course-deg", 0, true);
     
   tieSGGeodReadOnly(_gpsNode, _indicated_pos, "indicated-longitude-deg", 
         "indicated-latitude-deg", "indicated-altitude-ft");
@@ -1382,9 +1383,6 @@ void GPS::setScratchFromRouteWaypoint(int aIndex)
   _scratchValid = true;
   _scratchNode->setDoubleValue("course", wp.get_track());
   _scratchNode->setIntValue("index", aIndex);
-  
-  int lastResult = _routeMgr->size() - 1;
-  _searchHasNext = (_searchResultIndex < lastResult);
 }
 
 void GPS::loadNearest()
@@ -1409,17 +1407,14 @@ void GPS::loadNearest()
     
   _searchResults = 
     FGPositioned::findClosestN(searchPos, limitCount, cutoffDistance, f.get());
-  _searchResultsCached = true;
   _searchResultIndex = 0;
   _searchIsRoute = false;
-  _searchHasNext = false;
   
   if (_searchResults.empty()) {
     SG_LOG(SG_INSTR, SG_INFO, "GPS:loadNearest: no matches at all");
     return;
   }
   
-  _searchHasNext = (_searchResults.size() > 1);
   setScratchFromCachedSearchResult();
 }
 
@@ -1476,66 +1471,47 @@ void GPS::search()
   }
   
   _searchExact = _scratchNode->getBoolValue("exact", true);
-  _searchOrderByRange = _scratchNode->getBoolValue("order-by-distance", true);
   _searchResultIndex = 0;
   _searchIsRoute = false;
-  _searchHasNext = false;
-  
-  if (_searchExact && _searchOrderByRange) {
-    // immediate mode search, get all the results now and cache them
-    auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
-    if (_searchNames) {
-      _searchResults = FGPositioned::findAllWithNameSortedByRange(_searchQuery, _indicated_pos, f.get());
-    } else {
-      _searchResults = FGPositioned::findAllWithIdentSortedByRange(_searchQuery, _indicated_pos, f.get());
-    }
-    
-    _searchResultsCached = true;
-    
-    if (_searchResults.empty()) {
-      clearScratch();
-      return;
-    }
-    
-    _searchHasNext = (_searchResults.size() > 1);
-    setScratchFromCachedSearchResult();
-  } else {
-    // iterative search, look up result zero
-    _searchResultsCached = false;
-    performSearch();
-  }
-}
 
-void GPS::performSearch()
-{
   auto_ptr<FGPositioned::Filter> f(createFilter(_searchType));
-  clearScratch();
-  
-  FGPositionedRef r;
   if (_searchNames) {
-    if (_searchOrderByRange) {
-      r = FGPositioned::findClosestWithPartialName(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
-    } else {
-      r = FGPositioned::findWithPartialName(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
-    }
+    _searchResults = FGPositioned::findAllWithName(_searchQuery, f.get());
   } else {
-    if (_searchOrderByRange) {
-      r = FGPositioned::findClosestWithPartialId(_indicated_pos, _searchQuery, f.get(), _searchResultIndex, _searchHasNext);
-    } else {
-      r = FGPositioned::findWithPartialId(_searchQuery, f.get(), _searchResultIndex, _searchHasNext);
-    }
+    _searchResults = FGPositioned::findAllWithIdent(_searchQuery, f.get());
+  }
+  
+  bool orderByRange = _scratchNode->getBoolValue("order-by-distance", true);
+  if (orderByRange) {
+    FGPositioned::sortByRange(_searchResults, _indicated_pos);
   }
   
-  if (!r) {
+  if (_searchResults.empty()) {
+    clearScratch();
     return;
   }
   
-  setScratchFromPositioned(r.get(), _searchResultIndex);
+  setScratchFromCachedSearchResult();
+}
+
+bool GPS::getScratchHasNext() const
+{
+  int lastResult;
+  if (_searchIsRoute) {
+    lastResult = _routeMgr->size() - 1;
+  } else {
+    lastResult = (int) _searchResults.size() - 1;
+  }
+
+  if (lastResult < 0) { // search array might be empty
+    return false;
+  }
+  
+  return (_searchResultIndex < lastResult);
 }
 
 void GPS::setScratchFromCachedSearchResult()
 {
-  assert(_searchResultsCached);
   int index = _searchResultIndex;
   
   if ((index < 0) || (index >= (int) _searchResults.size())) {
@@ -1544,9 +1520,6 @@ void GPS::setScratchFromCachedSearchResult()
   }
   
   setScratchFromPositioned(_searchResults[index], index);
-  
-  int lastResult = (int) _searchResults.size() - 1;
-  _searchHasNext = (_searchResultIndex < lastResult);
 }
 
 void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
@@ -1564,9 +1537,7 @@ void GPS::setScratchFromPositioned(FGPositioned* aPos, int aIndex)
   }
   
   _scratchValid = true;
-  if (_searchResultsCached) {
-    _scratchNode->setIntValue("result-count", _searchResults.size());
-  }
+  _scratchNode->setIntValue("result-count", _searchResults.size());
   
   switch (aPos->type()) {
   case FGPositioned::VOR:
@@ -1650,20 +1621,17 @@ void GPS::selectLegMode()
 
 void GPS::nextResult()
 {
-  if (!_searchHasNext) {
+  if (!getScratchHasNext()) {
     return;
   }
   
   clearScratch();
   if (_searchIsRoute) {
     setScratchFromRouteWaypoint(++_searchResultIndex);
-  } else if (_searchResultsCached) {
-    ++_searchResultIndex;
-    setScratchFromCachedSearchResult();
   } else {
     ++_searchResultIndex;
-    performSearch();
-  } // of iterative search case
+    setScratchFromCachedSearchResult();
+  }
 }
 
 void GPS::previousResult()
@@ -1677,10 +1645,8 @@ void GPS::previousResult()
   
   if (_searchIsRoute) {
     setScratchFromRouteWaypoint(_searchResultIndex);
-  } else if (_searchResultsCached) {
-    setScratchFromCachedSearchResult();
   } else {
-    performSearch();
+    setScratchFromCachedSearchResult();
   }
 }
 
@@ -1699,14 +1665,15 @@ void GPS::defineWaypoint()
     
 // check for duplicate idents
   FGPositioned::TypeFilter f(FGPositioned::WAYPOINT);
-  FGPositioned::List dups = FGPositioned::findAllWithIdentSortedByRange(ident, _indicated_pos, &f);
+  FGPositioned::List dups = FGPositioned::findAllWithIdent(ident, &f);
   if (!dups.empty()) {
     SG_LOG(SG_INSTR, SG_WARN, "GPS:defineWaypoint: non-unique waypoint identifier, ho-hum");
   }
   
   SG_LOG(SG_INSTR, SG_INFO, "GPS:defineWaypoint: creating waypoint:" << ident);
   FGPositionedRef wpt = FGPositioned::createUserWaypoint(ident, _scratchPos);
-  _searchResultsCached = false;
+  _searchResults.clear();
+  _searchResults.push_back(wpt);
   setScratchFromPositioned(wpt.get(), -1);
 }
 

diff --git a/src/Instrumentation/gps.hxx b/src/Instrumentation/gps.hxx
index f1a1b43967ffc7659cd50ae3376dea7100ac80c0..d6c3a7069bfe96d2f3d32d1ed71cab60bec6b1d3 100644 (file)
--- a/src/Instrumentation/gps.hxx
+++ b/src/Instrumentation/gps.hxx
@@ -7,6 +7,8 @@
 #ifndef __INSTRUMENTS_GPS_HXX
 #define __INSTRUMENTS_GPS_HXX 1
 
+#include <cassert>
+
 #include <simgear/props/props.hxx>
 #include <simgear/structure/subsystem_mgr.hxx>
 #include <simgear/math/SGMath.hxx>
@@ -262,7 +264,7 @@ private:
   double getScratchDistance() const;
   double getScratchMagBearing() const;
   double getScratchTrueBearing() const;
-  bool getScratchHasNext() const { return _searchHasNext; }
+  bool getScratchHasNext() const;
   
   double getSelectedCourse() const { return _selectedCourse; }
   void setSelectedCourse(double crs);
@@ -392,8 +394,6 @@ private:
   std::string _searchQuery;
   FGPositioned::Type _searchType;
   bool _searchExact;
-  bool _searchOrderByRange;
-  bool _searchResultsCached;
   FGPositioned::List _searchResults;
   bool _searchIsRoute; ///< set if 'search' is actually the current route
   bool _searchHasNext; ///< is there a result after this one?

diff --git a/src/Instrumentation/groundradar.cxx b/src/Instrumentation/groundradar.cxx
index 56c7d0902ac372679a24fe218991046ab06976d4..ffa2e1fc945881d6f4278c49b4aa22f425e3b573 100644 (file)
--- a/src/Instrumentation/groundradar.cxx
+++ b/src/Instrumentation/groundradar.cxx
@@ -20,6 +20,8 @@
 #  include "config.h"
 #endif
 
+#include <cassert>
+
 #include <osg/Node>
 #include <osg/Geode>
 #include <osg/Geometry>

diff --git a/src/Instrumentation/instrument_mgr.cxx b/src/Instrumentation/instrument_mgr.cxx
index 6bfecbb270968d540253735f1fd426cddf07c9ca..2e3f21e3f3d5fcaaf7549e8f79715e9eb535ebef 100644 (file)
--- a/src/Instrumentation/instrument_mgr.cxx
+++ b/src/Instrumentation/instrument_mgr.cxx
@@ -56,46 +56,68 @@ FGInstrumentMgr::FGInstrumentMgr () :
 {
     set_subsystem("od_gauge", new FGODGauge);
     set_subsystem("hud", new HUD);
+}
 
-    SGPropertyNode_ptr config_props = new SGPropertyNode;
-
-    SGPropertyNode *path_n = fgGetNode("/sim/instrumentation/path");
-
-    if (path_n) {
-        SGPath config( globals->get_fg_root() );
-        config.append( path_n->getStringValue() );
-
-        SG_LOG( SG_ALL, SG_INFO, "Reading instruments from "
-                << config.str() );
-        try {
-            readProperties( config.str(), config_props );
+FGInstrumentMgr::~FGInstrumentMgr ()
+{
+}
 
-            if ( !build(config_props) ) {
-                throw sg_error(
+void FGInstrumentMgr::init()
+{
+  SGPropertyNode_ptr config_props = new SGPropertyNode;
+  SGPropertyNode* path_n = fgGetNode("/sim/instrumentation/path");
+  if (!path_n) {
+    SG_LOG(SG_COCKPIT, SG_WARN, "No instrumentation model specified for this model!");
+    return;
+  }
+
+  SGPath config = globals->resolve_aircraft_path(path_n->getStringValue());
+  SG_LOG( SG_COCKPIT, SG_INFO, "Reading instruments from " << config.str() );
+
+  try {
+    readProperties( config.str(), config_props );
+    if (!build(config_props)) {
+      throw sg_error(
                     "Detected an internal inconsistency in the instrumentation\n"
                     "system specification file.  See earlier errors for details.");
-            }
-        } catch (const sg_exception&) {
-            SG_LOG( SG_ALL, SG_ALERT, "Failed to load instrumentation system model: "
-                    << config.str() );
-        }
-
-    } else {
-        SG_LOG( SG_ALL, SG_WARN,
-                "No instrumentation model specified for this model!");
-    }
-
-    if (!_explicitGps) {
-      SG_LOG(SG_INSTR, SG_INFO, "creating default GPS instrument");
-      SGPropertyNode_ptr nd(new SGPropertyNode);
-      nd->setStringValue("name", "gps");
-      nd->setIntValue("number", 0);
-      set_subsystem("gps[0]", new GPS(nd));
     }
+  } catch (const sg_exception&) {
+    SG_LOG(SG_COCKPIT, SG_ALERT, "Failed to load instrumentation system model: "
+                    << config.str() );
+  }
+
+
+  if (!_explicitGps) {
+    SG_LOG(SG_INSTR, SG_INFO, "creating default GPS instrument");
+    SGPropertyNode_ptr nd(new SGPropertyNode);
+    nd->setStringValue("name", "gps");
+    nd->setIntValue("number", 0);
+    _instruments.push_back("gps[0]");
+    set_subsystem("gps[0]", new GPS(nd));
+  }
+
+  // bind() created instruments before init.
+  for (unsigned int i=0; i<_instruments.size(); ++i) {
+    const std::string& nm(_instruments[i]);
+    SGSubsystem* instr = get_subsystem(nm);
+    instr->bind();
+  }
+
+  SGSubsystemGroup::init();
 }
 
-FGInstrumentMgr::~FGInstrumentMgr ()
-{
+void FGInstrumentMgr::reinit()
+{  
+// delete all our instrument
+  for (unsigned int i=0; i<_instruments.size(); ++i) {
+    const std::string& nm(_instruments[i]);
+    SGSubsystem* instr = get_subsystem(nm);
+    instr->unbind();
+    remove_subsystem(nm);
+    delete instr;
+  }
+  
+  init();
 }
 
 bool FGInstrumentMgr::build (SGPropertyNode* config_props)
@@ -111,7 +133,7 @@ bool FGInstrumentMgr::build (SGPropertyNode* config_props)
         if (index > 0)
             subsystemname << '['<< index << ']';
         string id = subsystemname.str();
-
+        _instruments.push_back(id);
 
         if ( name == "adf" ) {
             set_subsystem( id, new ADF( node ), 0.15 );

diff --git a/src/Instrumentation/instrument_mgr.hxx b/src/Instrumentation/instrument_mgr.hxx
index b5856ef979de8e0da90be5ff5e4183db7e1a6ede..d7c9b2a07b66ef2474f4b6dcd7f402b30a7ba66d 100644 (file)
--- a/src/Instrumentation/instrument_mgr.hxx
+++ b/src/Instrumentation/instrument_mgr.hxx
@@ -31,10 +31,15 @@ public:
 
     FGInstrumentMgr ();
     virtual ~FGInstrumentMgr ();
-    bool build (SGPropertyNode* config_props);
-
+    
+    virtual void init();
+    virtual void reinit();
 private:
+    bool build (SGPropertyNode* config_props);
+    
     bool _explicitGps;
+    
+    std::vector<std::string> _instruments;
 };
 
 #endif // __INSTRUMENT_MGR_HXX

diff --git a/src/Instrumentation/kr_87.cxx b/src/Instrumentation/kr_87.cxx
index 41928a097f486c223b6cc224c0bac09c7ff9480c..30c0cbe6694270b0a6fa6ffc034672b4c7d79435 100644 (file)
--- a/src/Instrumentation/kr_87.cxx
+++ b/src/Instrumentation/kr_87.cxx
@@ -32,7 +32,6 @@
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/timing/sg_time.hxx>
 
-#include <Aircraft/aircraft.hxx>
 #include <Navaids/navlist.hxx>
 
 #include "kr_87.hxx"

diff --git a/src/Instrumentation/kt_70.cxx b/src/Instrumentation/kt_70.cxx
index 99787b71fde2674f9362ec1ebf13e9e3da301fad..ec48bf84d946aebdc870b24b0680536d84f4664e 100644 (file)
--- a/src/Instrumentation/kt_70.cxx
+++ b/src/Instrumentation/kt_70.cxx
@@ -32,8 +32,6 @@
 #include <simgear/compiler.h>
 #include <simgear/math/sg_random.h>
 
-#include <Aircraft/aircraft.hxx>
-
 #include "kt_70.hxx"
 
 

diff --git a/src/Instrumentation/marker_beacon.cxx b/src/Instrumentation/marker_beacon.cxx
index c9f7c9a34b54855a40204d432efe6af211a278b5..f7945722d1dbd22a0ed7869003eab149ff301e21 100644 (file)
--- a/src/Instrumentation/marker_beacon.cxx
+++ b/src/Instrumentation/marker_beacon.cxx
@@ -31,7 +31,6 @@
 #include <simgear/math/sg_random.h>
 #include <simgear/misc/sg_path.hxx>
 
-#include <Aircraft/aircraft.hxx>
 #include <Navaids/navlist.hxx>
 
 #include "marker_beacon.hxx"

diff --git a/src/Instrumentation/mk_viii.cxx b/src/Instrumentation/mk_viii.cxx
index a3073136a713076b46d5c5befa365d1759f1ac39..12f3ef050c67f35b1d8caea8238fa1ea764dfb11 100755 (executable)
--- a/src/Instrumentation/mk_viii.cxx
+++ b/src/Instrumentation/mk_viii.cxx
@@ -182,6 +182,8 @@ MK_VIII::PropertiesHandler::init ()
   mk_node(altimeter_serviceable) = fgGetNode("/instrumentation/altimeter/serviceable", true);
   mk_node(altitude) = fgGetNode("/position/altitude-ft", true);
   mk_node(altitude_agl) = fgGetNode("/position/altitude-agl-ft", true);
+  mk_node(altitude_gear_agl) = fgGetNode("/position/gear-agl-ft", true);
+  mk_node(orientation_roll) = fgGetNode("/orientation/roll-deg", true);
   mk_node(asi_serviceable) = fgGetNode("/instrumentation/airspeed-indicator/serviceable", true);
   mk_node(asi_speed) = fgGetNode("/instrumentation/airspeed-indicator/indicated-speed-kt", true);
   mk_node(autopilot_heading_lock) = fgGetNode("/autopilot/locks/heading", true);
@@ -712,7 +714,10 @@ MK_VIII::ConfigurationModule::read_options_select_group_1 (int value)
 bool
 MK_VIII::ConfigurationModule::read_radio_altitude_input_select (int value)
 {
-  // unimplemented
+  if (value >= 0 && value <= 2)
+    mk->io_handler.conf.use_gear_altitude = true;
+  else
+    mk->io_handler.conf.use_gear_altitude = false;
   return (value >= 0 && value <= 4) || (value >= 251 && value <= 255);
 }
 
@@ -732,7 +737,10 @@ MK_VIII::ConfigurationModule::read_navigation_input_select (int value)
 bool
 MK_VIII::ConfigurationModule::read_attitude_input_select (int value)
 {
-  // unimplemented
+  if (value == 2)
+    mk->io_handler.conf.use_attitude_indicator=true;
+  else
+    mk->io_handler.conf.use_attitude_indicator=false;
   return (value >= 0 && value <= 6) || value == 253 || value == 255;
 }
 
@@ -1144,9 +1152,13 @@ MK_VIII::IOHandler::update_inputs ()
     mk_ainput(barometric_altitude_rate).set(mk_node(vs)->getDoubleValue() * 60);
   if (mk_ainput_feed(radio_altitude))
     {
+      double agl;
+      if (conf.use_gear_altitude)
+        agl = mk_node(altitude_gear_agl)->getDoubleValue();
+      else
+        agl = mk_node(altitude_agl)->getDoubleValue();
       // Some flight models may return negative values when on the
       // ground or after a crash; do not allow them.
-      double agl = mk_node(altitude_agl)->getDoubleValue();
       mk_ainput(radio_altitude).set(SG_MAX2(0.0, agl));
     }
   if (mk_ainput_feed(glideslope_deviation))
@@ -1164,11 +1176,20 @@ MK_VIII::IOHandler::update_inputs ()
     }
   if (mk_ainput_feed(roll_angle))
     {
+      if (conf.use_attitude_indicator)
+      {
+        // read data from attitude indicator instrument (requires vacuum system to work)
       if (mk_node(ai_serviceable)->getBoolValue() && ! mk_node(ai_caged)->getBoolValue())
        mk_ainput(roll_angle).set(mk_node(ai_roll)->getDoubleValue());
       else
        mk_ainput(roll_angle).unset();
     }
+      else
+      {
+        // use simulator source
+        mk_ainput(roll_angle).set(mk_node(orientation_roll)->getDoubleValue());
+      }
+    }
   if (mk_ainput_feed(localizer_deviation))
     {
       if (mk_node(nav0_serviceable)->getBoolValue()
@@ -2624,6 +2645,8 @@ MK_VIII::SelfTestHandler::stop ()
 
       button_pressed = false;
       state = STATE_NONE;
+      // reset self-test handler position
+      current=0;
     }
 }
 
@@ -2933,7 +2956,7 @@ MK_VIII::AlertHandler::update ()
 
   // set new state
 
-  old_alerts = alerts;
+  old_alerts = voice_alerts;
   repeated_alerts = 0;
   altitude_callout_voice = NULL;
 }
@@ -3764,6 +3787,7 @@ MK_VIII::Mode4Handler::update_ab ()
     }
 
   mk_unset_alerts(mk_alert(MODE4_TOO_LOW_FLAPS) | mk_alert(MODE4_TOO_LOW_GEAR));
+  ab_bias=0.0;
 }
 
 void
@@ -3789,6 +3813,7 @@ MK_VIII::Mode4Handler::update_ab_expanded ()
     }
 
   mk_unset_alerts(mk_alert(MODE4AB_TOO_LOW_TERRAIN));
+  ab_expanded_bias=0.0;
 }
 
 void
@@ -3805,7 +3830,10 @@ MK_VIII::Mode4Handler::update_c ()
       && mk_data(radio_altitude).get() < mk_data(terrain_clearance).get())
     handle_alert(mk_alert(MODE4C_TOO_LOW_TERRAIN), mk_data(terrain_clearance).get(), &c_bias);
   else
+  {
     mk_unset_alerts(mk_alert(MODE4C_TOO_LOW_TERRAIN));
+    c_bias=0.0;
+  }
 }
 
 void

diff --git a/src/Instrumentation/mk_viii.hxx b/src/Instrumentation/mk_viii.hxx
index 7d33b1ca8358c43f31f973a792d289759c13223b..fe9f564fabebecd766bcc1d3c320a5af0fa35f73 100755 (executable)
--- a/src/Instrumentation/mk_viii.hxx
+++ b/src/Instrumentation/mk_viii.hxx
@@ -200,6 +200,8 @@ class MK_VIII : public SGSubsystem
       SGPropertyNode_ptr altimeter_serviceable;
       SGPropertyNode_ptr altitude;
       SGPropertyNode_ptr altitude_agl;
+      SGPropertyNode_ptr altitude_gear_agl;
+      SGPropertyNode_ptr orientation_roll;
       SGPropertyNode_ptr asi_serviceable;
       SGPropertyNode_ptr asi_speed;
       SGPropertyNode_ptr autopilot_heading_lock;
@@ -479,6 +481,8 @@ public:
       bool                     alternate_steep_approach;
       bool                     use_internal_gps;
       bool                     localizer_enabled;
+      bool                     use_gear_altitude;
+      bool                     use_attitude_indicator;
     } conf;
 
     struct _s_input_feeders
@@ -1358,7 +1362,7 @@ private:
     } conf;
 
     inline Mode4Handler (MK_VIII *device)
-      : mk(device) {}
+      : mk(device),ab_bias(0.0),ab_expanded_bias(0.0),c_bias(0.0) {}
 
     double get_upper_agl (const EnvelopesConfiguration *c);
     void update ();
@@ -1402,7 +1406,7 @@ private:
 
   public:
     inline Mode5Handler (MK_VIII *device)
-      : mk(device) {}
+      : mk(device), soft_bias(0.0) {}
 
     void update ();
   };

diff --git a/src/Instrumentation/navradio.cxx b/src/Instrumentation/navradio.cxx
index cdf61753007a5848ef5a7fce6a757bec590861ee..0970cae5aca7bae141869d91b88429039d51358b 100644 (file)
--- a/src/Instrumentation/navradio.cxx
+++ b/src/Instrumentation/navradio.cxx
@@ -28,15 +28,16 @@
 #include "navradio.hxx"
 
 #include <sstream>
+#include <cstring>
 
 #include <simgear/sg_inlines.h>
 #include <simgear/timing/sg_time.hxx>
-#include <simgear/math/vector.hxx>
 #include <simgear/math/sg_random.h>
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/structure/exception.hxx>
 #include <simgear/math/interpolater.hxx>
+#include <simgear/misc/strutils.hxx>
 
 #include <Navaids/navrecord.hxx>
 
@@ -878,12 +879,12 @@ void FGNavRadio::search()
   }
   
   _navaid = nav;
-  char identBuffer[5] = "    ";
+  string identBuffer(4, ' ');
   if (nav) {
     _dme = globals->get_dmelist()->findByFreq(freq, pos);
     
     nav_id_node->setStringValue(nav->get_ident());
-    strncpy(identBuffer, nav->ident().c_str(), 5);
+    identBuffer =  simgear::strutils::rpad( nav->ident(), 4, ' ' );
     
     effective_range = adjustNavRange(nav->get_elev_ft(), pos.getElevationM(), nav->get_range());
     loc_node->setBoolValue(nav->type() != FGPositioned::VOR);

diff --git a/src/Instrumentation/od_gauge.cxx b/src/Instrumentation/od_gauge.cxx
index e5eed1efc22da9eeddef0d7193ac3ac12316bde8..707030ef6f7e0f6bb955cf5eaeda2ae40cae2b54 100644 (file)
--- a/src/Instrumentation/od_gauge.cxx
+++ b/src/Instrumentation/od_gauge.cxx
@@ -38,7 +38,6 @@
 #include <osgDB/FileNameUtils>
 
 #include <simgear/scene/util/RenderConstants.hxx>
-#include <simgear/screen/extensions.hxx>
 #include <simgear/debug/logstream.hxx>
 
 #include <Main/globals.hxx>

diff --git a/src/Main/.gitignore b/src/Main/.gitignore
new file mode 100644 (file)
index 0000000..5ffcb24
--- /dev/null
+++ b/src/Main/.gitignore
@@ -0,0 +1,4 @@
+fgfs
+metar
+runfgfs
+runfgfs.bat

diff --git a/src/Main/Makefile.am b/src/Main/Makefile.am
index e0798d6d421c692834f9cec2e4d710e7366b5556..bafc883241e39c1ff2c0d25e66ffc891b6d705cd 100644 (file)
--- a/src/Main/Makefile.am
+++ b/src/Main/Makefile.am
@@ -86,7 +86,8 @@ fgfs_LDADD = \
        $(ATCDCL_LIBS) \
        $(top_builddir)/src/Cockpit/libCockpit.a \
        $(top_builddir)/src/Cockpit/built_in/libBuilt_in.a \
-       $(top_builddir)/src/FDM/libFlight.a \
+       $(top_builddir)/src/Network/libNetwork.a \
+        $(top_builddir)/src/FDM/libFlight.a \
        $(top_builddir)/src/FDM/ExternalNet/libExternalNet.a \
        $(top_builddir)/src/FDM/ExternalPipe/libExternalPipe.a \
        $(JSBSIM_LIBS) \
@@ -101,7 +102,6 @@ fgfs_LDADD = \
        $(top_builddir)/src/Instrumentation/libInstrumentation.a \
        $(top_builddir)/src/Instrumentation/HUD/libHUD.a \
        $(top_builddir)/src/Model/libModel.a \
-       $(top_builddir)/src/Network/libNetwork.a \
        $(top_builddir)/src/Navaids/libNavaids.a \
        $(top_builddir)/src/Scenery/libScenery.a \
        $(top_builddir)/src/Scripting/libScripting.a \
@@ -138,4 +138,4 @@ metar_LDADD = \
 
 metar_LDFLAGS = $(metar_PLIB_FW)
 
-INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src -I$(top_srcdir)/src/FDM/JSBSim
+INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src

diff --git a/src/Main/WindowBuilder.cxx b/src/Main/WindowBuilder.cxx
index 79fff968f98a1b9ccd04b536218cf1dc7ba0ccec..d1c90618f3a25c7d66e9d34e87c355f4eff73df1 100644 (file)
--- a/src/Main/WindowBuilder.cxx
+++ b/src/Main/WindowBuilder.cxx
@@ -60,6 +60,10 @@ WindowBuilder::makeDefaultTraits(bool stencil)
 
     GraphicsContext::Traits* traits = new osg::GraphicsContext::Traits;
     traits->readDISPLAY();
+    if (traits->displayNum < 0)
+        traits->displayNum = 0;
+    if (traits->screenNum < 0)
+        traits->screenNum = 0;
     int cbits = (bpp <= 16) ?  5 :  8;
     int zbits = (bpp <= 16) ? 16 : 24;
     traits->red = traits->green = traits->blue = cbits;
@@ -148,7 +152,7 @@ GraphicsWindow* WindowBuilder::buildWindow(const SGPropertyNode* winNode)
     string windowName;
     if (winNode->hasChild("window-name"))
         windowName = winNode->getStringValue("window-name");
-    else if (winNode->hasChild("name")) 
+    else if (winNode->hasChild("name"))
         windowName = winNode->getStringValue("name");
     GraphicsWindow* result = 0;
     if (!windowName.empty()) {

diff --git a/src/Main/bootstrap.cxx b/src/Main/bootstrap.cxx
index 877712d359f920f2ef0dd2c3338796ba6af2cc7e..8a360206e533ad8d67bc298b94a6c44705bb5ebc 100644 (file)
--- a/src/Main/bootstrap.cxx
+++ b/src/Main/bootstrap.cxx
@@ -57,8 +57,14 @@ using std::endl;
 
 #include "fg_os.hxx"
 
+#ifdef _MSC_VER
+char homepath[256] = "";
+char * homedir = homepath;
+char *hostname = ::getenv( "COMPUTERNAME" );
+#else
 char *homedir = ::getenv( "HOME" );
 char *hostname = ::getenv( "HOSTNAME" );
+#endif
 bool free_hostname = false;
 
 // foreward declaration.
@@ -163,6 +169,14 @@ int _bootstrap_OSInit;
 
 // Main entry point; catch any exceptions that have made it this far.
 int main ( int argc, char **argv ) {
+#if _MSC_VER
+  // Windows has no $HOME aka %HOME%, so we have to construct the full path.
+  // make sure it fits into the buffer. Max. path length is 255, but who knows
+  // what's in these environment variables?
+  homepath[sizeof(homepath)-1] = 0;
+  strncpy( homepath, ::getenv("APPDATA"), sizeof(homepath)-1 );
+  strncat( homepath, "\\flightgear.org", sizeof(homepath)-strlen(homepath)-1 );
+#endif
 
 #ifdef PTW32_STATIC_LIB
     // Initialise static pthread win32 lib

diff --git a/src/Main/fg_commands.cxx b/src/Main/fg_commands.cxx
index 6131e4795fc2f6796d56702ecd9677075f9ed93b..ddeab463bcaabea3626c116c5469686b34a5f70d 100644 (file)
--- a/src/Main/fg_commands.cxx
+++ b/src/Main/fg_commands.cxx
@@ -21,6 +21,7 @@
 #include <simgear/props/props.hxx>
 #include <simgear/structure/event_mgr.hxx>
 #include <simgear/sound/soundmgr_openal.hxx>
+#include <simgear/timing/sg_time.hxx>
 
 #include <Cockpit/panel.hxx>
 #include <Cockpit/panel_io.hxx>
@@ -36,7 +37,6 @@
 #include <Scripting/NasalSys.hxx>
 #include <Sound/sample_queue.hxx>
 #include <Time/sunsolver.hxx>
-#include <Time/tmp.hxx>
 
 #include "fg_init.hxx"
 #include "fg_io.hxx"
@@ -222,7 +222,7 @@ do_exit (const SGPropertyNode * arg)
 static bool
 do_reset (const SGPropertyNode * arg)
 {
-    reInit();
+    doSimulatorReset();
     return true;
 }
 
@@ -1233,7 +1233,7 @@ do_presets_commit (const SGPropertyNode * arg)
     // unbind the current fdm state so property changes
     // don't get lost when we subsequently delete this fdm
     // and create a new one.
-    cur_fdm_state->unbind();
+    globals->get_subsystem("flight")->unbind();
 
     // set position from presets
     fgInitPosition();
@@ -1315,14 +1315,14 @@ do_increase_visibility (const SGPropertyNode * arg)
 static bool
 do_hud_init(const SGPropertyNode *)
 {
-    fgHUDInit(0); // minimal HUD
+    fgHUDInit(); // minimal HUD
     return true;
 }
 
 static bool
 do_hud_init2(const SGPropertyNode *)
 {
-    fgHUDInit2(0);  // normal HUD
+    fgHUDInit2();  // normal HUD
     return true;
 }
 
@@ -1349,6 +1349,10 @@ do_load_xml_to_proptree(const SGPropertyNode * arg)
     if (file.extension() != "xml")
         file.concat(".xml");
 
+    if (file.isRelative()) {
+      file = globals->resolve_maybe_aircraft_path(file.str());
+    }
+
     if (!fgValidatePath(file.c_str(), false)) {
         SG_LOG(SG_IO, SG_ALERT, "loadxml: reading '" << file.str() << "' denied "
                 "(unauthorized access)");

diff --git a/src/Main/fg_init.cxx b/src/Main/fg_init.cxx
index bddcc69f1d00c2c3f8410336a057d577a1a9e5f2..7d1b82fd8671098a71aec2ddef772a0634fc8973 100644 (file)
--- a/src/Main/fg_init.cxx
+++ b/src/Main/fg_init.cxx
@@ -57,14 +57,12 @@
 #include <simgear/structure/exception.hxx>
 #include <simgear/structure/event_mgr.hxx>
 #include <simgear/misc/sg_path.hxx>
+#include <simgear/misc/sg_dir.hxx>
 #include <simgear/misc/interpolator.hxx>
 #include <simgear/scene/material/matlib.hxx>
 #include <simgear/scene/model/particles.hxx>
 #include <simgear/sound/soundmgr_openal.hxx>
-#include <simgear/timing/sg_time.hxx>
-#include <simgear/timing/lowleveltime.h>
 
-#include <Aircraft/aircraft.hxx>
 #include <Aircraft/controls.hxx>
 #include <Aircraft/replay.hxx>
 #include <Airports/apt_loader.hxx>
@@ -76,33 +74,19 @@
 
 #if ENABLE_ATCDCL
 #   include <ATCDCL/ATCmgr.hxx>
-#   include <ATCDCL/AIMgr.hxx>
 #   include "ATCDCL/commlist.hxx"
 #else
+#   include "ATC/atis.hxx"
 #   include "ATC/atcutils.hxx"
 #endif
 
 #include <Autopilot/route_mgr.hxx>
-#include <Autopilot/xmlauto.hxx>
-#include <Autopilot/autobrake.hxx>
+#include <Autopilot/autopilotgroup.hxx>
 
 #include <Cockpit/cockpit.hxx>
 #include <Cockpit/panel.hxx>
 #include <Cockpit/panel_io.hxx>
 
-#if ENABLE_SP_FDM
-#include <FDM/SP/ADA.hxx>
-#include <FDM/SP/ACMS.hxx>
-#include <FDM/SP/MagicCarpet.hxx>
-#include <FDM/SP/Balloon.h>
-#endif
-#include <FDM/ExternalNet/ExternalNet.hxx>
-#include <FDM/ExternalPipe/ExternalPipe.hxx>
-#include <FDM/JSBSim/JSBSim.hxx>
-#include <FDM/LaRCsim/LaRCsim.hxx>
-#include <FDM/UFO.hxx>
-#include <FDM/NullFDM.hxx>
-#include <FDM/YASim/YASim.hxx>
 #include <GUI/new_gui.hxx>
 #include <Include/general.hxx>
 #include <Input/input.hxx>
@@ -120,13 +104,11 @@
 #include <Sound/voice.hxx>
 #include <Systems/system_mgr.hxx>
 #include <Time/light.hxx>
-#include <Time/sunsolver.hxx>
-#include <Time/tmp.hxx>
 #include <Traffic/TrafficMgr.hxx>
 #include <MultiPlayer/multiplaymgr.hxx>
+#include <FDM/fdm_shell.hxx>
 
 #include <Environment/environment_mgr.hxx>
-#include <Environment/ridge_lift.hxx>
 
 #include "fg_init.hxx"
 #include "fg_io.hxx"
@@ -158,9 +140,10 @@ static string fgScanForOption( const string& option, int argc, char **argv ) {
     if (hostname == NULL)
     {
         char _hostname[256];
-        gethostname(_hostname, 256);
-        hostname = strdup(_hostname);
-        free_hostname = true;
+        if( gethostname(_hostname, 256) >= 0 ) {
+            hostname = strdup(_hostname);
+            free_hostname = true;
+        }
     }
 
     SG_LOG(SG_GENERAL, SG_INFO, "Scanning command line for: " << option );
@@ -219,10 +202,10 @@ static string fgScanForOption( const string& option, const string& path ) {
 static string fgScanForOption( const string& option ) {
     string arg("");
 
-#if defined( unix ) || defined( __CYGWIN__ )
+#if defined( unix ) || defined( __CYGWIN__ ) || defined(_MSC_VER)
     // Next check home directory for .fgfsrc.hostname file
     if ( arg.empty() ) {
-        if ( homedir != NULL ) {
+        if ( homedir != NULL && hostname != NULL && strlen(hostname) > 0) {
             SGPath config( homedir );
             config.append( ".fgfsrc" );
             config.concat( "." );
@@ -253,7 +236,9 @@ static string fgScanForOption( const string& option ) {
 
 
 // Read in configuration (files and command line options) but only set
-// fg_root
+// fg_root and aircraft_paths, which are needed *before* do_options() is called
+// in fgInitConfig
+
 bool fgInitFGRoot ( int argc, char **argv ) {
     string root;
 
@@ -304,7 +289,7 @@ bool fgInitFGRoot ( int argc, char **argv ) {
 
     SG_LOG(SG_INPUT, SG_INFO, "fg_root = " << root );
     globals->set_fg_root(root);
-
+    
     return true;
 }
 
@@ -312,6 +297,21 @@ bool fgInitFGRoot ( int argc, char **argv ) {
 // Read in configuration (files and command line options) but only set
 // aircraft
 bool fgInitFGAircraft ( int argc, char **argv ) {
+    
+    string aircraftDir = fgScanForOption("--fg-aircraft=", argc, argv);
+    if (aircraftDir.empty()) {
+      aircraftDir =  fgScanForOption("--fg-aircraft="); 
+    }
+
+    const char* envp = ::getenv("FG_AIRCRAFT");
+    if (aircraftDir.empty() && envp) {
+      globals->append_aircraft_paths(envp);
+    }
+    
+    if (!aircraftDir.empty()) {
+      globals->append_aircraft_paths(aircraftDir);
+    }
+    
     string aircraft;
 
     // First parse command line options looking for --aircraft=, this
@@ -488,10 +488,12 @@ do_options (int argc, char ** argv)
     config.append( "system.fgfsrc" );
     fgParseOptions(config.str());
 
-#if defined( unix ) || defined( __CYGWIN__ )
-    config.concat( "." );
-    config.concat( hostname );
-    fgParseOptions(config.str());
+#if defined( unix ) || defined( __CYGWIN__ ) || defined(_MSC_VER)
+    if( hostname != NULL && strlen(hostname) > 0 ) {
+        config.concat( "." );
+        config.concat( hostname );
+        fgParseOptions(config.str());
+    }
 #endif
 
     // Check for ~/.fgfsrc
@@ -501,11 +503,13 @@ do_options (int argc, char ** argv)
         fgParseOptions(config.str());
     }
 
-#if defined( unix ) || defined( __CYGWIN__ )
-    // Check for ~/.fgfsrc.hostname
-    config.concat( "." );
-    config.concat( hostname );
-    fgParseOptions(config.str());
+#if defined( unix ) || defined( __CYGWIN__ ) || defined(_MSC_VER)
+    if( hostname != NULL && strlen(hostname) > 0 ) {
+        // Check for ~/.fgfsrc.hostname
+        config.concat( "." );
+        config.concat( hostname );
+        fgParseOptions(config.str());
+    }
 #endif
 
     // Parse remaining command line options
@@ -513,68 +517,174 @@ do_options (int argc, char ** argv)
     fgParseArgs(argc, argv);
 }
 
-
-static string fgFindAircraftPath( const SGPath &path, const string &aircraft,
-                                  SGPropertyNode *cache, int depth = 0 )
+template <class T>
+bool fgFindAircraftInDir(const SGPath& dirPath, T* obj, bool (T::*pred)(const SGPath& p))
 {
-    const int MAXDEPTH = 1;
-
-    ulDirEnt* dire;
-    ulDir *dirp = ulOpenDir(path.str().c_str());
-    if (dirp == NULL) {
-        cerr << "Unable to open aircraft directory '" << path.str() << '\'' << endl;
-        exit(-1);
+  if (!dirPath.exists()) {
+    SG_LOG(SG_GENERAL, SG_WARN, "fgFindAircraftInDir: no such path:" << dirPath.str());
+    return false;
+  }
+    
+  bool recurse = true;
+  simgear::Dir dir(dirPath);
+  simgear::PathList setFiles(dir.children(simgear::Dir::TYPE_FILE, "-set.xml"));
+  simgear::PathList::iterator p;
+  for (p = setFiles.begin(); p != setFiles.end(); ++p) {
+    // check file name ends with -set.xml
+    
+    // if we found a -set.xml at this level, don't recurse any deeper
+    recurse = false;
+    
+    bool done = (obj->*pred)(*p);
+    if (done) {
+      return true;
     }
+  } // of -set.xml iteration
+  
+  if (!recurse) {
+    return false;
+  }
+  
+  simgear::PathList subdirs(dir.children(simgear::Dir::TYPE_DIR | simgear::Dir::NO_DOT_OR_DOTDOT));
+  for (p = subdirs.begin(); p != subdirs.end(); ++p) {
+    if (p->file() == "CVS") {
+      continue;
+    }
+    
+    if (fgFindAircraftInDir(*p, obj, pred)) {
+      return true;
+    }
+  } // of subdirs iteration
+  
+  return false;
+}
 
-    string result;
-    while ((dire = ulReadDir(dirp)) != NULL) {
-        if (dire->d_isdir) {
-            if (depth > MAXDEPTH)
-                continue;
+template <class T>
+void fgFindAircraft(T* obj, bool (T::*pred)(const SGPath& p))
+{
+  const string_list& paths(globals->get_aircraft_paths());
+  string_list::const_iterator it = paths.begin();
+  for (; it != paths.end(); ++it) {
+    bool done = fgFindAircraftInDir(SGPath(*it), obj, pred);
+    if (done) {
+      return;
+    }
+  } // of aircraft paths iteration
+  
+  // if we reach this point, search the default location (always last)
+  SGPath rootAircraft(globals->get_fg_root());
+  rootAircraft.append("Aircraft");
+  fgFindAircraftInDir(rootAircraft, obj, pred);
+}
 
-            if (!strcmp("CVS", dire->d_name) || !strcmp(".", dire->d_name)
-                    || !strcmp("..", dire->d_name) || !strcmp("AI", dire->d_name))
-                continue;
+class FindAndCacheAircraft
+{
+public:
+  FindAndCacheAircraft(SGPropertyNode* autoSave)
+  {
+    _cache = autoSave->getNode("sim/startup/path-cache", true);
+  }
+  
+  bool loadAircraft()
+  {
+    std::string aircraft = fgGetString( "/sim/aircraft", "");    
+    if (aircraft.empty()) {
+      SG_LOG(SG_GENERAL, SG_ALERT, "no aircraft specified");
+      return false;
+    }
+    
+    _searchAircraft = aircraft + "-set.xml";
+    if (!checkCache()) {
+      // prepare cache for re-scan
+      SGPropertyNode *n = _cache->getNode("fg-root", true);
+      n->setStringValue(globals->get_fg_root().c_str());
+      n->setAttribute(SGPropertyNode::USERARCHIVE, true);
+      _cache->removeChildren("aircraft");
+  
+      fgFindAircraft(this, &FindAndCacheAircraft::checkAircraft);
+    }
+    
+    if (_foundPath.str().empty()) {
+      SG_LOG(SG_GENERAL, SG_ALERT, "Cannot find specified aircraft: " << aircraft );
+      return false;
+    }
+    
+    SG_LOG(SG_GENERAL, SG_INFO, "Loading aircraft -set file from:" << _foundPath.str());
+    fgSetString( "/sim/aircraft-dir", _foundPath.dir().c_str());
+    if (!_foundPath.exists()) {
+      SG_LOG(SG_GENERAL, SG_ALERT, "Unable to find -set file:" << _foundPath.str());
+      return false;
+    }
+    
+    try {
+      readProperties(_foundPath.str(), globals->get_props());
+    } catch ( const sg_exception &e ) {
+      SG_LOG(SG_INPUT, SG_ALERT, "Error reading aircraft: " << e.getFormattedMessage());
+      return false;
+    }
+    
+    return true;
+  }
+  
+private:
+  bool checkCache()
+  {
+    if (globals->get_fg_root() != _cache->getStringValue("fg-root", "")) {
+      return false; // cache mismatch
+    }
+    
+    vector<SGPropertyNode_ptr> cache = _cache->getChildren("aircraft");
+    for (unsigned int i = 0; i < cache.size(); i++) {
+      const char *name = cache[i]->getStringValue("file", "");
+      if (!boost::equals(_searchAircraft, name, is_iequal())) {
+        continue;
+      }
+      
+      SGPath xml(cache[i]->getStringValue("path", ""));
+      xml.append(name);
+      if (xml.exists()) {
+        _foundPath = xml;
+        return true;
+      } 
+      
+      return false;
+    } // of aircraft in cache iteration
+    
+    return false;
+  }
+  
+  bool checkAircraft(const SGPath& p)
+  {
+    // create cache node
+    int i = 0;
+    while (1) {
+        if (!_cache->getChild("aircraft", i++, false))
+            break;
+    }
+    
+    SGPropertyNode *n, *entry = _cache->getChild("aircraft", --i, true);
 
-            SGPath next = path;
-            next.append(dire->d_name);
+    std::string fileName(p.file());
+    n = entry->getNode("file", true);
+    n->setStringValue(fileName);
+    n->setAttribute(SGPropertyNode::USERARCHIVE, true);
 
-            result = fgFindAircraftPath( next, aircraft, cache, depth + 1 );
-            if ( ! result.empty() )
-                break;
+    n = entry->getNode("path", true);
+    n->setStringValue(p.dir());
+    n->setAttribute(SGPropertyNode::USERARCHIVE, true);
 
-        } else {
-            int len = strlen(dire->d_name);
-            if (len < 9 || strcmp(dire->d_name + len - 8, "-set.xml"))
-                continue;
-
-            // create cache node
-            int i = 0;
-            while (1)
-                if (!cache->getChild("aircraft", i++, false))
-                    break;
-
-            SGPropertyNode *n, *entry = cache->getChild("aircraft", --i, true);
-
-            n = entry->getNode("file", true);
-            n->setStringValue(dire->d_name);
-            n->setAttribute(SGPropertyNode::USERARCHIVE, true);
-
-            n = entry->getNode("path", true);
-            n->setStringValue(path.str().c_str());
-            n->setAttribute(SGPropertyNode::USERARCHIVE, true);
-
-            if ( boost::equals(dire->d_name, aircraft.c_str(), is_iequal()) ) {
-                result = path.str();
-                break;
-            }
-        }
+    if ( boost::equals(fileName, _searchAircraft.c_str(), is_iequal()) ) {
+        _foundPath = p;
+        return true;
     }
 
-    ulCloseDir(dirp);
-    return result;
-}
-
+    return false;
+  }
+  
+  std::string _searchAircraft;
+  SGPath _foundPath;
+  SGPropertyNode* _cache;
+};
 
 // Read in configuration (file and command line)
 bool fgInitConfig ( int argc, char **argv ) {
@@ -620,77 +730,22 @@ bool fgInitConfig ( int argc, char **argv ) {
         home->setAttribute(SGPropertyNode::WRITE, false);
 
         config.append( "autosave.xml" );
-        SG_LOG(SG_INPUT, SG_INFO, "Reading user settings from " << config.str());
-        try {
-            readProperties(config.str(), &autosave, SGPropertyNode::USERARCHIVE);
-        } catch (...) {
-            SG_LOG(SG_INPUT, SG_DEBUG, "First time reading user settings");
+        if (config.exists()) {
+          SG_LOG(SG_INPUT, SG_INFO, "Reading user settings from " << config.str());
+          try {
+              readProperties(config.str(), &autosave, SGPropertyNode::USERARCHIVE);
+          } catch (sg_exception& e) {
+              SG_LOG(SG_INPUT, SG_WARN, "failed to read user settings:" << e.getMessage()
+                << "(from " << e.getOrigin() << ")");
+          }
         }
-        SG_LOG(SG_INPUT, SG_DEBUG, "Finished Reading user settings");
     }
-    SGPropertyNode *cache_root = autosave.getNode("sim/startup/path-cache", true);
-
-
+    
     // Scan user config files and command line for a specified aircraft.
     fgInitFGAircraft(argc, argv);
-
-    string aircraft = fgGetString( "/sim/aircraft", "" );
-    if ( aircraft.size() > 0 ) {
-        SGPath aircraft_search( globals->get_fg_root() );
-        aircraft_search.append( "Aircraft" );
-
-        string aircraft_set = aircraft + "-set.xml";
-        string result;
-
-        // check if the *-set.xml file is already in the cache
-        if (globals->get_fg_root() == cache_root->getStringValue("fg-root", "")) {
-            vector<SGPropertyNode_ptr> cache = cache_root->getChildren("aircraft");
-            for (unsigned int i = 0; i < cache.size(); i++) {
-                const char *name = cache[i]->getStringValue("file", "");
-                if (boost::equals(aircraft_set, name, is_iequal())) {
-                    const char *path = cache[i]->getStringValue("path", "");
-                    SGPath xml(path);
-                    xml.append(name);
-                    if (xml.exists())
-                        result = path;
-                    break;
-                }
-            }
-        }
-
-        if (result.empty()) {
-            // prepare cache for rescan
-            SGPropertyNode *n = cache_root->getNode("fg-root", true);
-            n->setStringValue(globals->get_fg_root().c_str());
-            n->setAttribute(SGPropertyNode::USERARCHIVE, true);
-            cache_root->removeChildren("aircraft");
-
-            result = fgFindAircraftPath( aircraft_search, aircraft_set, cache_root );
-        }
-
-        if ( !result.empty() ) {
-            fgSetString( "/sim/aircraft-dir", result.c_str() );
-            SGPath full_name( result );
-            full_name.append( aircraft_set );
-
-            SG_LOG(SG_INPUT, SG_INFO, "Reading default aircraft: " << aircraft
-                   << " from " << full_name.str());
-            try {
-                readProperties( full_name.str(), globals->get_props() );
-            } catch ( const sg_exception &e ) {
-                string message = "Error reading default aircraft: ";
-                message += e.getFormattedMessage();
-                SG_LOG(SG_INPUT, SG_ALERT, message);
-                exit(2);
-            }
-        } else {
-            SG_LOG( SG_INPUT, SG_ALERT, "Cannot find specified aircraft: "
-                    << aircraft );
-            return false;
-        }
-
-    } else {
-        SG_LOG( SG_INPUT, SG_ALERT, "No default aircraft specified" );
+    FindAndCacheAircraft f(&autosave);
+    if (!f.loadAircraft()) {
+      return false;
     }
 
     copyProperties(&autosave, globals->get_props());
@@ -1203,106 +1258,11 @@ bool fgInitGeneral() {
     curr->setStringValue(cwd ? cwd : "");
     curr->setAttribute(SGPropertyNode::WRITE, false);
 
-    fgSetBool("/sim/startup/stdout-to-terminal", isatty(1));
-    fgSetBool("/sim/startup/stderr-to-terminal", isatty(2));
+    fgSetBool("/sim/startup/stdout-to-terminal", isatty(1) != 0 );
+    fgSetBool("/sim/startup/stderr-to-terminal", isatty(2) != 0 );
     return true;
 }
 
-
-// Initialize the flight model subsystem.  This just creates the
-// object.  The actual fdm initialization is delayed until we get a
-// proper scenery elevation hit.  This is checked for in main.cxx
-
-void fgInitFDM() {
-
-    if ( cur_fdm_state ) {
-        delete cur_fdm_state;
-        cur_fdm_state = 0;
-    }
-
-    double dt = 1.0 / fgGetInt("/sim/model-hz");
-    string model = fgGetString("/sim/flight-model");
-
-    if ( model == "larcsim" ) {
-        cur_fdm_state = new FGLaRCsim( dt );
-    } else if ( model == "jsb" ) {
-        cur_fdm_state = new FGJSBsim( dt );
-#if ENABLE_SP_FDM
-    } else if ( model == "ada" ) {
-        cur_fdm_state = new FGADA( dt );
-    } else if ( model == "acms" ) {
-        cur_fdm_state = new FGACMS( dt );
-    } else if ( model == "balloon" ) {
-        cur_fdm_state = new FGBalloonSim( dt );
-    } else if ( model == "magic" ) {
-        cur_fdm_state = new FGMagicCarpet( dt );
-#endif
-    } else if ( model == "ufo" ) {
-        cur_fdm_state = new FGUFO( dt );
-    } else if ( model == "external" ) {
-        // external is a synonym for "--fdm=null" and is
-        // maintained here for backwards compatibility
-        cur_fdm_state = new FGNullFDM( dt );
-    } else if ( model.find("network") == 0 ) {
-        string host = "localhost";
-        int port1 = 5501;
-        int port2 = 5502;
-        int port3 = 5503;
-        string net_options = model.substr(8);
-        string::size_type begin, end;
-        begin = 0;
-        // host
-        end = net_options.find( ",", begin );
-        if ( end != string::npos ) {
-            host = net_options.substr(begin, end - begin);
-            begin = end + 1;
-        }
-        // port1
-        end = net_options.find( ",", begin );
-        if ( end != string::npos ) {
-            port1 = atoi( net_options.substr(begin, end - begin).c_str() );
-            begin = end + 1;
-        }
-        // port2
-        end = net_options.find( ",", begin );
-        if ( end != string::npos ) {
-            port2 = atoi( net_options.substr(begin, end - begin).c_str() );
-            begin = end + 1;
-        }
-        // port3
-        end = net_options.find( ",", begin );
-        if ( end != string::npos ) {
-            port3 = atoi( net_options.substr(begin, end - begin).c_str() );
-            begin = end + 1;
-        }
-        cur_fdm_state = new FGExternalNet( dt, host, port1, port2, port3 );
-    } else if ( model.find("pipe") == 0 ) {
-        // /* old */ string pipe_path = model.substr(5);
-        // /* old */ cur_fdm_state = new FGExternalPipe( dt, pipe_path );
-        string pipe_path = "";
-        string pipe_protocol = "";
-        string pipe_options = model.substr(5);
-        string::size_type begin, end;
-        begin = 0;
-        // pipe file path
-        end = pipe_options.find( ",", begin );
-        if ( end != string::npos ) {
-            pipe_path = pipe_options.substr(begin, end - begin);
-            begin = end + 1;
-        }
-        // protocol (last option)
-        pipe_protocol = pipe_options.substr(begin);
-        cur_fdm_state = new FGExternalPipe( dt, pipe_path, pipe_protocol );
-    } else if ( model == "null" ) {
-        cur_fdm_state = new FGNullFDM( dt );
-    } else if ( model == "yasim" ) {
-        cur_fdm_state = new YASim( dt );
-    } else {
-        throw sg_exception(string("Unrecognized flight model '") + model
-               + "', cannot init flight dynamics model.");
-    }
-}
-
 // Initialize view parameters
 void fgInitView() {
   // force update of model so that viewer can get some data...
@@ -1311,140 +1271,6 @@ void fgInitView() {
   globals->get_viewmgr()->update(0);
 }
 
-
-SGTime *fgInitTime() {
-    // Initialize time
-    static const SGPropertyNode *longitude
-        = fgGetNode("/position/longitude-deg");
-    static const SGPropertyNode *latitude
-        = fgGetNode("/position/latitude-deg");
-    static const SGPropertyNode *cur_time_override
-        = fgGetNode("/sim/time/cur-time-override", true);
-
-    SGPath zone( globals->get_fg_root() );
-    zone.append( "Timezone" );
-    SGTime *t = new SGTime( longitude->getDoubleValue()
-                              * SGD_DEGREES_TO_RADIANS,
-                            latitude->getDoubleValue()
-                              * SGD_DEGREES_TO_RADIANS,
-                            zone.str(),
-                            cur_time_override->getLongValue() );
-
-    globals->set_warp_delta( 0 );
-
-    t->update( 0.0, 0.0,
-               cur_time_override->getLongValue(),
-               globals->get_warp() );
-
-    return t;
-}
-
-
-// set up a time offset (aka warp) if one is specified
-void fgInitTimeOffset() {
-    static const SGPropertyNode *longitude
-        = fgGetNode("/position/longitude-deg");
-    static const SGPropertyNode *latitude
-        = fgGetNode("/position/latitude-deg");
-    static const SGPropertyNode *cur_time_override
-        = fgGetNode("/sim/time/cur-time-override", true);
-
-    // Handle potential user specified time offsets
-    int orig_warp = globals->get_warp();
-    SGTime *t = globals->get_time_params();
-    time_t cur_time = t->get_cur_time();
-    time_t currGMT = sgTimeGetGMT( gmtime(&cur_time) );
-    time_t systemLocalTime = sgTimeGetGMT( localtime(&cur_time) );
-    time_t aircraftLocalTime = 
-        sgTimeGetGMT( fgLocaltime(&cur_time, t->get_zonename() ) );
-    
-    // Okay, we now have several possible scenarios
-    int offset = fgGetInt("/sim/startup/time-offset");
-    string offset_type = fgGetString("/sim/startup/time-offset-type");
-
-    int warp = 0;
-    if ( offset_type == "real" ) {
-        warp = 0;
-    } else if ( offset_type == "dawn" ) {
-        warp = fgTimeSecondsUntilSunAngle( cur_time,
-                                           longitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           latitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           90.0, true ); 
-    } else if ( offset_type == "morning" ) {
-        warp = fgTimeSecondsUntilSunAngle( cur_time,
-                                           longitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           latitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           75.0, true ); 
-    } else if ( offset_type == "noon" ) {
-        warp = fgTimeSecondsUntilSunAngle( cur_time,
-                                           longitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           latitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           0.0, true ); 
-    } else if ( offset_type == "afternoon" ) {
-        warp = fgTimeSecondsUntilSunAngle( cur_time,
-                                           longitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           latitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           60.0, false ); 
-     } else if ( offset_type == "dusk" ) {
-        warp = fgTimeSecondsUntilSunAngle( cur_time,
-                                           longitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           latitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           90.0, false ); 
-     } else if ( offset_type == "evening" ) {
-        warp = fgTimeSecondsUntilSunAngle( cur_time,
-                                           longitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           latitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           100.0, false ); 
-    } else if ( offset_type == "midnight" ) {
-        warp = fgTimeSecondsUntilSunAngle( cur_time,
-                                           longitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           latitude->getDoubleValue()
-                                             * SGD_DEGREES_TO_RADIANS,
-                                           180.0, false ); 
-    } else if ( offset_type == "system-offset" ) {
-        warp = offset;
-       orig_warp = 0;
-    } else if ( offset_type == "gmt-offset" ) {
-        warp = offset - (currGMT - systemLocalTime);
-       orig_warp = 0;
-    } else if ( offset_type == "latitude-offset" ) {
-        warp = offset - (aircraftLocalTime - systemLocalTime);
-       orig_warp = 0;
-    } else if ( offset_type == "system" ) {
-      warp = offset - (systemLocalTime - currGMT) - cur_time;
-    } else if ( offset_type == "gmt" ) {
-        warp = offset - cur_time;
-    } else if ( offset_type == "latitude" ) {
-        warp = offset - (aircraftLocalTime - currGMT)- cur_time; 
-    } else {
-        SG_LOG( SG_GENERAL, SG_ALERT,
-                "FG_TIME::Unsupported offset type " << offset_type );
-        exit( -1 );
-    }
-    globals->set_warp( orig_warp + warp );
-    t->update( longitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS,
-               latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS,
-               cur_time_override->getLongValue(),
-               globals->get_warp() );
-
-    SG_LOG( SG_GENERAL, SG_INFO, "After fgInitTimeOffset(): warp = " 
-            << globals->get_warp() );
-}
-
-
 // This is the top level init routine which calls all the other
 // initialization routines.  If you are adding a subsystem to flight
 // gear, its initialization call should located in this routine.
@@ -1499,7 +1325,6 @@ bool fgInitSubsystems() {
     if ( globals->get_tile_mgr()->init() ) {
         // Load the local scenery data
         double visibility_meters = fgGetDouble("/environment/visibility-m");
-                
         globals->get_tile_mgr()->update( visibility_meters );
     } else {
         SG_LOG( SG_GENERAL, SG_ALERT, "Error in Tile Manager initialization!" );
@@ -1514,12 +1339,7 @@ bool fgInitSubsystems() {
     // Initialize the flight model subsystem.
     ////////////////////////////////////////////////////////////////////
 
-    fgInitFDM();
-        
-    // allocates structures so must happen before any of the flight
-    // model or control parameters are set
-    fgAircraftInit();   // In the future this might not be the case.
-
+    globals->add_subsystem("flight", new FDMShell, SGSubsystemMgr::FDM);
 
     ////////////////////////////////////////////////////////////////////
     // Initialize the weather subsystem.
@@ -1528,28 +1348,20 @@ bool fgInitSubsystems() {
     // Initialize the weather modeling subsystem
     globals->add_subsystem("environment", new FGEnvironmentMgr);
 
-    ////////////////////////////////////////////////////////////////////
-    // Initialize the ridge lift simulation.
-    ////////////////////////////////////////////////////////////////////
-
-    // Initialize the ridgelift subsystem
-    globals->add_subsystem("ridgelift", new FGRidgeLift);
-
     ////////////////////////////////////////////////////////////////////
     // Initialize the aircraft systems and instrumentation (before the
     // autopilot.)
     ////////////////////////////////////////////////////////////////////
 
-    globals->add_subsystem("instrumentation", new FGInstrumentMgr);
-    globals->add_subsystem("systems", new FGSystemMgr);
+    globals->add_subsystem("instrumentation", new FGInstrumentMgr, SGSubsystemMgr::FDM);
+    globals->add_subsystem("systems", new FGSystemMgr, SGSubsystemMgr::FDM);
 
     ////////////////////////////////////////////////////////////////////
     // Initialize the XML Autopilot subsystem.
     ////////////////////////////////////////////////////////////////////
 
-    globals->add_subsystem( "xml-autopilot", new FGXMLAutopilotGroup );
+    globals->add_subsystem( "xml-autopilot", FGXMLAutopilotGroup::createInstance(), SGSubsystemMgr::FDM );
     globals->add_subsystem( "route-manager", new FGRouteMgr );
-    globals->add_subsystem( "autobrake", new FGAutoBrake );
     
     ////////////////////////////////////////////////////////////////////
     // Initialize the view manager subsystem.
@@ -1574,22 +1386,11 @@ bool fgInitSubsystems() {
 
     globals->add_subsystem("gui", new NewGUI, SGSubsystemMgr::INIT);
 
-
-    ////////////////////////////////////////////////////////////////////
-    // Initialize the local time subsystem.
-    ////////////////////////////////////////////////////////////////////
-
-    // update the current timezone each 30 minutes
-    globals->get_event_mgr()->addTask( "fgUpdateLocalTime()",
-                                       &fgUpdateLocalTime, 30*60 );
-    fgInitTimeOffset();                // the environment subsystem needs this
-
-
     ////////////////////////////////////////////////////////////////////
     // Initialize the lighting subsystem.
     ////////////////////////////////////////////////////////////////////
 
-    globals->add_subsystem("lighting", new FGLight);
+    globals->add_subsystem("lighting", new FGLight, SGSubsystemMgr::DISPLAY);
 
     //////////////////////////////////////////////////////////////////////
     // Initialize the 2D cloud subsystem.
@@ -1600,7 +1401,7 @@ bool fgInitSubsystems() {
     ////////////////////////////////////////////////////////////////////
     // Initialize the sound-effects subsystem.
     ////////////////////////////////////////////////////////////////////
-    globals->add_subsystem("voice", new FGVoiceMgr);
+    globals->add_subsystem("voice", new FGVoiceMgr, SGSubsystemMgr::DISPLAY);
 #endif
 
     ////////////////////////////////////////////////////////////////////
@@ -1611,33 +1412,27 @@ bool fgInitSubsystems() {
     SG_LOG(SG_GENERAL, SG_INFO, "  ATC Manager");
     globals->set_ATC_mgr(new FGATCMgr);
     globals->get_ATC_mgr()->init(); 
-
+#else
     ////////////////////////////////////////////////////////////////////
-    // Initialise the AI Manager 
+    // Initialise the ATIS Manager
     ////////////////////////////////////////////////////////////////////
-
-    SG_LOG(SG_GENERAL, SG_INFO, "  AI Manager");
-    globals->set_AI_mgr(new FGAIMgr);
-    globals->get_AI_mgr()->init();
+    globals->add_subsystem("atis", new FGAtisManager, SGSubsystemMgr::POST_FDM);
 #endif
     ////////////////////////////////////////////////////////////////////
     // Initialise the AI Model Manager
     ////////////////////////////////////////////////////////////////////
     SG_LOG(SG_GENERAL, SG_INFO, "  AI Model Manager");
-    globals->add_subsystem("ai_model", new FGAIManager);
-    globals->add_subsystem("submodel_mgr", new FGSubmodelMgr);
+    globals->add_subsystem("ai_model", new FGAIManager, SGSubsystemMgr::POST_FDM);
+    globals->add_subsystem("submodel_mgr", new FGSubmodelMgr, SGSubsystemMgr::POST_FDM);
 
 
     // It's probably a good idea to initialize the top level traffic manager
     // After the AI and ATC systems have been initialized properly.
     // AI Traffic manager
-    globals->add_subsystem("Traffic Manager", new FGTrafficManager);
+    globals->add_subsystem("Traffic Manager", new FGTrafficManager, SGSubsystemMgr::POST_FDM);
 
 
-    ////////////////////////////////////////////////////////////////////
-    // Initialize the cockpit subsystem
-    ////////////////////////////////////////////////////////////////////
-    if( fgCockpitInit( &current_aircraft )) {
+    if( fgCockpitInit()) {
         // Cockpit initialized ok.
     } else {
         SG_LOG( SG_GENERAL, SG_ALERT, "Error in Cockpit initialization!" );
@@ -1749,11 +1544,7 @@ void fgReInitSubsystems()
     globals->get_subsystem("ai_model")->reinit();
 
     // Initialize the FDM
-    fgInitFDM();
-    
-    // allocates structures so must happen before any of the flight
-    // model or control parameters are set
-    fgAircraftInit();   // In the future this might not be the case.
+    globals->get_subsystem("flight")->reinit();
 
     // reload offsets from config defaults
     globals->get_viewmgr()->reinit();
@@ -1762,10 +1553,7 @@ void fgReInitSubsystems()
 
     globals->get_controls()->reset_all();
 
-    fgUpdateLocalTime();
-
-    // re-init to proper time of day setting
-    fgInitTimeOffset();
+    globals->get_subsystem("time")->reinit();
 
     if ( !freeze ) {
         fgSetBool("/sim/freeze/master", false);
@@ -1774,7 +1562,7 @@ void fgReInitSubsystems()
 }
 
 
-void reInit(void)  // from gui_local.cxx -- TODO merge with fgReInitSubsystems()
+void doSimulatorReset(void)  // from gui_local.cxx -- TODO merge with fgReInitSubsystems()
 {
     static SGPropertyNode_ptr master_freeze = fgGetNode("/sim/freeze/master", true);
 
@@ -1783,49 +1571,136 @@ void reInit(void)  // from gui_local.cxx -- TODO merge with fgReInitSubsystems()
         master_freeze->setBoolValue(true);
 
     fgSetBool("/sim/signals/reinit", true);
-    cur_fdm_state->unbind();
 
-    // in case user has changed window size as
-    // restoreInitialState() overwrites these
-    int xsize = fgGetInt("/sim/startup/xsize");
-    int ysize = fgGetInt("/sim/startup/ysize");
-
-    // viewports also needs to be saved/restored as
-    // restoreInitialState() overwrites these
-    SGPropertyNode *guiNode = new SGPropertyNode;
-    SGPropertyNode *cameraNode = new SGPropertyNode;
-    SGPropertyNode *cameraGroupNode = fgGetNode("/sim/rendering/camera-group");
-    copyProperties(cameraGroupNode->getChild("camera"), cameraNode);
-    copyProperties(cameraGroupNode->getChild("gui"), guiNode);
+    globals->get_subsystem("flight")->unbind();
 
     globals->restoreInitialState();
 
     // update our position based on current presets
     fgInitPosition();
 
-    // We don't know how to resize the window, so keep the last values
-    //  for xsize and ysize, and don't use the one set initially
-    fgSetInt("/sim/startup/xsize", xsize);
-    fgSetInt("/sim/startup/ysize", ysize);
-
-    copyProperties(cameraNode, cameraGroupNode->getChild("camera"));
-    copyProperties(guiNode, cameraGroupNode->getChild("gui"));
-
-    delete guiNode;
-    delete cameraNode;
-
-    SGTime *t = globals->get_time_params();
-    delete t;
-    t = fgInitTime();
-    globals->set_time_params(t);
-
     fgReInitSubsystems();
 
     globals->get_tile_mgr()->update(fgGetDouble("/environment/visibility-m"));
-    globals->get_renderer()->resize(xsize, ysize);
     fgSetBool("/sim/signals/reinit", false);
 
     if (!freeze)
         master_freeze->setBoolValue(false);
 }
 
+///////////////////////////////////////////////////////////////////////////////
+// helper object to implement the --show-aircraft command.
+// resides here so we can share the fgFindAircraftInDir template above,
+// and hence ensure this command lists exectly the same aircraft as the normal
+// loading path.
+class ShowAircraft 
+{
+public:
+  ShowAircraft()
+  {
+    _minStatus = getNumMaturity(fgGetString("/sim/aircraft-min-status", "all"));
+  }
+  
+  
+  void show(const SGPath& path)
+  {
+    fgFindAircraftInDir(path, this, &ShowAircraft::processAircraft);
+  
+    std::sort(_aircraft.begin(), _aircraft.end(), ciLessLibC());
+    SG_LOG( SG_GENERAL, SG_ALERT, "" ); // To popup the console on Windows
+    cout << "Available aircraft:" << endl;
+    for ( unsigned int i = 0; i < _aircraft.size(); i++ ) {
+        cout << _aircraft[i] << endl;
+    }
+  }
+  
+private:
+  bool processAircraft(const SGPath& path)
+  {
+    SGPropertyNode root;
+    try {
+       readProperties(path.str(), &root);
+    } catch (sg_exception& ) {
+       return false;
+    }
+  
+    int maturity = 0;
+    string descStr("   ");
+    descStr += path.file();
+  // trim common suffix from file names
+    int nPos = descStr.rfind("-set.xml");
+    if (nPos == (int)(descStr.size() - 8)) {
+      descStr.resize(nPos);
+    }
+    
+    SGPropertyNode *node = root.getNode("sim");
+    if (node) {
+      SGPropertyNode* desc = node->getNode("description");
+      // if a status tag is found, read it in
+      if (node->hasValue("status")) {
+        maturity = getNumMaturity(node->getStringValue("status"));
+      }
+      
+      if (desc) {
+        if (descStr.size() <= 27+3) {
+          descStr.append(29+3-descStr.size(), ' ');
+        } else {
+          descStr += '\n';
+          descStr.append( 32, ' ');
+        }
+        descStr += desc->getStringValue();
+      }
+    } // of have 'sim' node
+    
+    if (maturity < _minStatus) {
+      return false;
+    }
+
+    _aircraft.push_back(descStr);
+    return false;
+  }
+
+
+  int getNumMaturity(const char * str) 
+  {
+    // changes should also be reflected in $FG_ROOT/data/options.xml & 
+    // $FG_ROOT/data/Translations/string-default.xml
+    const char* levels[] = {"alpha","beta","early-production","production"}; 
+
+    if (!strcmp(str, "all")) {
+      return 0;
+    }
+
+    for (size_t i=0; i<(sizeof(levels)/sizeof(levels[0]));i++) 
+      if (strcmp(str,levels[i])==0)
+        return i;
+
+    return 0;
+  }
+
+  // recommended in Meyers, Effective STL when internationalization and embedded
+  // NULLs aren't an issue.  Much faster than the STL or Boost lex versions.
+  struct ciLessLibC : public std::binary_function<string, string, bool>
+  {
+    bool operator()(const std::string &lhs, const std::string &rhs) const
+    {
+      return strcasecmp(lhs.c_str(), rhs.c_str()) < 0 ? 1 : 0;
+    }
+  };
+
+  int _minStatus;
+  string_list _aircraft;
+};
+
+void fgShowAircraft(const SGPath &path)
+{
+    ShowAircraft s;
+    s.show(path);
+        
+#ifdef _MSC_VER
+    cout << "Hit a key to continue..." << endl;
+    cin.get();
+#endif
+}
+
+

diff --git a/src/Main/fg_init.hxx b/src/Main/fg_init.hxx
index e4a254fd09c89c7cad0680420327dae950e4aa5d..256716a8800eda171de5f0c636eb9647d45cbfb3 100644 (file)
--- a/src/Main/fg_init.hxx
+++ b/src/Main/fg_init.hxx
@@ -25,25 +25,12 @@
 #ifndef _FG_INIT_HXX
 #define _FG_INIT_HXX
 
-
-#ifndef __cplusplus                                                          
-# error This library requires C++
-#endif                                   
-
-
-#ifdef HAVE_CONFIG
-#  include <config.h>
-#endif
-
-#include <simgear/compiler.h>
-#include <simgear/timing/sg_time.hxx>
-
 #include <string>
 
-#include <Airports/simple.hxx>
-
-using std::string;
-
+// forward decls
+class SGPropertyNode;
+class SGTime;
+class SGPath;
 
 // Read in configuration (files and command line optoins) but only set
 // fg_root
@@ -51,7 +38,7 @@ bool fgInitFGRoot ( int argc, char **argv );
 
 
 // Return the current base package version
-string fgBasePackageVersion();
+std::string fgBasePackageVersion();
 
 
 // Read in configuration (file and command line)
@@ -79,6 +66,11 @@ bool fgInitSubsystems();
 // Reset
 void fgReInitSubsystems();
 
+/**
+ * this is what the 'reset' command (and hence, GUI) is attached too
+ * it overlaps with fgReInitSubsystems quite substantially
+ */
+void doSimulatorReset(void);
 
 // Set the initial position based on presets (or defaults)
 bool fgInitPosition();
@@ -87,14 +79,14 @@ bool fgInitPosition();
 // Listen to /sim/tower/airport-id and set tower view position accordingly
 void fgInitTowerLocationListener();
 
-
-// Initialize various time dependent systems (lighting, sun position, etc.)
-// returns a new instance of the SGTime class
-SGTime *fgInitTime();
-
-// set up a time offset (aka warp) if one is specified
-void fgInitTimeOffset();
-
+/*
+ * Search in the current directory, and in on directory deeper
+ * for <aircraft>-set.xml configuration files and show the aircaft name
+ * and the contents of the<description> tag in a sorted manner.
+ *
+ * @parampath the directory to search for configuration files
+ */
+void fgShowAircraft(const SGPath &path);
 
 #endif // _FG_INIT_HXX
 

diff --git a/src/Main/fg_os_osgviewer.cxx b/src/Main/fg_os_osgviewer.cxx
index b58d60664ba7cacc5fd3b1500868d9f5aa4b8b35..a241e60c30104cde02f7546ff460c8f9afece720 100644 (file)
--- a/src/Main/fg_os_osgviewer.cxx
+++ b/src/Main/fg_os_osgviewer.cxx
@@ -45,7 +45,6 @@
 #include <osg/View>
 #include <osgViewer/ViewerEventHandlers>
 #include <osgViewer/Viewer>
-#include <osgGA/MatrixManipulator>
 
 #include <Include/general.hxx>
 #include <Scenery/scenery.hxx>

diff --git a/src/Main/fg_props.cxx b/src/Main/fg_props.cxx
index 787e85ab57de008516347d9a8185b71919d17455..4d944bfc3495e5a054a32e1c495d724716a918a3 100644 (file)
--- a/src/Main/fg_props.cxx
+++ b/src/Main/fg_props.cxx
@@ -34,8 +34,6 @@
 #include <simgear/scene/model/particles.hxx>
 #include <simgear/sound/soundmgr_openal.hxx>
 
-#include <Aircraft/aircraft.hxx>
-#include <FDM/flight.hxx>
 #include <GUI/gui.h>
 
 #include "globals.hxx"
@@ -44,8 +42,6 @@
 
 static bool winding_ccw = true; // FIXME: temporary
 
-static bool fdm_data_logging = false; // FIXME: temporary
-
 static bool frozen = false;    // FIXME: temporary
 
 using std::string;
@@ -308,8 +304,8 @@ setDateString (const char * date_string)
                                // too difficult, by the way.
   long int warp =
     mktime(&new_time) - mktime(current_time) + globals->get_warp();
-  double lon = current_aircraft.fdm_state->get_Longitude();
-  double lat = current_aircraft.fdm_state->get_Latitude();
+  double lon = fgGetDouble("/position/longitude-deg") * SG_DEGREES_TO_RADIANS;
+  double lat = fgGetDouble("/position/latitude-deg") * SG_DEGREES_TO_RADIANS;
   globals->set_warp(warp);
   st->update(lon, lat, cur_time_override->getLongValue(), warp);
 }
@@ -354,7 +350,7 @@ static double
 getHeadingMag ()
 {
   double magheading;
-  magheading = current_aircraft.fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES - getMagVar();
+  magheading = fgGetDouble("/orientation/heading-deg") - getMagVar();
   if (magheading < 0) magheading += 360;
   return magheading;
 }
@@ -366,7 +362,7 @@ static double
 getTrackMag ()
 {
   double magtrack;
-  magtrack = current_aircraft.fdm_state->get_Track() - getMagVar();
+  magtrack = fgGetDouble("/orientation/track-deg") - getMagVar();
   if (magtrack < 0) magtrack += 360;
   return magtrack;
 }
@@ -411,22 +407,6 @@ setWindingCCW (bool state)
     glFrontFace ( GL_CW );
 }
 
-static bool
-getFDMDataLogging ()
-{
-  return fdm_data_logging;
-}
-
-static void
-setFDMDataLogging (bool state)
-{
-                               // kludge; no getter or setter available
-  if (state != fdm_data_logging) {
-    fgToggleFDMdataLogging();
-    fdm_data_logging = state;
-  }
-}
-
 static const char *
 getLongitudeString ()
 {
@@ -540,7 +520,6 @@ FGProperties::bind ()
 
                                // Misc. Temporary junk.
   fgTie("/sim/temp/winding-ccw", getWindingCCW, setWindingCCW, false);
-  fgTie("/sim/temp/fdm-data-logging", getFDMDataLogging, setFDMDataLogging);
 }
 
 void
@@ -848,10 +827,21 @@ fgSetWritable (const char * name, bool state)
 }
 
 void
-fgUntie (const char * name)
+fgUntie(const char * name)
 {
-  if (!globals->get_props()->untie(name))
+  SGPropertyNode* node = globals->get_props()->getNode(name);
+  if (!node) {
+    SG_LOG(SG_GENERAL, SG_WARN, "fgUntie: unknown property " << name);
+    return;
+  }
+  
+  if (!node->isTied()) {
+    return;
+  }
+  
+  if (!node->untie()) {
     SG_LOG(SG_GENERAL, SG_WARN, "Failed to untie property " << name);
+  }
 }
 
 

diff --git a/src/Main/fgviewer.cxx b/src/Main/fgviewer.cxx
index b1a399e197daf65fb38c535b7163070817f3aa16..428bc2c328e24312261ba6d977ae89376a7b6f28 100644 (file)
--- a/src/Main/fgviewer.cxx
+++ b/src/Main/fgviewer.cxx
@@ -149,15 +149,14 @@ fgviewerMain(int argc, char** argv)
     osgGA::KeySwitchMatrixManipulator* keyswitchManipulator;
     keyswitchManipulator = new osgGA::KeySwitchMatrixManipulator;
 
-    osgGA::MatrixManipulator* mm = new osgGA::TrackballManipulator;
-    keyswitchManipulator->addMatrixManipulator('1', "Trackball", mm);
-    mm = new osgGA::FlightManipulator;
-    keyswitchManipulator->addMatrixManipulator('2', "Flight", mm);
-    mm = new osgGA::DriveManipulator;
-    keyswitchManipulator->addMatrixManipulator('3', "Drive", mm);
-    mm = new osgGA::TerrainManipulator;
-    keyswitchManipulator->addMatrixManipulator('4', "Terrain", mm);
-
+    keyswitchManipulator->addMatrixManipulator('1', "Trackball",
+                                               new osgGA::TrackballManipulator);
+    keyswitchManipulator->addMatrixManipulator('2', "Flight",
+                                               new osgGA::FlightManipulator);
+    keyswitchManipulator->addMatrixManipulator('3', "Drive",
+                                               new osgGA::DriveManipulator);
+    keyswitchManipulator->addMatrixManipulator('4', "Terrain",
+                                               new osgGA::TerrainManipulator);
     viewer.setCameraManipulator(keyswitchManipulator);
 
     // Usefull stats

diff --git a/src/Main/globals.cxx b/src/Main/globals.cxx
index da3de6a46beeba1fabe72597bd86356dde77e94a..bfa51f72fed5bf8499601703636ec94c272cdabe 100644 (file)
--- a/src/Main/globals.cxx
+++ b/src/Main/globals.cxx
@@ -26,6 +26,7 @@
 
 #include <simgear/structure/commands.hxx>
 #include <simgear/misc/sg_path.hxx>
+#include <simgear/misc/sg_dir.hxx>
 #include <simgear/timing/sg_time.hxx>
 #include <simgear/ephemeris/ephemeris.hxx>
 #include <simgear/magvar/magvar.hxx>
@@ -36,7 +37,6 @@
 
 #include <Aircraft/controls.hxx>
 #include <Airports/runways.hxx>
-#include <ATCDCL/AIMgr.hxx>
 #include <ATCDCL/ATCmgr.hxx>
 #include <Autopilot/route_mgr.hxx>
 #include <Cockpit/panel.hxx>
@@ -85,7 +85,6 @@ FGGlobals::FGGlobals() :
     route_mgr( NULL ),
     current_panel( NULL ),
     ATC_mgr( NULL ),
-    AI_mgr( NULL ),
     controls( NULL ),
     viewmgr( NULL ),
     commands( SGCommandMgr::instance() ),
@@ -106,6 +105,7 @@ FGGlobals::FGGlobals() :
     airwaynet( NULL ),
     multiplayer_mgr( NULL )
 {
+  
 }
 
 
@@ -131,14 +131,12 @@ FGGlobals::~FGGlobals()
     delete subsystem_mgr;
     delete event_mgr;
     delete time_params;
-    delete ephem;
     delete mag;
     delete matlib;
     delete route_mgr;
     delete current_panel;
 
     delete ATC_mgr;
-    delete AI_mgr;
     delete controls;
     delete viewmgr;
 
@@ -190,7 +188,8 @@ void FGGlobals::set_fg_root (const string &root) {
     n->setAttribute(SGPropertyNode::WRITE, false);
 }
 
-void FGGlobals::set_fg_scenery (const string &scenery) {
+void FGGlobals::set_fg_scenery (const string &scenery)
+{
     SGPath s;
     if (scenery.empty()) {
         s.set( fg_root );
@@ -202,40 +201,121 @@ void FGGlobals::set_fg_scenery (const string &scenery) {
     fg_scenery.clear();
 
     for (unsigned i = 0; i < path_list.size(); i++) {
-
-        ulDir *d = ulOpenDir( path_list[i].c_str() );
-        if (d == NULL)
-            continue;
-        ulCloseDir( d );
-
-        SGPath pt( path_list[i] ), po( path_list[i] );
-        pt.append("Terrain");
-        po.append("Objects");
-
-        ulDir *td = ulOpenDir( pt.c_str() );
-        ulDir *od = ulOpenDir( po.c_str() );
-
-       // "Terrain" and "Airports" directory don't exist. add directory as is
-        // otherwise, automatically append either Terrain, Objects, or both
-        //if (td == NULL && od == NULL)
-            fg_scenery.push_back( path_list[i] );
-        //else {
-            if (td != NULL) {
-                fg_scenery.push_back( pt.str() );
-                ulCloseDir( td );
-            }
-            if (od != NULL) {
-                fg_scenery.push_back( po.str() );
-                ulCloseDir( od );
-            }
-        //}
+        SGPath path(path_list[i]);
+        if (!path.exists()) {
+          SG_LOG(SG_GENERAL, SG_WARN, "scenery path not found:" << path.str());
+          continue;
+        }
+
+        simgear::Dir dir(path);
+        SGPath terrainDir(dir.file("Terrain"));
+        SGPath objectsDir(dir.file("Objects"));
+        
+      // this code used to add *either* the base dir, OR add the 
+      // Terrain and Objects subdirs, but the conditional logic was commented
+      // out, such that all three dirs are added. Unfortunately there's
+      // no information as to why the change was made.
+        fg_scenery.push_back(path.str());
+        
+        if (terrainDir.exists()) {
+          fg_scenery.push_back(terrainDir.str());
+        }
+        
+        if (objectsDir.exists()) {
+          fg_scenery.push_back(objectsDir.str());
+        }
+        
         // insert a marker for FGTileEntry::load(), so that
         // FG_SCENERY=A:B becomes list ["A/Terrain", "A/Objects", "",
         // "B/Terrain", "B/Objects", ""]
         fg_scenery.push_back("");
+    } // of path list iteration
+}
+
+void FGGlobals::append_aircraft_path(const std::string& path)
+{
+  SGPath dirPath(path);
+  if (!dirPath.exists()) {
+    SG_LOG(SG_GENERAL, SG_WARN, "aircraft path not found:" << path);
+    return;
+  }
+  
+  unsigned int index = fg_aircraft_dirs.size();  
+  fg_aircraft_dirs.push_back(path);
+  
+// make aircraft dirs available to Nasal
+  SGPropertyNode* sim = fgGetNode("/sim", true);
+  sim->removeChild("fg-aircraft", index, false);
+  SGPropertyNode* n = sim->getChild("fg-aircraft", index, true);
+  n->setStringValue(path);
+  n->setAttribute(SGPropertyNode::WRITE, false);
+}
+
+void FGGlobals::append_aircraft_paths(const std::string& path)
+{
+  string_list paths = sgPathSplit(path);
+  for (unsigned int p = 0; p<paths.size(); ++p) {
+    append_aircraft_path(paths[p]);
+  }
+}
+
+SGPath FGGlobals::resolve_aircraft_path(const std::string& branch) const
+{
+  string_list pieces(sgPathBranchSplit(branch));
+  if ((pieces.size() < 3) || (pieces.front() != "Aircraft")) {
+    SG_LOG(SG_AIRCRAFT, SG_ALERT, "resolve_aircraft_path: bad path:" <<  branch);
+    return SGPath();
+  }
+  
+// check current aircraft dir first (takes precedence, allows Generics to be
+// over-riden
+  const char* aircraftDir = fgGetString("/sim/aircraft-dir");
+  string_list aircraftDirPieces(sgPathBranchSplit(aircraftDir));
+  if (!aircraftDirPieces.empty() && (aircraftDirPieces.back() == pieces[1])) {
+    SGPath r(aircraftDir);
+    
+    for (unsigned int i=2; i<pieces.size(); ++i) {
+      r.append(pieces[i]);
+    }
+        
+    if (r.exists()) {
+      std::cout << "using aircraft-dir for:" << r.str() << std::endl;
+      return r;
+    }
+  } // of using aircraft-dir case
+  
+// try each fg_aircraft_dirs in turn
+  for (unsigned int p=0; p<fg_aircraft_dirs.size(); ++p) {
+    SGPath r(fg_aircraft_dirs[p]);
+    r.append(branch);
+    if (r.exists()) {
+      std::cout << "using aircraft directory for:" << r.str() << std::endl;
+      return r;
     }
+  } // of fg_aircraft_dirs iteration
+
+// finally, try fg_root
+  SGPath r(fg_root);
+  r.append(branch);
+  if (r.exists()) {
+    std::cout << "using FG_ROOT for:" << r.str() << std::endl;
+    return r;
+  }
+
+  SG_LOG(SG_AIRCRAFT, SG_ALERT, "resolve_aircraft_path: failed to resolve:" << branch);
+  return SGPath();
 }
 
+SGPath FGGlobals::resolve_maybe_aircraft_path(const std::string& branch) const
+{
+  if (branch.find("Aircraft/") == 0) {
+    return resolve_aircraft_path(branch);
+  } else {
+    SGPath r(fg_root);
+    r.append(branch);
+    return r;
+  }
+}
 
 FGRenderer *
 FGGlobals::get_renderer () const
@@ -285,6 +365,21 @@ FGGlobals::saveInitialState ()
 
   if (!copyProperties(props, initial_state))
     SG_LOG(SG_GENERAL, SG_ALERT, "Error saving initial state");
+    
+  // delete various properties from the initial state, since we want to
+  // preserve their values even if doing a restore
+  
+  SGPropertyNode* sim = initial_state->getChild("sim");
+  sim->removeChild("presets");
+  SGPropertyNode* simStartup = sim->getChild("startup");
+  simStartup->removeChild("xsize");
+  simStartup->removeChild("ysize");
+  
+  SGPropertyNode* cameraGroupNode = sim->getNode("rendering/camera-group");
+  if (cameraGroupNode) {
+    cameraGroupNode->removeChild("camera");
+    cameraGroupNode->removeChild("gui");
+  }
 }
 
 
@@ -298,14 +393,6 @@ FGGlobals::restoreInitialState ()
         return;
     }
 
-    SGPropertyNode *currentPresets = new SGPropertyNode;
-    SGPropertyNode *targetNode = fgGetNode( "/sim/presets" );
-
-    // stash the /sim/presets tree
-    if ( !copyProperties(targetNode, currentPresets) ) {
-        SG_LOG( SG_GENERAL, SG_ALERT, "Failed to save /sim/presets subtree" );
-    }
-    
     if ( copyProperties(initial_state, props) ) {
         SG_LOG( SG_GENERAL, SG_INFO, "Initial state restored successfully" );
     } else {
@@ -313,13 +400,6 @@ FGGlobals::restoreInitialState ()
                 "Some errors restoring initial state (read-only props?)" );
     }
 
-    // recover the /sim/presets tree
-    if ( !copyProperties(currentPresets, targetNode) ) {
-        SG_LOG( SG_GENERAL, SG_ALERT,
-                "Failed to restore /sim/presets subtree" );
-    }
-
-   delete currentPresets;
 }
 
 FGViewer *

diff --git a/src/Main/globals.hxx b/src/Main/globals.hxx
index 06490eaf38f9a60af0012464e557306d49929b20..fccee8c5159bf6ae209b7c685baa059dd98cc163 100644 (file)
--- a/src/Main/globals.hxx
+++ b/src/Main/globals.hxx
@@ -27,6 +27,7 @@
 #include <simgear/compiler.h>
 #include <simgear/props/props.hxx>
 #include <simgear/structure/subsystem_mgr.hxx>
+#include <simgear/misc/sg_path.hxx>
 
 #include <vector>
 #include <string>
@@ -54,7 +55,6 @@ class SGSubsystemMgr;
 class SGSubsystem;
 class SGSoundMgr;
 
-class FGAIMgr;
 class FGATCMgr;
 class FGAircraftModel;
 class FGControls;
@@ -136,9 +136,6 @@ private:
     // ATC manager
     FGATCMgr *ATC_mgr;
 
-    // AI manager
-    FGAIMgr *AI_mgr;
-
     // control input state
     FGControls *controls;
 
@@ -181,6 +178,8 @@ private:
     //Mulitplayer managers
     FGMultiplayMgr *multiplayer_mgr;
 
+    /// roots of Aircraft trees
+    string_list fg_aircraft_dirs;
 public:
 
     FGGlobals();
@@ -212,6 +211,26 @@ public:
     inline const string_list &get_fg_scenery () const { return fg_scenery; }
     void set_fg_scenery (const std::string &scenery);
 
+    const string_list& get_aircraft_paths() const { return fg_aircraft_dirs; }
+    void append_aircraft_path(const std::string& path);
+    void append_aircraft_paths(const std::string& path);
+    
+    /**
+     * Given a path to an aircraft-related resource file, resolve it
+     * against the appropriate root. This means looking at the location
+     * defined by /sim/aircraft-dir, and then aircraft_path in turn,
+     * finishing with fg_root/Aircraft.
+     *
+     * if the path could not be resolved, an empty path is returned.
+     */
+    SGPath resolve_aircraft_path(const std::string& branch) const;
+    
+    /**
+     * Same as above, but test for non 'Aircraft/' branch paths, and
+     * always resolve them against fg_root.
+     */
+    SGPath resolve_maybe_aircraft_path(const std::string& branch) const;
+    
     inline const std::string &get_browser () const { return browser; }
     void set_browser (const std::string &b) { browser = b; }
 
@@ -238,9 +257,6 @@ public:
     inline FGATCMgr *get_ATC_mgr() const { return ATC_mgr; }
     inline void set_ATC_mgr( FGATCMgr *a ) {ATC_mgr = a; }
 
-    inline FGAIMgr *get_AI_mgr() const { return AI_mgr; }
-    inline void set_AI_mgr( FGAIMgr *a ) {AI_mgr = a; }
-
     inline FGPanel *get_current_panel() const { return current_panel; }
     inline void set_current_panel( FGPanel *cp ) { current_panel = cp; }
 

diff --git a/src/Main/main.cxx b/src/Main/main.cxx
index e1a50d6c3798cdfffe813a1afaad1fe46b1ad478..7fbc9d7e4cedd466d47e3c38adddb16721ab1d24 100644 (file)
--- a/src/Main/main.cxx
+++ b/src/Main/main.cxx
@@ -34,14 +34,11 @@
 
 #include <iostream>
 
-#include <plib/netSocket.h>
-
 #include <osg/Camera>
 #include <osg/GraphicsContext>
 #include <osgDB/Registry>
 
 // Class references
-#include <simgear/ephemeris/ephemeris.hxx>
 #include <simgear/scene/model/modellib.hxx>
 #include <simgear/scene/material/matlib.hxx>
 #include <simgear/scene/model/animation.hxx>
@@ -66,11 +63,10 @@
 #include <Sound/beacon.hxx>
 #include <Sound/morse.hxx>
 #include <Sound/fg_fx.hxx>
-#include <FDM/flight.hxx>
 #include <ATCDCL/ATCmgr.hxx>
-#include <ATCDCL/AIMgr.hxx>
-#include <Time/tmp.hxx>
+#include <Time/TimeManager.hxx>
 #include <Environment/environment_mgr.hxx>
+#include <Environment/ephemeris.hxx>
 #include <GUI/new_gui.hxx>
 #include <MultiPlayer/multiplaymgr.hxx>
 
@@ -86,8 +82,6 @@
 #include "WindowSystemAdapter.hxx"
 #include <Main/viewer.hxx>
 
-static double real_delta_time_sec = 0.0;
-double delta_time_sec = 0.0;
 
 using namespace flightgear;
 
@@ -100,10 +94,7 @@ FGGeneral general;
 // our initializations out of the idle callback so that we can get a
 // splash screen up and running right away.
 int idle_state = 0;
-long global_multi_loop;
 
-SGTimeStamp last_time_stamp;
-SGTimeStamp current_time_stamp;
 
 void fgInitSoundManager();
 void fgSetNewSoundDevice(const char *);
@@ -112,92 +103,10 @@ void fgSetNewSoundDevice(const char *);
 // is initialized.
 extern int _bootstrap_OSInit;
 
-
-
-// Update internal time dependent calculations (i.e. flight model)
-// FIXME: this distinction is obsolete; all subsystems now get delta
-// time on update.
-void fgUpdateTimeDepCalcs() {
-    static bool inited = false;
-
-    static const SGPropertyNode *replay_state
-        = fgGetNode( "/sim/freeze/replay-state", true );
-    static SGPropertyNode *replay_time
-        = fgGetNode( "/sim/replay/time", true );
-    // static const SGPropertyNode *replay_end_time
-    //     = fgGetNode( "/sim/replay/end-time", true );
-
-    //SG_LOG(SG_FLIGHT,SG_INFO, "Updating time dep calcs()");
-
-    // Initialize the FDM here if it hasn't been and if we have a
-    // scenery elevation hit.
-
-    // cout << "cur_fdm_state->get_inited() = " << cur_fdm_state->get_inited() 
-    //      << " cur_elev = " << scenery.get_cur_elev() << endl;
-
-    if (!cur_fdm_state->get_inited()) {
-        // Check for scenery around the aircraft.
-        double lon = fgGetDouble("/sim/presets/longitude-deg");
-        double lat = fgGetDouble("/sim/presets/latitude-deg");
-        // We require just to have 50 meter scenery availabe around
-        // the aircraft.
-        double range = 1000.0;
-        SGGeod geod = SGGeod::fromDeg(lon, lat);
-        if (globals->get_scenery()->scenery_available(geod, range)) {
-            //SG_LOG(SG_FLIGHT, SG_INFO, "Finally initializing fdm");
-            cur_fdm_state->init();
-            if ( cur_fdm_state->get_bound() ) {
-                cur_fdm_state->unbind();
-            }
-            cur_fdm_state->bind();
-        }
-    }
-
-    // conceptually, the following block could be done for each fdm
-    // instance ...
-    if ( cur_fdm_state->get_inited() ) {
-        // we have been inited, and  we are good to go ...
-
-        if ( replay_state->getIntValue() == 0 ) {
-            // replay off, run fdm
-            cur_fdm_state->update( delta_time_sec );
-        } else {
-            FGReplay *r = (FGReplay *)(globals->get_subsystem( "replay" ));
-            r->replay( replay_time->getDoubleValue() );
-            if ( replay_state->getIntValue() == 1 ) {
-                // normal playback
-                replay_time->setDoubleValue( replay_time->getDoubleValue()
-                                             + ( delta_time_sec
-                                                 * fgGetInt("/sim/speed-up") ) );
-            } else if ( replay_state->getIntValue() == 2 ) {
-                // paused playback (don't advance replay time)
-            }
-        }
-
-        if ( !inited ) {
-            inited = true;
-            fgSetBool("/sim/signals/fdm-initialized", true);
-        }
-
-    } else {
-        // do nothing, fdm isn't inited yet
-    }
-
-    globals->get_aircraft_model()->update(delta_time_sec);
-
-    // Update solar system
-    globals->get_ephem()->update( globals->get_time_params()->getMjd(),
-                                  globals->get_time_params()->getLst(),
-                                  cur_fdm_state->get_Latitude() );
-
-}
-
-
 // What should we do when we have nothing else to do?  Let's get ready
 // for the next move and update the display?
 static void fgMainLoop( void ) {
-    int model_hz = fgGetInt("/sim/model-hz");
-
+    
     static SGConstPropertyNode_ptr longitude
         = fgGetNode("/position/longitude-deg");
     static SGConstPropertyNode_ptr latitude
@@ -210,183 +119,24 @@ static void fgMainLoop( void ) {
         = fgGetNode("/velocities/speed-east-fps");
     static SGConstPropertyNode_ptr vd_fps
         = fgGetNode("/velocities/speed-down-fps");
-    static SGConstPropertyNode_ptr clock_freeze
-        = fgGetNode("/sim/freeze/clock", true);
-    static SGConstPropertyNode_ptr cur_time_override
-        = fgGetNode("/sim/time/cur-time-override", true);
-    static SGConstPropertyNode_ptr max_simtime_per_frame
-        = fgGetNode("/sim/max-simtime-per-frame", true);
+      
     static SGPropertyNode_ptr frame_signal
         = fgGetNode("/sim/signals/frame", true);
 
     frame_signal->fireValueChanged();
     SGCloudLayer::enable_bump_mapping = fgGetBool("/sim/rendering/bump-mapping");
-
-    bool scenery_loaded = fgGetBool("sim/sceneryloaded");
-    bool wait_for_scenery = !(scenery_loaded || fgGetBool("sim/sceneryloaded-override"));
-
-    // Update the elapsed time.
-    static bool first_time = true;
-    if ( first_time ) {
-        last_time_stamp.stamp();
-        first_time = false;
-    }
-
-    double throttle_hz = fgGetDouble("/sim/frame-rate-throttle-hz", 0.0);
-    if ( throttle_hz > 0.0 && !wait_for_scenery ) {
-        // optionally throttle the frame rate (to get consistent frame
-        // rates or reduce cpu usage.
-
-        double frame_us = 1000000.0 / throttle_hz;
-
-#define FG_SLEEP_BASED_TIMING 1
-#if defined(FG_SLEEP_BASED_TIMING)
-        // sleep based timing loop.
-        //
-        // Calling sleep, even usleep() on linux is less accurate than
-        // we like, but it does free up the cpu for other tasks during
-        // the sleep so it is desirable.  Because of the way sleep()
-        // is implemented in consumer operating systems like windows
-        // and linux, you almost always sleep a little longer than the
-        // requested amount.
-        //
-        // To combat the problem of sleeping too long, we calculate the
-        // desired wait time and shorten it by 2000us (2ms) to avoid
-        // [hopefully] over-sleep'ing.  The 2ms value was arrived at
-        // via experimentation.  We follow this up at the end with a
-        // simple busy-wait loop to get the final pause timing exactly
-        // right.
-        //
-        // Assuming we don't oversleep by more than 2000us, this
-        // should be a reasonable compromise between sleep based
-        // waiting, and busy waiting.
-
-        // sleep() will always overshoot by a bit so undersleep by
-        // 2000us in the hopes of never oversleeping.
-        frame_us -= 2000.0;
-        if ( frame_us < 0.0 ) {
-            frame_us = 0.0;
-        }
-        current_time_stamp.stamp();
-        /* Convert to ms */
-        double elapsed_us = (current_time_stamp - last_time_stamp).toUSecs();
-        if ( elapsed_us < frame_us ) {
-            double requested_us = frame_us - elapsed_us;
-            ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
-        }
-#endif
-
-        // busy wait timing loop.
-        //
-        // This yields the most accurate timing.  If the previous
-        // ulMilliSecondSleep() call is omitted this will peg the cpu
-        // (which is just fine if FG is the only app you care about.)
-        current_time_stamp.stamp();
-        SGTimeStamp next_time_stamp = last_time_stamp;
-        next_time_stamp += SGTimeStamp::fromSec(1e-6*frame_us);
-        while ( current_time_stamp < next_time_stamp ) {
-            current_time_stamp.stamp();
-        }
-    } else {
-        // run as fast as the app will go
-        current_time_stamp.stamp();
-    }
-
-    real_delta_time_sec = (current_time_stamp - last_time_stamp).toSecs();
-
-    // Limit the time we need to spend in simulation loops
-    // That means, if the /sim/max-simtime-per-frame value is strictly positive
-    // you can limit the maximum amount of time you will do simulations for
-    // one frame to display. The cpu time spent in simulations code is roughly
-    // at least O(real_delta_time_sec). If this is (due to running debug
-    // builds or valgrind or something different blowing up execution times)
-    // larger than the real time you will no longer get any response
-    // from flightgear. This limits that effect. Just set to property from
-    // your .fgfsrc or commandline ...
-    double dtMax = max_simtime_per_frame->getDoubleValue();
-    if (0 < dtMax && dtMax < real_delta_time_sec)
-        real_delta_time_sec = dtMax;
-
-    // round the real time down to a multiple of 1/model-hz.
-    // this way all systems are updated the _same_ amount of dt.
-    static double reminder = 0.0;
-    real_delta_time_sec += reminder;
-    global_multi_loop = long(floor(real_delta_time_sec*model_hz));
-    global_multi_loop = SGMisc<long>::max(0, global_multi_loop);
-    reminder = real_delta_time_sec - double(global_multi_loop)/double(model_hz);
-    real_delta_time_sec = double(global_multi_loop)/double(model_hz);
-
-    if (clock_freeze->getBoolValue() || wait_for_scenery) {
-        delta_time_sec = 0;
-    } else {
-        delta_time_sec = real_delta_time_sec;
-    }
-    last_time_stamp = current_time_stamp;
-    globals->inc_sim_time_sec( delta_time_sec );
-
-    // These are useful, especially for Nasal scripts.
-    fgSetDouble("/sim/time/delta-realtime-sec", real_delta_time_sec);
-    fgSetDouble("/sim/time/delta-sec", delta_time_sec);
-
-#ifdef FANCY_FRAME_COUNTER
-    int i;
-    double accum;
-#else
-    static time_t last_time = 0;
-    static int frames = 0;
-#endif // FANCY_FRAME_COUNTER
-
-    SGTime *t = globals->get_time_params();
-
+    
     SG_LOG( SG_ALL, SG_DEBUG, "Running Main Loop");
     SG_LOG( SG_ALL, SG_DEBUG, "======= ==== ====");
-
-    // Fix elevation.  I'm just sticking this here for now, it should
-    // probably move eventually
-
-    /* printf("Before - ground = %.2f  runway = %.2f  alt = %.2f\n",
-       scenery.get_cur_elev(),
-       cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
-       cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */
-
-    /* printf("Adjustment - ground = %.2f  runway = %.2f  alt = %.2f\n",
-       scenery.get_cur_elev(),
-       cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER,
-       cur_fdm_state->get_Altitude() * SG_FEET_TO_METER); */
-
-    // cout << "Warp = " << globals->get_warp() << endl;
-
-    // update "time"
-    static bool last_clock_freeze = false;
-
-    if ( clock_freeze->getBoolValue() ) {
-        // clock freeze requested
-        if ( cur_time_override->getLongValue() == 0 ) {
-            fgSetLong( "/sim/time/cur-time-override", t->get_cur_time() );
-            globals->set_warp( 0 );
-        }
-    } else {
-        // no clock freeze requested
-        if ( last_clock_freeze == true ) {
-            // clock just unfroze, let's set warp as the difference
-            // between frozen time and current time so we don't get a
-            // time jump (and corresponding sky object and lighting
-            // jump.)
-            globals->set_warp( cur_time_override->getLongValue() - time(NULL) );
-            fgSetLong( "/sim/time/cur-time-override", 0 );
-        }
-        if ( globals->get_warp_delta() != 0 ) {
-            globals->inc_warp( globals->get_warp_delta() );
-        }
-    }
-
-    last_clock_freeze = clock_freeze->getBoolValue();
-
-    t->update( longitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS,
-               latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS,
-               cur_time_override->getLongValue(),
-               globals->get_warp() );
-
+    
+    
+  // update "time"
+    double sim_dt, real_dt;
+    TimeManager* timeMgr = (TimeManager*) globals->get_subsystem("time");
+    // compute simulated time (allowing for pause, warp, etc) and
+    // real elapsed time
+    timeMgr->computeTimeDeltas(sim_dt, real_dt);
+    
     if (globals->get_warp_delta() != 0) {
         FGLight *l = (FGLight *)(globals->get_subsystem("lighting"));
         l->update( 0.5 );
@@ -400,64 +150,20 @@ static void fgMainLoop( void ) {
                                 altitude->getDoubleValue() * SG_FEET_TO_METER,
                                 globals->get_time_params()->getJD() );
 
-    // Calculate frame rate average
-#ifdef FANCY_FRAME_COUNTER
-    /* old fps calculation */
-    if ( elapsed > 0 ) {
-        double tmp;
-        accum = 0.0;
-        for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
-            tmp = general.get_frame(i);
-            accum += tmp;
-            // printf("frame[%d] = %.2f\n", i, g->frames[i]);
-            general.set_frame(i+1,tmp);
-        }
-        tmp = 1000000.0 / (float)elapsed;
-        general.set_frame(0,tmp);
-        // printf("frame[0] = %.2f\n", general.frames[0]);
-        accum += tmp;
-        general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
-        // printf("ave = %.2f\n", general.frame_rate);
-    }
-#else
-    if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
-        general.set_frame_rate( frames );
-        fgSetInt("/sim/frame-rate", frames);
-        SG_LOG( SG_ALL, SG_DEBUG,
-                "--> Frame rate is = " << general.get_frame_rate() );
-        frames = 0;
-    }
-    last_time = t->get_cur_time();
-    ++frames;
-#endif
 
     // Update any multiplayer's network queues, the AIMultiplayer
     // implementation is an AI model and depends on that
     globals->get_multiplayer_mgr()->Update();
 
+#if ENABLE_ATCDCL  
     // Run ATC subsystem
     if (fgGetBool("/sim/atc/enabled"))
-        globals->get_ATC_mgr()->update(delta_time_sec);
-
-    // Run the AI subsystem
-    // FIXME: run that also if we have multiplaying enabled since the
-    // multiplayer information is interpreted by an AI model
-    if (fgGetBool("/sim/ai-traffic/enabled"))
-        globals->get_AI_mgr()->update(delta_time_sec);
-
-    // Run flight model
-    if (0 < global_multi_loop) {
-        // first run the flight model each frame until it is initialized
-        // then continue running each frame only after initial scenery
-        // load is complete.
-        fgUpdateTimeDepCalcs();
-    } else {
-        SG_LOG( SG_ALL, SG_DEBUG,
-                "Elapsed time is zero ... we're zinging" );
-    }
-
-    globals->get_subsystem_mgr()->update(delta_time_sec);
-
+        globals->get_ATC_mgr()->update(sim_dt);
+#endif  
+    
+    globals->get_subsystem_mgr()->update(sim_dt);
+    globals->get_aircraft_model()->update(sim_dt);
+    
     //
     // Tile Manager updates - see if we need to load any new scenery tiles.
     //   this code ties together the fdm, viewer and scenery classes...
@@ -472,14 +178,14 @@ static void fgMainLoop( void ) {
     globals->get_tile_mgr()->update(geodViewPos, visibility_meters);
 
     // run Nasal's settimer() loops right before the view manager
-    globals->get_event_mgr()->update(delta_time_sec);
+    globals->get_event_mgr()->update(sim_dt);
 
     // pick up model coordidnates that Nasal code may have set relative to the
     // aircraft's
-    globals->get_model_mgr()->update(delta_time_sec);
+    globals->get_model_mgr()->update(sim_dt);
 
     // update the view angle as late as possible, but before sound calculations
-    globals->get_viewmgr()->update(real_delta_time_sec);
+    globals->get_viewmgr()->update(real_dt);
 
     // Update the sound manager last so it can use the CPU while the GPU
     // is processing the scenery (doubled the frame-rate for me) -EMH-
@@ -515,15 +221,15 @@ static void fgMainLoop( void ) {
         if (smgr_enabled == true) {
             static SGPropertyNode *volume = fgGetNode("/sim/sound/volume");
             smgr->set_volume(volume->getFloatValue());
-            smgr->update(delta_time_sec);
+            smgr->update(sim_dt);
         }
     }
 #endif
 
     // END Tile Manager udpates
-
+    bool scenery_loaded = fgGetBool("sim/sceneryloaded");
     if (!scenery_loaded && globals->get_tile_mgr()->isSceneryLoaded()
-        && cur_fdm_state->get_inited()) {
+        && fgGetBool("sim/fdm-initialized")) {
         fgSetBool("sim/sceneryloaded",true);
         if (fgGetBool("/sim/sound/working")) {
             globals->get_soundmgr()->activate();
@@ -575,7 +281,9 @@ struct GeneralInitOperation : public GraphicsContextOperation
         general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
         general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
         general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
+        SG_LOG( SG_GENERAL, SG_INFO, general.get_glVendor() );
         SG_LOG( SG_GENERAL, SG_INFO, general.get_glRenderer() );
+        SG_LOG( SG_GENERAL, SG_INFO, general.get_glVersion() );
 
         GLint tmp;
         glGetIntegerv( GL_MAX_TEXTURE_SIZE, &tmp );
@@ -587,6 +295,20 @@ struct GeneralInitOperation : public GraphicsContextOperation
         SG_LOG ( SG_GENERAL, SG_INFO, "Depth buffer bits = " << tmp );
     }
 };
+
+
+osg::Node* load_panel(SGPropertyNode *n)
+{
+    osg::Geode* geode = new osg::Geode;
+    geode->addDrawable(new FGPanelNode(n));
+    return geode;
+}
+
+SGPath resolve_path(const std::string& s)
+{
+  return globals->resolve_maybe_aircraft_path(s);
+}
+
 }
 
 // This is the top level master main function that is registered as
@@ -629,8 +351,7 @@ static void fgIdleFunction ( void ) {
 
     } else if ( idle_state == 2 ) {
         idle_state++;
-        // Read the list of available aircraft
-        fgReadAircraft();
+                
         fgSplashProgress("reading airport & navigation data");
 
 
@@ -647,9 +368,10 @@ static void fgIdleFunction ( void ) {
         fgInitPosition();
         fgInitTowerLocationListener();
 
-        SGTime *t = fgInitTime();
-        globals->set_time_params( t );
-
+        TimeManager* t = new TimeManager;
+        globals->add_subsystem("time", t, SGSubsystemMgr::INIT);
+        t->init(); // need to init now, not during initSubsystems
+        
         // Do some quick general initializations
         if( !fgInitGeneral()) {
             SG_LOG( SG_GENERAL, SG_ALERT,
@@ -668,8 +390,10 @@ static void fgIdleFunction ( void ) {
         ////////////////////////////////////////////////////////////////////
         globals->set_matlib( new SGMaterialLib );
         simgear::SGModelLib::init(globals->get_fg_root());
-
-
+        simgear::SGModelLib::setPropRoot(globals->get_props());
+        simgear::SGModelLib::setResolveFunc(resolve_path);
+        simgear::SGModelLib::setPanelFunc(load_panel);
+        
         ////////////////////////////////////////////////////////////////////
         // Initialize the TG scenery subsystem.
         ////////////////////////////////////////////////////////////////////
@@ -695,9 +419,11 @@ static void fgIdleFunction ( void ) {
         // Initialize the 3D aircraft model subsystem (has a dependency on
         // the scenery subsystem.)
         ////////////////////////////////////////////////////////////////////
-        globals->set_aircraft_model(new FGAircraftModel);
-        globals->get_aircraft_model()->init();
-        globals->get_aircraft_model()->bind();
+        FGAircraftModel* acm = new FGAircraftModel;
+        globals->set_aircraft_model(acm);
+        //globals->add_subsystem("aircraft-model", acm);
+        acm->init();
+        acm->bind();
 
         ////////////////////////////////////////////////////////////////////
         // Initialize the view manager subsystem.
@@ -712,13 +438,11 @@ static void fgIdleFunction ( void ) {
     } else if ( idle_state == 6 ) {
         idle_state++;
         // Initialize the sky
-        SGPath ephem_data_path( globals->get_fg_root() );
-        ephem_data_path.append( "Astro" );
-        SGEphemeris *ephem = new SGEphemeris( ephem_data_path.c_str() );
-        ephem->update( globals->get_time_params()->getMjd(),
-                       globals->get_time_params()->getLst(),
-                       0.0 );
-        globals->set_ephem( ephem );
+
+        Ephemeris* eph = new Ephemeris;
+        globals->add_subsystem("ephemeris", eph);
+        eph->init(); // FIXME - remove this once SGSky code below is also a subsystem
+        eph->bind();
 
         // TODO: move to environment mgr
         thesky = new SGSky;
@@ -812,14 +536,10 @@ static void fgIdleFunction ( void ) {
 
     } else if ( idle_state == 8 ) {
         idle_state = 1000;
-        // Initialize the time offset (warp) after fgInitSubsystem
-        // (which initializes the lighting interpolation tables.)
-        fgInitTimeOffset();
-
+        
         // setup OpenGL view parameters
         globals->get_renderer()->init();
 
-        SG_LOG( SG_GENERAL, SG_INFO, "Panel visible = " << fgPanelVisible() );
         globals->get_renderer()->resize( fgGetInt("/sim/startup/xsize"),
                                          fgGetInt("/sim/startup/ysize") );
 
@@ -930,18 +650,11 @@ bool fgMainInit( int argc, char **argv ) {
     fgRegisterIdleHandler( &fgIdleFunction );
     fgRegisterDrawHandler( &FGRenderer::update );
 
-#ifdef FG_ENABLE_MULTIPASS_CLOUDS
-    bool get_stencil_buffer = true;
-#else
-    bool get_stencil_buffer = false;
-#endif
-
     // Initialize plib net interface
     netInit( &argc, argv );
 
     // Clouds3D requires an alpha channel
-    // clouds may require stencil buffer
-    fgOSOpenWindow(get_stencil_buffer);
+    fgOSOpenWindow(true /* request stencil buffer */);
 
     // Initialize the splash screen right away
     fntInit();

diff --git a/src/Main/main.hxx b/src/Main/main.hxx
index b15846b5a9a15ec3f5234d02c294c09bf8f34d3e..2117f605b9cd2f6f7291a413f9e2457bbca3ee3a 100644 (file)
--- a/src/Main/main.hxx
+++ b/src/Main/main.hxx
@@ -8,8 +8,6 @@ bool fgMainInit( int argc, char **argv );
 
 
 extern int idle_state;
-extern long global_multi_loop;
-extern double delta_time_sec;
 
 extern char *homedir;
 extern char *hostname;

diff --git a/src/Main/metar_main.cxx b/src/Main/metar_main.cxx
index d150b65267097f027dce01302e0db4d10a01f766..04edbcab15b5cfa4c060c929f5c4a4fe8eeaee28 100644 (file)
--- a/src/Main/metar_main.cxx
+++ b/src/Main/metar_main.cxx
@@ -25,6 +25,7 @@
 #include <iostream>
 #include <string.h>
 #include <time.h>
+#include <cstdlib>
 
 #include <simgear/debug/logstream.hxx>
 #include <simgear/environment/metar.hxx>

diff --git a/src/Main/options.cxx b/src/Main/options.cxx
index bededfb71e43ed8cbbfe535954bb60a1f5d57440..e572ebf84c660b2c1e1a7913506270e7bb052655 100644 (file)
--- a/src/Main/options.cxx
+++ b/src/Main/options.cxx
@@ -28,6 +28,8 @@
 #include <simgear/compiler.h>
 #include <simgear/structure/exception.hxx>
 #include <simgear/debug/logstream.hxx>
+#include <simgear/timing/sg_time.hxx>
+#include <simgear/misc/sg_dir.hxx>
 
 #include <math.h>              // rint()
 #include <stdio.h>
@@ -38,20 +40,12 @@
 #include <iostream>
 #include <string>
 
-#include <plib/ul.h>
-
 #include <simgear/math/sg_random.h>
 #include <simgear/props/props_io.hxx>
 #include <simgear/misc/sgstream.hxx>
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/scene/material/mat.hxx>
 #include <simgear/sound/soundmgr_openal.hxx>
-
-// #include <Include/general.hxx>
-// #include <Airports/simple.hxx>
-// #include <Cockpit/cockpit.hxx>
-// #include <FDM/flight.hxx>
-
 #include <Autopilot/route_mgr.hxx>
 #include <GUI/gui.h>
 
@@ -120,6 +114,7 @@ fgSetDefaults ()
        // Otherwise, default to Scenery being in $FG_ROOT/Scenery
        globals->set_fg_scenery("");
     }
+        
                                // Position (deliberately out of range)
     fgSetDouble("/position/longitude-deg", 9999.0);
     fgSetDouble("/position/latitude-deg", 9999.0);
@@ -530,6 +525,14 @@ parse_fov( const string& arg ) {
 
 static bool
 add_channel( const string& type, const string& channel_str ) {
+    // This check is neccessary to prevent fgviewer from segfaulting when given
+    // weird options. (It doesn't run the full initailization)
+    if(!globals->get_channel_options_list())
+    {
+        SG_LOG(SG_GENERAL, SG_ALERT, "Option " << type << "=" << channel_str
+                                     << " ignored.");
+        return false;
+    }
     SG_LOG(SG_GENERAL, SG_INFO, "Channel string = " << channel_str );
     globals->get_channel_options_list()->push_back( type + "," + channel_str );
     return true;
@@ -770,7 +773,7 @@ fgOptRoc( const char *arg )
 static int
 fgOptFgRoot( const char *arg )
 {
-    globals->set_fg_root(arg);
+    // this option is dealt with by fgInitFGRoot
     return FG_OPTIONS_OK;
 }
 
@@ -781,6 +784,13 @@ fgOptFgScenery( const char *arg )
     return FG_OPTIONS_OK;
 }
 
+static int
+fgOptFgAircraft(const char* arg)
+{
+  // this option is dealt with by fgInitFGAircraft
+  return FG_OPTIONS_OK;
+}
+
 static int
 fgOptFov( const char *arg )
 {
@@ -1337,6 +1347,7 @@ struct OptionDesc {
     {"roc",                          true,  OPTION_FUNC,   "", false, "", fgOptRoc },
     {"fg-root",                      true,  OPTION_FUNC,   "", false, "", fgOptFgRoot },
     {"fg-scenery",                   true,  OPTION_FUNC,   "", false, "", fgOptFgScenery },
+    {"fg-aircraft",                  true,  OPTION_FUNC,   "", false, "", fgOptFgAircraft },
     {"fdm",                          true,  OPTION_STRING, "/sim/flight-model", false, "", 0 },
     {"aero",                         true,  OPTION_STRING, "/sim/aero", false, "", 0 },
     {"aircraft-dir",                 true,  OPTION_STRING, "/sim/aircraft-dir", false, "", 0 },
@@ -1572,6 +1583,7 @@ parse_option (const string& arg)
                     }
                     break;
                 case OPTION_CHANNEL:
+                    // XXX return value of add_channel should be checked?
                     if ( pt->has_param && !arg_value.empty() ) {
                         add_channel( pt->option, arg_value );
                     } else if ( !pt->has_param && arg_value.empty() ) {
@@ -1619,7 +1631,7 @@ fgParseArgs (int argc, char **argv)
     bool verbose = false;
     bool help = false;
 
-    SG_LOG(SG_GENERAL, SG_INFO, "Processing command line arguments");
+    SG_LOG(SG_GENERAL, SG_ALERT, "Processing command line arguments");
 
     for (int i = 1; i < argc; i++) {
         string arg = argv[i];
@@ -1639,7 +1651,7 @@ fgParseArgs (int argc, char **argv)
               fgOptLogLevel( "alert" );
               SGPath path( globals->get_fg_root() );
               path.append("Aircraft");
-              fgShowAircraft(path, true);
+              fgShowAircraft(path);
               exit(0);
 
             } else if (result == FG_OPTIONS_SHOW_SOUND_DEVICES) {
@@ -1652,7 +1664,7 @@ fgParseArgs (int argc, char **argv)
               cout << endl << "No. Device" << endl;
 
               vector <const char*>devices = smgr.get_available_devices();
-              for (int i=0; i<devices.size(); i++) {
+              for (vector <const char*>::size_type i=0; i<devices.size(); i++) {
                 cout << i << ".  \"" << devices[i] << "\"" << endl;
               }
               devices.clear();
@@ -1844,135 +1856,3 @@ fgUsage (bool verbose)
     cin.get();
 #endif
 }
-
-// A simple function to return an integer depending on the position
-// of the status string within the array in order to determine the hierarchy.
-unsigned int getNumMaturity(const char * str) 
-{
-  // changes should also be reflected in $FG_ROOT/data/options.xml & 
-  // $FG_ROOT/data/Translations/string-default.xml
-  const char* levels[] = {"alpha","beta","early-production","production"}; 
-
-  for (size_t i=0; i<(sizeof(levels)/sizeof(levels[0]));i++) 
-    if (strcmp(str,levels[i])==0)
-      return i;
-
-  return 0;
-};
-
-
-static void fgSearchAircraft(const SGPath &path, string_list &aircraft,
-                             bool recursive)
-{   
-   
-   ulDirEnt* dire;
-   ulDir *dirp = ulOpenDir(path.str().c_str());
-   if (dirp == NULL) {
-      cerr << "Unable to open aircraft directory '" << path.str() << '\'' << endl;
-      exit(-1);
-   }
-
-   while ((dire = ulReadDir(dirp)) != NULL) {
-      char *ptr;
-
-      if (dire->d_isdir) {
-          if (recursive && strcmp("CVS", dire->d_name)
-              && strcmp(".", dire->d_name) && strcmp("..", dire->d_name))
-          {
-              SGPath next = path;
-              next.append(dire->d_name);
-
-              fgSearchAircraft(next, aircraft, true);
-          }
-      } else if ((ptr = strstr(dire->d_name, "-set.xml")) && (ptr[8] == '\0')) {
-
-          SGPath afile = path;
-          afile.append(dire->d_name);
-
-          *ptr = '\0';
-
-          SGPropertyNode root;
-          try {
-             readProperties(afile.str(), &root);
-          } catch (...) {
-             continue;
-          }
-
-          SGPropertyNode *desc = NULL;
-         SGPropertyNode *status = NULL;
-         
-          SGPropertyNode *node = root.getNode("sim");
-          if (node) {
-             desc = node->getNode("description");
-            // if a status tag is found, read it in
-            if (node->hasValue("status"))
-               status = node->getNode("status");
-          }
-
-          //additionally display status information where it is available
-
-          string descStr("   ");
-          descStr += dire->d_name;
-          if (desc) {
-              if (descStr.size() <= 27+3) {
-                descStr.append(29+3-descStr.size(), ' ');
-              } else {
-                descStr += '\n';
-                descStr.append( 32, ' ');
-              }
-              descStr += desc->getStringValue();
-          }
-  
-          SGPropertyNode * required_status
-                             = fgGetNode ("/sim/aircraft-min-status", true);
-         
-         // If the node holds the value "all", then there wasn't any status 
-         // level specified, so we simply go ahead and output ALL aircraft
-         if (strcmp(required_status->getStringValue(),"all")==0) {        
-                 aircraft.push_back(descStr);
-                 }
-         else
-         {
-         // If the node doesn't hold "all" as its value, then we are supposed
-         // to show only aircraft meeting specific status (development status)
-          // requirements:
- 
-     if (node->hasValue("status"))     {
-         //Compare (minimally) required status level with actual aircraft status:
-          if ( getNumMaturity(status->getStringValue() ) >= 
-               getNumMaturity(required_status->getStringValue() ) )
-                                 aircraft.push_back(descStr); }
-                                                 
-         }
-      
-   
-   }
-   }
-
-   ulCloseDir(dirp);
-}
-
-/*
- * Search in the current directory, and in on directory deeper
- * for <aircraft>-set.xml configuration files and show the aircaft name
- * and the contents of the<description> tag in a sorted manner.
- *
- * @parampath the directory to search for configuration files
- * @param recursive defines whether the directory should be searched recursively
- */
-void fgShowAircraft(const SGPath &path, bool recursive) {
-    string_list aircraft;
-
-    fgSearchAircraft( path, aircraft, recursive );
-
-    sort(aircraft.begin(), aircraft.end());
-    SG_LOG( SG_GENERAL, SG_ALERT, "" ); // To popup the console on Windows
-    cout << "Available aircraft:" << endl;
-    for ( unsigned int i = 0; i < aircraft.size(); i++ ) {
-        cout << aircraft[i] << endl;
-    }
-#ifdef _MSC_VER
-    cout << "Hit a key to continue..." << endl;
-    cin.get();
-#endif
-}

diff --git a/src/Main/options.hxx b/src/Main/options.hxx
index 2bdb86da5252f576c6baf71b8e2e3d487ba2b1c0..4ad8b133d335e1f3292fc3c12122411171a724ce 100644 (file)
--- a/src/Main/options.hxx
+++ b/src/Main/options.hxx
@@ -33,6 +33,5 @@ extern void fgSetDefaults ();
 extern void fgParseArgs (int argc, char ** argv);
 extern void fgParseOptions (const string &file_path);
 extern void fgUsage (bool verbose = false);
-extern void fgShowAircraft(const SGPath &path, bool recursive);
 
 #endif /* _OPTIONS_HXX */

diff --git a/src/Main/renderer.cxx b/src/Main/renderer.cxx
index 32d7953380b417271fbedd5aead6ba626d1ae3df..a3d6d988651ccae043f96a605bba6274b1350cc4 100644 (file)
--- a/src/Main/renderer.cxx
+++ b/src/Main/renderer.cxx
@@ -57,7 +57,6 @@
 #include <osgDB/WriteFile>
 
 #include <simgear/math/SGMath.hxx>
-#include <simgear/screen/extensions.hxx>
 #include <simgear/scene/material/matlib.hxx>
 #include <simgear/scene/model/animation.hxx>
 #include <simgear/scene/model/placement.hxx>
@@ -80,7 +79,6 @@
 
 #include <Time/light.hxx>
 #include <Time/light.hxx>
-#include <Aircraft/aircraft.hxx>
 #include <Cockpit/panel.hxx>
 #include <Cockpit/cockpit.hxx>
 #include <Cockpit/hud.hxx>
@@ -565,16 +563,12 @@ FGRenderer::init( void )
 // Update all Visuals (redraws anything graphics related)
 void
 FGRenderer::update( bool refresh_camera_settings ) {
-    bool scenery_loaded = fgGetBool("sim/sceneryloaded")
+    bool scenery_loaded = fgGetBool("sim/sceneryloaded", false)
                           || fgGetBool("sim/sceneryloaded-override");
     osgViewer::Viewer* viewer = globals->get_renderer()->getViewer();
-    if ( idle_state < 1000 || !scenery_loaded ) {
-        fgSetDouble("/sim/startup/splash-alpha", 1.0);
-
-        // Keep resetting sim time while the sim is initializing
-        // the splash screen is now in the scenegraph
-        globals->set_sim_time_sec( 0.0 );
-        return;
+    if (!scenery_loaded) {
+      fgSetDouble("/sim/startup/splash-alpha", 1.0);
+      return;
     }
 
     // Fade out the splash screen over the first three seconds.
@@ -630,9 +624,8 @@ FGRenderer::update( bool refresh_camera_settings ) {
     double visibility_meters = fgGetDouble("/environment/visibility-m");
     thesky->set_visibility(visibility_meters);
 
-    thesky->modify_vis( cur_fdm_state->get_Altitude() * SG_FEET_TO_METER,
-                        ( global_multi_loop * fgGetInt("/sim/speed-up") )
-                        / (double)fgGetInt("/sim/model-hz") );
+    double altitude_m = fgGetDouble("/position/altitude-ft") * SG_FEET_TO_METER;
+    thesky->modify_vis( altitude_m, 0.0 /* time factor, now unused */);
 
     // update the sky dome
     if ( skyblend ) {
@@ -674,30 +667,12 @@ FGRenderer::update( bool refresh_camera_settings ) {
         scolor.cloud_color = SGVec3f(l->cloud_color().data());
         scolor.sun_angle   = l->get_sun_angle();
         scolor.moon_angle  = l->get_moon_angle();
-
+  
+        double delta_time_sec = fgGetDouble("/sim/time/delta-sec");
         thesky->reposition( sstate, *globals->get_ephem(), delta_time_sec );
         thesky->repaint( scolor, *globals->get_ephem() );
 
-        /*
-        SG_LOG( SG_GENERAL, SG_BULK,
-                "thesky->reposition( view_pos = " << view_pos[0] << " "
-         << view_pos[1] << " " << view_pos[2] );
-        SG_LOG( SG_GENERAL, SG_BULK,
-                "    zero_elev = " << zero_elev[0] << " "
-         << zero_elev[1] << " " << zero_elev[2]
-         << " lon = " << cur_fdm_state->get_Longitude()
-         << " lat = " << cur_fdm_state->get_Latitude() );
-        SG_LOG( SG_GENERAL, SG_BULK,
-                "    sun_rot = " << l->get_sun_rotation
-         << " gst = " << SGTime::cur_time_params->getGst() );
-        SG_LOG( SG_GENERAL, SG_BULK,
-             "    sun ra = " << globals->get_ephem()->getSunRightAscension()
-          << " sun dec = " << globals->get_ephem()->getSunDeclination()
-          << " moon ra = " << globals->get_ephem()->getMoonRightAscension()
-          << " moon dec = " << globals->get_ephem()->getMoonDeclination() );
-        */
-
-        //OSGFIXME
+            //OSGFIXME
 //         shadows->setupShadows(
 //           current__view->getLongitude_deg(),
 //           current__view->getLatitude_deg(),

diff --git a/src/Main/renderer.hxx b/src/Main/renderer.hxx
index 4393e67e719e60bf5125cba504793d231c997af3..5fd8e9b36f652fdb91735920215e276017602ca3 100644 (file)
--- a/src/Main/renderer.hxx
+++ b/src/Main/renderer.hxx
@@ -2,7 +2,6 @@
 #ifndef __FG_RENDERER_HXX
 #define __FG_RENDERER_HXX 1
 
-#include <simgear/screen/extensions.hxx>
 #include <simgear/scene/util/SGPickCallback.hxx>
 
 #include <osg/ref_ptr>
@@ -33,8 +32,6 @@ namespace flightgear
 class FGEventHandler;
 }
 
-#define FG_ENABLE_MULTIPASS_CLOUDS 1
-
 class SGSky;
 extern SGSky *thesky;
 

diff --git a/src/Main/splash.cxx b/src/Main/splash.cxx
index 403617891f2027276978b7110de7146a8bcfc845..19b12348849d43277aaeebbb1979aa3ff6cffd34 100644 (file)
--- a/src/Main/splash.cxx
+++ b/src/Main/splash.cxx
@@ -197,9 +197,10 @@ static osg::Node* fgCreateSplashCamera()
     tpath.append( "Textures/Splash" );
     tpath.concat( num_str );
     tpath.concat( ".png" );
-  } else
-    tpath.append( splash_texture );
-
+  } else {
+    tpath = globals->resolve_maybe_aircraft_path(splash_texture);
+  }
+  
   osg::Texture2D* splashTexture = new osg::Texture2D;
   splashTexture->setImage(osgDB::readImageFile(tpath.c_str()));
 

diff --git a/src/Main/viewer.cxx b/src/Main/viewer.cxx
index ffa05fc3f3499b4160771df8af9b43eb1759ee81..ab5f6aa44c99b977e1578e116464241f59e9eec2 100644 (file)
--- a/src/Main/viewer.cxx
+++ b/src/Main/viewer.cxx
@@ -28,13 +28,13 @@
 #endif
 
 #include <simgear/compiler.h>
+#include <cassert>
 
 #include "fg_props.hxx"
 
 #include <simgear/debug/logstream.hxx>
 #include <simgear/constants.h>
 #include <simgear/scene/model/placement.hxx>
-#include <simgear/math/vector.hxx>
 
 #include <Main/globals.hxx>
 #include <Scenery/scenery.hxx>

diff --git a/src/Main/viewmgr.cxx b/src/Main/viewmgr.cxx
index 270c579e03b82dcfd89457b8a8dd9b472bead2d5..6859c8f412ee5306ddaf1d91630b717149ce77d4 100644 (file)
--- a/src/Main/viewmgr.cxx
+++ b/src/Main/viewmgr.cxx
@@ -190,7 +190,7 @@ FGViewMgr::bind ()
 
   fgTie("/sim/current-view/view-number", this,
                       &FGViewMgr::getView, &FGViewMgr::setView);
-  fgSetArchivable("/sim/current-view/view-number", FALSE);
+  fgSetArchivable("/sim/current-view/view-number", false);
 
   fgTie("/sim/current-view/axes/long", this,
        (double_getter)0, &FGViewMgr::setViewAxisLong);

diff --git a/src/Model/acmodel.cxx b/src/Model/acmodel.cxx
index 2df6e0abfb29caff2bbe0d0314133456bd4fe8f9..5c63963a98eaac3ff90cdac8f05068b138ebac13 100644 (file)
--- a/src/Model/acmodel.cxx
+++ b/src/Model/acmodel.cxx
@@ -55,10 +55,7 @@ FGAircraftModel::FGAircraftModel ()
 
 FGAircraftModel::~FGAircraftModel ()
 {
-  osg::Node* node = _aircraft->getSceneGraph();
-  globals->get_scenery()->get_aircraft_branch()->removeChild(node);
-
-  delete _aircraft;
+  deinit();
 }
 
 void 
@@ -83,6 +80,27 @@ FGAircraftModel::init ()
   globals->get_scenery()->get_aircraft_branch()->addChild(node);
 }
 
+void
+FGAircraftModel::reinit()
+{
+  deinit();
+  init();
+}
+
+void
+FGAircraftModel::deinit()
+{
+  if (!_aircraft) {
+    return;
+  }
+  
+  osg::Node* node = _aircraft->getSceneGraph();
+  globals->get_scenery()->get_aircraft_branch()->removeChild(node);
+
+  delete _aircraft;
+  _aircraft = NULL;
+}
+
 void
 FGAircraftModel::bind ()
 {

diff --git a/src/Model/acmodel.hxx b/src/Model/acmodel.hxx
index 59e6034dd26c0126af99aa4d5dc5e3d74b064899..7965658cd719b682815b36773dd3b290efe63eda 100644 (file)
--- a/src/Model/acmodel.hxx
+++ b/src/Model/acmodel.hxx
@@ -6,16 +6,6 @@
 #ifndef __ACMODEL_HXX
 #define __ACMODEL_HXX 1
 
-#ifndef __cplusplus
-# error This library requires C++
-#endif
-
-#include <vector>
-#include <string>
-
-using std::string;
-using std::vector;
-
 #include <osg/ref_ptr>
 #include <osg/Group>
 #include <osg/Switch>
@@ -35,6 +25,7 @@ public:
   virtual ~FGAircraftModel ();
 
   virtual void init ();
+  virtual void reinit ();
   virtual void bind ();
   virtual void unbind ();
   virtual void update (double dt);
@@ -42,7 +33,8 @@ public:
   virtual SGVec3d& getVelocity() { return _velocity; }
 
 private:
-
+  void deinit ();
+  
   SGModelPlacement * _aircraft;
   SGVec3d _velocity;
   SGSharedPtr<FGFX>  _fx;

diff --git a/src/Model/model_panel.cxx b/src/Model/model_panel.cxx
index eef538cb0a41c7b809e7e3a2078afdf3066c3090..a316243c1cf2ea22c376cdeea6a4fdf26535e7ef 100644 (file)
--- a/src/Model/model_panel.cxx
+++ b/src/Model/model_panel.cxx
@@ -22,24 +22,16 @@
 using std::vector;
 
 using namespace simgear;
-
-static
-osg::Node* load_panel(SGPropertyNode *n)
-{
-    osg::Geode* geode = new osg::Geode;
-    geode->addDrawable(new FGPanelNode(n));
-    return geode;
-}
-
 \f
 ////////////////////////////////////////////////////////////////////////
 // Global functions.
 ////////////////////////////////////////////////////////////////////////
 
 osg::Node *
-fgLoad3DModelPanel(const string &path, SGPropertyNode *prop_root)
+fgLoad3DModelPanel(const std::string &path, SGPropertyNode *prop_root)
 {
-    osg::Node* node = SGModelLib::loadModel(path, prop_root, load_panel);
+    bool loadPanels = true;
+    osg::Node* node = SGModelLib::loadModel(path, prop_root, NULL, loadPanels);
     if (node)
         node->setNodeMask(~SG_NODEMASK_TERRAIN_BIT);
     return node;

diff --git a/src/Model/model_panel.hxx b/src/Model/model_panel.hxx
index dcf41dd95334a676cf4c0542e165975fcd4e24f4..301f770c8c4536cb513cc197cfd02a30b1d2c429 100644 (file)
--- a/src/Model/model_panel.hxx
+++ b/src/Model/model_panel.hxx
@@ -45,7 +45,7 @@ class FGLocation;
  * Subsystems should not normally invoke this function directly;
  * instead, they should use the SGModelLoader declared in loader.hxx.
  */
-osg::Node *fgLoad3DModelPanel( const string &path, SGPropertyNode *prop_root);
+osg::Node *fgLoad3DModelPanel( const std::string &path, SGPropertyNode *prop_root);
 
 
 #endif // __MODEL_HXX

diff --git a/src/Model/modelmgr.cxx b/src/Model/modelmgr.cxx
index 600086d29e9d77ece1819bc319f6e8f6fac1fa87..3478a68c5c9bf973a7fe8195c1abe64ad43ae5e2 100644 (file)
--- a/src/Model/modelmgr.cxx
+++ b/src/Model/modelmgr.cxx
@@ -16,6 +16,7 @@
 #include <algorithm>
 #include <functional>
 #include <vector>
+#include <cstring>
 
 #include <osg/Math>
 

diff --git a/src/Model/panelnode.cxx b/src/Model/panelnode.cxx
index be6889fda55d048d80e0a63044be888fcfbb5d82..7161daa2c57029eb44a1eeacc02fb9274079bdbf 100644 (file)
--- a/src/Model/panelnode.cxx
+++ b/src/Model/panelnode.cxx
@@ -6,6 +6,7 @@
 #include <simgear/structure/exception.hxx>
 
 #include <vector>
+#include <algorithm>
 
 #include <Cockpit/panel.hxx>
 #include <Cockpit/panel_io.hxx>
@@ -119,6 +120,11 @@ FGPanelNode::FGPanelNode(SGPropertyNode* props)
 
 FGPanelNode::~FGPanelNode()
 {
+    vector<FGPanelNode*>::iterator i =
+      find(all_3d_panels.begin(), all_3d_panels.end(), this);
+    if (i != all_3d_panels.end()) {
+        all_3d_panels.erase(i);
+    }
     delete _panel;
 }
 

diff --git a/src/MultiPlayer/multiplaymgr.hxx b/src/MultiPlayer/multiplaymgr.hxx
index 96e56f2428a29f8e56f3313650be78b978029331..eb5fc1edf004bda1570503d828a03c1ced3c3c94 100644 (file)
--- a/src/MultiPlayer/multiplaymgr.hxx
+++ b/src/MultiPlayer/multiplaymgr.hxx
@@ -86,7 +86,7 @@ private:
   void ProcessChatMsg(const MsgBuf& Msg, const netAddress& SenderAddress);
 
   /// maps from the callsign string to the FGAIMultiplayer
-  typedef std::map<std::string, osg::ref_ptr<FGAIMultiplayer> > MultiPlayerMap;
+  typedef std::map<std::string, SGSharedPtr<FGAIMultiplayer> > MultiPlayerMap;
   MultiPlayerMap mMultiPlayerMap;
 
   netSocket* mSocket;

diff --git a/src/Navaids/awynet.cxx b/src/Navaids/awynet.cxx
index ab8ec1177b5c2a01602f4a16ab5eed9ac379d53b..4432c8d717e288e0b28dd1f920f8769e8cefd705 100755 (executable)
--- a/src/Navaids/awynet.cxx
+++ b/src/Navaids/awynet.cxx
@@ -37,7 +37,7 @@
 #include "awynet.hxx"
 
 using std::sort;
-
+using std::string;
 using std::cerr;
 using std::endl;
 
@@ -354,7 +354,7 @@ FGAirRoute FGAirwayNetwork::findShortestRoute(int start, int end)
   foundRoute = false;
   totalDistance = 0;
   FGNode *firstNode = findNode(start);
-  FGNode *lastNode  = findNode(end);
+  //FGNode *lastNode  = findNode(end);
   //prevNode = prevPrevNode = -1;
   //prevNode = start;
   routes.clear();

diff --git a/src/Navaids/fixlist.cxx b/src/Navaids/fixlist.cxx
index f9fc37a5d3a2436ed24d9c03d1f4a4bb9e146299..50c06ac563c804bb99eda19862fc2921386b20ac 100644 (file)
--- a/src/Navaids/fixlist.cxx
+++ b/src/Navaids/fixlist.cxx
@@ -39,6 +39,7 @@
 FGFix::FGFix(const std::string& aIdent, const SGGeod& aPos) :
   FGPositioned(FIX, aIdent, aPos)
 {
+  init(true); // init FGPositioned
 }
 
 // Constructor
@@ -66,7 +67,7 @@ bool FGFixList::init(const SGPath& path ) {
     // read in each remaining line of the file
     while ( ! in.eof() ) {
       double lat, lon;
-      string ident;
+      std::string ident;
       in >> lat >> lon >> ident;
       if (lat > 95) break;
 

diff --git a/src/Navaids/markerbeacon.cxx b/src/Navaids/markerbeacon.cxx
index 3a49e328056fb4f0cedad3b82c10f3ffee051d17..6518799613505579ae2d84770b8366fc43567597 100644 (file)
--- a/src/Navaids/markerbeacon.cxx
+++ b/src/Navaids/markerbeacon.cxx
@@ -65,4 +65,5 @@ FGMarkerBeaconRecord::FGMarkerBeaconRecord(Type aTy, FGRunway* aRunway, const SG
   FGPositioned(aTy, string(), aPos),
   _runway(aRunway)
 {
+  init(true); // init FGPositioned
 }

diff --git a/src/Navaids/navrecord.cxx b/src/Navaids/navrecord.cxx
index 041c12f1a663fc84aef85f6b021682eedb01c089..a22bebb69b431f7f6dec13701adb0a6318531488 100644 (file)
--- a/src/Navaids/navrecord.cxx
+++ b/src/Navaids/navrecord.cxx
@@ -82,6 +82,7 @@ FGNavRecord::FGNavRecord(Type aTy, const std::string& aIdent,
     }
   }
   
+  init(true); // init FGPositioned (now position is adjusted)
 }
 
 void FGNavRecord::initAirportRelation()

diff --git a/src/Navaids/positioned.cxx b/src/Navaids/positioned.cxx
index 500de332bd450f6045b94228ad8a2e6e0c78a0e4..91715687740a55e6ae44f9ada121ad189f014b78 100644 (file)
--- a/src/Navaids/positioned.cxx
+++ b/src/Navaids/positioned.cxx
@@ -22,6 +22,8 @@
 #  include "config.h"
 #endif
 
+#include "positioned.hxx"
+
 #include <map>
 #include <set>
 #include <algorithm> // for sort
@@ -35,7 +37,7 @@
 #include <simgear/structure/exception.hxx>
 #include <simgear/math/SGGeometry.hxx>
 
-#include "positioned.hxx"
+
 
 typedef std::multimap<std::string, FGPositioned*> NamedPositionedIndex;
 typedef std::pair<NamedPositionedIndex::const_iterator, NamedPositionedIndex::const_iterator> NamedIndexRange;
@@ -355,13 +357,17 @@ addToIndices(FGPositioned* aPos)
 {
   assert(aPos);
   if (!aPos->ident().empty()) {
+    std::string u(boost::to_upper_copy(aPos->ident()));
+    
     global_identIndex.insert(global_identIndex.begin(), 
-      std::make_pair(aPos->ident(), aPos));
+      std::make_pair(u, aPos));
   }
   
   if (!aPos->name().empty()) {
+    std::string u(boost::to_upper_copy(aPos->name()));
+    
     global_nameIndex.insert(global_nameIndex.begin(), 
-                             std::make_pair(aPos->name(), aPos));
+                             std::make_pair(u, aPos));
   }
 
   if (!Octree::global_spatialOctree) {
@@ -378,8 +384,9 @@ removeFromIndices(FGPositioned* aPos)
   assert(aPos);
   
   if (!aPos->ident().empty()) {
-    NamedPositionedIndex::iterator it = global_identIndex.find(aPos->ident());
-    while (it != global_identIndex.end() && (it->first == aPos->ident())) {
+    std::string u(boost::to_upper_copy(aPos->ident()));
+    NamedPositionedIndex::iterator it = global_identIndex.find(u);
+    while (it != global_identIndex.end() && (it->first == u)) {
       if (it->second == aPos) {
         global_identIndex.erase(it);
         break;
@@ -390,8 +397,9 @@ removeFromIndices(FGPositioned* aPos)
   }
   
   if (!aPos->name().empty()) {
-    NamedPositionedIndex::iterator it = global_nameIndex.find(aPos->name());
-    while (it != global_nameIndex.end() && (it->first == aPos->name())) {
+    std::string u(boost::to_upper_copy(aPos->name()));
+    NamedPositionedIndex::iterator it = global_nameIndex.find(u);
+    while (it != global_nameIndex.end() && (it->first == u)) {
       if (it->second == aPos) {
         global_nameIndex.erase(it);
         break;
@@ -402,102 +410,38 @@ removeFromIndices(FGPositioned* aPos)
   }
 }
 
-class DistanceOrdering
+//////////////////////////////////////////////////////////////////////////////
+
+class OrderByName
 {
 public:
-  DistanceOrdering(const SGGeod& aPos) :
-    mPos(SGVec3d::fromGeod(aPos))
-  { }
-  
-  bool operator()(const FGPositionedRef& a, const FGPositionedRef& b) const
+  bool operator()(FGPositioned* a, FGPositioned* b) const
   {
-    if (!a || !b) {
-      throw sg_exception("empty reference passed to DistanceOrdering");
-    }
-  
-    double dA = distSqr(a->cart(), mPos),
-      dB = distSqr(b->cart(), mPos);
-    return dA < dB;
+    return a->name() < b->name();
   }
-
-private:
-  SGVec3d mPos;
 };
 
-static void
-sortByDistance(const SGGeod& aPos, FGPositioned::List& aResult)
+void findInIndex(NamedPositionedIndex& aIndex, const std::string& aFind, std::vector<FGPositioned*>& aResult)
 {
-  std::sort(aResult.begin(), aResult.end(), DistanceOrdering(aPos));
-}
+  NamedPositionedIndex::const_iterator it = aIndex.begin();
+  NamedPositionedIndex::const_iterator end = aIndex.end();
 
-static FGPositionedRef
-namedFindClosest(const NamedPositionedIndex& aIndex, const std::string& aName, 
-                 const SGGeod& aOrigin, FGPositioned::Filter* aFilter)
-{
-  NamedIndexRange range = aIndex.equal_range(aName);
-  if (range.first == range.second) {
-    return NULL;
-  }
-  
-// common case, only one result. looks a bit ugly because these are
-// sequential iterators, not random-access ones
-  NamedPositionedIndex::const_iterator check = range.first;
-  if (++check == range.second) {
-    // excellent, only one match in the range
-    FGPositioned* r = range.first->second;
-    if (aFilter) {
-      if (aFilter->hasTypeRange() && !aFilter->passType(r->type())) {
-        return NULL;
-      }
-      
-      if (!aFilter->pass(r)) {
-        return NULL;
-      }
-    } // of have a filter
-  
-    return r;
-  } // of short-circuit logic for single-element range
-  
-// multiple matches, we need to actually check the distance to each one
-  double minDist = HUGE_VAL;
-  FGPositionedRef result;
-  NamedPositionedIndex::const_iterator it = range.first;
-  SGVec3d cartOrigin(SGVec3d::fromGeod(aOrigin));
-  
-  for (; it != range.second; ++it) {
-    FGPositioned* r = it->second;
-    if (aFilter) {
-      if (aFilter->hasTypeRange() && !aFilter->passType(r->type())) {
-        continue;
-      }
-      
-      if (!aFilter->pass(r)) {
-        continue;
-      }
+  bool haveFilter = !aFind.empty();
+
+  for (; it != end; ++it) {
+    FGPositioned::Type ty = it->second->type();
+    if ((ty < FGPositioned::AIRPORT) || (ty > FGPositioned::SEAPORT)) {
+      continue;
     }
     
-  // find distance
-    double d2 = distSqr(cartOrigin, r->cart());
-    if (d2 < minDist) {
-      minDist = d2;
-      result = r;
+    if (haveFilter && it->first.find(aFind) == std::string::npos) {
+      continue;
     }
-  }
-  
-  return result;
+    
+    aResult.push_back(it->second);
+  } // of index iteration
 }
 
-//////////////////////////////////////////////////////////////////////////////
-
-class OrderByName
-{
-public:
-  bool operator()(FGPositioned* a, FGPositioned* b) const
-  {
-    return a->name() < b->name();
-  }
-};
-
 /**
  * A special purpose helper (imported by FGAirport::searchNamesAndIdents) to
  * implement the AirportList dialog. It's unfortunate that it needs to reside
@@ -505,43 +449,23 @@ public:
  */
 char** searchAirportNamesAndIdents(const std::string& aFilter)
 {
-  const std::ctype<char> &ct = std::use_facet<std::ctype<char> >(std::locale());
-  std::string filter(aFilter);
-  bool hasFilter = !filter.empty();
-  if (hasFilter) {
-    ct.toupper((char *)filter.data(), (char *)filter.data() + filter.size());
-  }
-  
-  NamedPositionedIndex::const_iterator it = global_identIndex.begin();
-  NamedPositionedIndex::const_iterator end = global_identIndex.end();
-  
-  // note this is a vector of raw pointers, not smart pointers, because it
-  // may get very large and smart-pointer-atomicity-locking then becomes a
-  // bottleneck for this case.
+// note this is a vector of raw pointers, not smart pointers, because it
+// may get very large and smart-pointer-atomicity-locking then becomes a
+// bottleneck for this case.
   std::vector<FGPositioned*> matches;
-  std::string upper;
-  
-  for (; it != end; ++it) {
-    FGPositioned::Type ty = it->second->type();
-    if ((ty < FGPositioned::AIRPORT) || (ty > FGPositioned::SEAPORT)) {
-      continue;
-    }
+  if (!aFilter.empty()) {
+    std::string filter = boost::to_upper_copy(aFilter);
+    findInIndex(global_identIndex, filter, matches);
+    findInIndex(global_nameIndex, filter, matches);
+  } else {
     
-    if (hasFilter && (it->second->ident().find(aFilter) == std::string::npos)) {
-      upper = it->second->name(); // string copy, sadly
-      ct.toupper((char *)upper.data(), (char *)upper.data() + upper.size());
-      if (upper.find(aFilter) == std::string::npos) {
-        continue;
-      }
-    }
-    
-    matches.push_back(it->second);
+    findInIndex(global_identIndex, std::string(), matches);
   }
   
-  // sort alphabetically on name
+// sort alphabetically on name
   std::sort(matches.begin(), matches.end(), OrderByName());
   
-  // convert results to format comptible with puaList
+// convert results to format comptible with puaList
   unsigned int numMatches = matches.size();
   char** result = new char*[numMatches + 1];
   result[numMatches] = NULL; // end-of-list marker
@@ -550,13 +474,14 @@ char** searchAirportNamesAndIdents(const std::string& aFilter)
   // We format results as follows (note whitespace!):
   //   ' name-of-airport-chars   (ident)'
   // so the total length is:
-  //    1 + strlen(name) + 4 + 4 (for the ident) + 1 + 1 (for the null)
-  // which gives a grand total of 11 + the length of the name.
-  // note the ident is sometimes only three letters for non-ICAO small strips
+  //    1 + strlen(name) + 4 + strlen(icao) + 1 + 1 (for the null)
+  // which gives a grand total of 7 + name-length + icao-length.
+  // note the ident can be three letters (non-ICAO local strip), four
+  // (default ICAO) or more (extended format ICAO)
   for (unsigned int i=0; i<numMatches; ++i) {
     int nameLength = matches[i]->name().size();
     int icaoLength = matches[i]->ident().size();
-    char* entry = new char[nameLength + 11];
+    char* entry = new char[7 + nameLength + icaoLength];
     char* dst = entry;
     *dst++ = ' ';
     memcpy(dst, matches[i]->name().c_str(), nameLength);
@@ -591,14 +516,23 @@ FGPositioned::Filter::passType(Type aTy) const
   return (minType() <= aTy) && (maxType() >= aTy);
 }
 
-static FGPositioned::List
-findAllSortedByRange(const NamedPositionedIndex& aIndex, 
-                             const std::string& aName, const SGGeod& aPos, FGPositioned::Filter* aFilter)
+static FGPositioned::List 
+findAll(const NamedPositionedIndex& aIndex, 
+                             const std::string& aName, FGPositioned::Filter* aFilter)
 {
   FGPositioned::List result;
-  NamedIndexRange range = aIndex.equal_range(aName);
-  for (; range.first != range.second; ++range.first) {
-    FGPositioned* candidate = range.first->second;
+  if (aName.empty()) {
+    return result;
+  }
+  
+  std::string name = boost::to_upper_copy(aName);
+  std::string upperBoundId = name;
+  upperBoundId[upperBoundId.size()-1]++;
+  NamedPositionedIndex::const_iterator upperBound = aIndex.lower_bound(upperBoundId);
+  NamedPositionedIndex::const_iterator it = aIndex.lower_bound(name);
+  
+  for (; it != upperBound; ++it) {
+    FGPositionedRef candidate = it->second;
     if (aFilter) {
       if (aFilter->hasTypeRange() && !aFilter->passType(candidate->type())) {
         continue;
@@ -609,70 +543,28 @@ findAllSortedByRange(const NamedPositionedIndex& aIndex,
       }
     }
     
-    result.push_back(range.first->second);
+    result.push_back(candidate);
   }
   
-  sortByDistance(aPos, result);
   return result;
 }
 
-static FGPositionedRef
-findWithPartial(const NamedPositionedIndex& aIndex, const std::string& aName, 
-                    FGPositioned::Filter* aFilter, int aOffset, bool& aNext)
-{
-  // see comment in findNextWithPartialId concerning upperBoundId
-  std::string upperBoundId = aName;
-  upperBoundId[upperBoundId.size()-1]++;
-  NamedPositionedIndex::const_iterator upperBound = aIndex.lower_bound(upperBoundId);
-  
-  NamedIndexRange range = aIndex.equal_range(aName);
-  FGPositionedRef result;
-  
-  while (range.first != upperBound) {
-    for (; range.first != range.second; ++range.first) {
-      FGPositionedRef candidate = range.first->second;
-      if (aFilter) {
-        if (aFilter->hasTypeRange() && !aFilter->passType(candidate->type())) {
-          continue;
-        }
-        
-        if (!aFilter->pass(candidate)) {
-          continue;
-        }
-      }
-      
-      if (result) {
-        aNext = true;
-        return result;
-      } else if (aOffset == 0) {
-        // okay, found our result. we need to go around once more to set aNext
-        result = candidate;
-      } else {
-        --aOffset; // seen one more valid result, decrement the count
-      }
-    }
-    
-    // Unable to match the filter with this range - try the next range.
-    range = aIndex.equal_range(range.second->first);
-  }
-  
-  // if we fell out, we reached the end of the valid range. We might have a
-  // valid result, but we definitiely don't have a next result.
-  aNext = false;
-  return result;  
-}
-
 ///////////////////////////////////////////////////////////////////////////////
 
-FGPositioned::FGPositioned(Type ty, const std::string& aIdent, const SGGeod& aPos, bool aIndexed) :
-  mType(ty),
+FGPositioned::FGPositioned(Type ty, const std::string& aIdent, const SGGeod& aPos) :
   mPosition(aPos),
+  mType(ty),
   mIdent(aIdent)
 {  
+}
+
+void FGPositioned::init(bool aIndexed)
+{
   SGReferenced::get(this); // hold an owning ref, for the moment
+  mCart = SGVec3d::fromGeod(mPosition);
   
   if (aIndexed) {
-    assert(ty != TAXIWAY && ty != PAVEMENT);
+    assert(mType != TAXIWAY && mType != PAVEMENT);
     addToIndices(this);
   }
 }
@@ -686,13 +578,15 @@ FGPositioned::~FGPositioned()
 FGPositioned*
 FGPositioned::createUserWaypoint(const std::string& aIdent, const SGGeod& aPos)
 {
-  return new FGPositioned(WAYPOINT, aIdent, aPos, true);
+  FGPositioned* wpt = new FGPositioned(WAYPOINT, aIdent, aPos);
+  wpt->init(true);
+  return wpt;
 }
 
-SGVec3d
+const SGVec3d&
 FGPositioned::cart() const
 {
-  return SGVec3d::fromGeod(mPosition);
+  return mCart;
 }
 
 FGPositioned::Type FGPositioned::typeFromName(const std::string& aName)
@@ -769,7 +663,13 @@ const char* FGPositioned::nameForType(Type aTy)
 FGPositionedRef
 FGPositioned::findClosestWithIdent(const std::string& aIdent, const SGGeod& aPos, Filter* aFilter)
 {
-  return namedFindClosest(global_identIndex, aIdent, aPos, aFilter);
+  FGPositioned::List r(findAll(global_identIndex, aIdent, aFilter));
+  if (r.empty()) {
+    return FGPositionedRef();
+  }
+  
+  sortByRange(r, aPos);
+  return r.front();
 }
 
 FGPositioned::List
@@ -782,15 +682,15 @@ FGPositioned::findWithinRange(const SGGeod& aPos, double aRangeNm, Filter* aFilt
 }
 
 FGPositioned::List
-FGPositioned::findAllWithIdentSortedByRange(const std::string& aIdent, const SGGeod& aPos, Filter* aFilter)
+FGPositioned::findAllWithIdent(const std::string& aIdent, Filter* aFilter)
 {
-  return findAllSortedByRange(global_identIndex, aIdent, aPos, aFilter);
+  return findAll(global_identIndex, aIdent, aFilter);
 }
 
 FGPositioned::List
-FGPositioned::findAllWithNameSortedByRange(const std::string& aName, const SGGeod& aPos, Filter* aFilter)
+FGPositioned::findAllWithName(const std::string& aName, Filter* aFilter)
 {
-  return findAllSortedByRange(global_nameIndex, aName, aPos, aFilter);
+  return findAll(global_nameIndex, aName, aFilter);
 }
 
 FGPositionedRef
@@ -860,115 +760,24 @@ FGPositioned::findNextWithPartialId(FGPositionedRef aCur, const std::string& aId
   return NULL; // Reached the end of the valid sequence with no match.  
 }
   
-FGPositionedRef
-FGPositioned::findWithPartialId(const std::string& aId, Filter* aFilter, int aOffset, bool& aNext)
-{
-  return findWithPartial(global_identIndex, aId, aFilter, aOffset, aNext);
-}
-
-
-FGPositionedRef
-FGPositioned::findWithPartialName(const std::string& aName, Filter* aFilter, int aOffset, bool& aNext)
-{
-  return findWithPartial(global_nameIndex, aName, aFilter, aOffset, aNext);
-}
-
-/**
- * Wrapper filter which proxies to an inner filter, but also ensures the
- * ident starts with supplied partial ident.
- */
-class PartialIdentFilter : public FGPositioned::Filter
+void
+FGPositioned::sortByRange(List& aResult, const SGGeod& aPos)
 {
-public:
-  PartialIdentFilter(const std::string& ident, FGPositioned::Filter* filter) :
-    _inner(filter)
-  {
-    _ident = boost::to_upper_copy(ident);
+  SGVec3d cartPos(SGVec3d::fromGeod(aPos));
+// computer ordering values
+  Octree::FindNearestResults r;
+  List::iterator it = aResult.begin(), lend = aResult.end();
+  for (; it != lend; ++it) {
+    double d2 = distSqr((*it)->cart(), cartPos);
+    r.push_back(Octree::OrderedPositioned(*it, d2));
   }
   
-  virtual bool pass(FGPositioned* aPos) const
-  {
-    if (!_inner->pass(aPos)) {
-      return false;
-    }
-    
-    return (boost::algorithm::starts_with(aPos->ident(), _ident));
-  }
-    
-  virtual FGPositioned::Type minType() const
-  { return _inner->minType(); }
-    
-  virtual FGPositioned::Type maxType() const
-  { return _inner->maxType(); }
-    
-private:
-  std::string _ident;
-  FGPositioned::Filter* _inner;
-};
-
-static FGPositionedRef
-findClosestWithPartial(const SGGeod& aPos, FGPositioned::Filter* aFilter, int aOffset, bool& aNext)
-{
-  // why aOffset +2 ? at offset=3, we want the fourth search result, but also
-  // to know if the fifth result exists (to set aNext flag for iterative APIs)
-  FGPositioned::List matches;
-  Octree::findNearestN(SGVec3d::fromGeod(aPos), aOffset + 2, 1000 * SG_NM_TO_METER, aFilter, matches);
+// sort
+  std::sort(r.begin(), r.end());
   
-  if ((int) matches.size() <= aOffset) {
-    SG_LOG(SG_GENERAL, SG_INFO, "findClosestWithPartial, couldn't match enough with prefix");
-    aNext = false;
-    return NULL; // couldn't find a match within the cutoff distance
+// convert to a plain list
+  unsigned int count = aResult.size();
+  for (unsigned int i=0; i<count; ++i) {
+    aResult[i] = r[i].get();
   }
-  
-  aNext = ((int) matches.size() >= (aOffset + 2));
-  return matches[aOffset];
-
-}
-
-FGPositionedRef
-FGPositioned::findClosestWithPartialId(const SGGeod& aPos, const std::string& aId, Filter* aFilter, int aOffset, bool& aNext)
-{
-  PartialIdentFilter pf(aId, aFilter);
-  return findClosestWithPartial(aPos, &pf, aOffset, aNext);
 }
-
-/**
- * Wrapper filter which proxies to an inner filter, but also ensures the
- * name starts with supplied partial name.
- */
-class PartialNameFilter : public FGPositioned::Filter
-{
-public:
-  PartialNameFilter(const std::string& nm, FGPositioned::Filter* filter) :
-  _inner(filter)
-  {
-    _name = nm;
-  }
-  
-  virtual bool pass(FGPositioned* aPos) const
-  {
-    if (!_inner->pass(aPos)) {
-      return false;
-    }
-    
-    return (boost::algorithm::istarts_with(aPos->name(), _name));
-  }
-  
-  virtual FGPositioned::Type minType() const
-  { return _inner->minType(); }
-  
-  virtual FGPositioned::Type maxType() const
-  { return _inner->maxType(); }
-  
-private:
-  std::string _name;
-  FGPositioned::Filter* _inner;
-};
-
-FGPositionedRef
-FGPositioned::findClosestWithPartialName(const SGGeod& aPos, const std::string& aName, Filter* aFilter, int aOffset, bool& aNext)
-{
-  PartialNameFilter pf(aName, aFilter);
-  return findClosestWithPartial(aPos, &pf, aOffset, aNext);
-}
-

diff --git a/src/Navaids/positioned.hxx b/src/Navaids/positioned.hxx
index d5f9b3672d135522fa7caaa818db1ecec4c7278b..27d807a7264c0d0418c8dba72d98e4cff64e240c 100644 (file)
--- a/src/Navaids/positioned.hxx
+++ b/src/Navaids/positioned.hxx
@@ -84,9 +84,9 @@ public:
   { return mPosition; }
 
   /**
-   * Compute the cartesian position associated with this object
+   *  The cartesian position associated with this object
    */
-  SGVec3d cart() const;
+  const SGVec3d& cart() const;
 
   double latitude() const
   { return mPosition.getLatitudeDeg(); }
@@ -157,27 +157,20 @@ public:
   static FGPositionedRef findNextWithPartialId(FGPositionedRef aCur, const std::string& aId, Filter* aFilter = NULL);
   
   /**
-   * As above, but searches using an offset index
-   */
-  static FGPositionedRef findWithPartialId(const std::string& aId, Filter* aFilter, int aOffset, bool& aNext);
-
-  /**
-   * As above, but search names instead of idents
+   * Find all items with the specified ident
+   * @param aFilter - optional filter on items
    */
-  static FGPositionedRef findWithPartialName(const std::string& aName, Filter* aFilter, int aOffset, bool& aNext);
+  static List findAllWithIdent(const std::string& aIdent, Filter* aFilter = NULL);
   
   /**
-   * Find all items with the specified ident, and return then sorted by
-   * distance from a position
-   *
-   * @param aFilter - optional filter on items
+   * As above, but searches names instead of idents
    */
-  static List findAllWithIdentSortedByRange(const std::string& aIdent, const SGGeod& aPos, Filter* aFilter = NULL);
+  static List findAllWithName(const std::string& aName, Filter* aFilter = NULL);
   
   /**
-   * As above, but searches names instead of idents
+   * Sort an FGPositionedList by distance from a position
    */
-  static List findAllWithNameSortedByRange(const std::string& aName, const SGGeod& aPos, Filter* aFilter = NULL);
+  static void sortByRange(List&, const SGGeod& aPos);
   
   /**
    * Find the closest item to a position, which pass the specified filter
@@ -201,18 +194,6 @@ public:
    */
   static List findClosestN(const SGGeod& aPos, unsigned int aN, double aCutoffNm, Filter* aFilter = NULL);
   
-  /**
-   * Find the closest match based on partial id (with an offset to allow selecting the n-th closest).
-   * Cutoff distance is limited internally, to avoid making this very slow.
-   */
-  static FGPositionedRef findClosestWithPartialId(const SGGeod& aPos, const std::string& aId, Filter* aFilter, int aOffset, bool& aNext);
-
-  /**
-   * As above, but matches on name
-   */
-  static FGPositionedRef findClosestWithPartialName(const SGGeod& aPos, const std::string& aName, Filter* aFilter, int aOffset, bool& aNext);
-  
-  
   /**
    * Map a candidate type string to a real type. Returns INVALID if the string
    * does not correspond to a defined type.
@@ -227,12 +208,15 @@ public:
   static FGPositioned* createUserWaypoint(const std::string& aIdent, const SGGeod& aPos);
 protected:
   
-  FGPositioned(Type ty, const std::string& aIdent, const SGGeod& aPos, bool aIndex = true);
+  FGPositioned(Type ty, const std::string& aIdent, const SGGeod& aPos);
+  
+  void init(bool aIndexed);
   
   // can't be const right now, navrecord at least needs to fix up the position
   // after navaids are parsed
   SGGeod mPosition; 
   
+  SGVec3d mCart; // once mPosition is const, this can be const too
   const Type mType;
   const std::string mIdent;
 };

diff --git a/src/Network/AV400.cxx b/src/Network/AV400.cxx
index eead2455bbf8b11c8f70d189aa107f41c91f11e3..bed03b48bd04dc00e20c413b486c7325e23bf353 100644 (file)
--- a/src/Network/AV400.cxx
+++ b/src/Network/AV400.cxx
@@ -25,12 +25,13 @@
 #  include "config.h"
 #endif
 
+#include <cstring>
+
 #include <simgear/debug/logstream.hxx>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/io/iochannel.hxx>
 #include <simgear/timing/sg_time.hxx>
 
-#include <FDM/flight.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/globals.hxx>
 
@@ -80,12 +81,12 @@ bool FGAV400::gen_message() {
     double min;
 
     // create msg_z
-    sprintf( msg_z, "z%05.0f\r\n", cur_fdm_state->get_Altitude() );
+    sprintf( msg_z, "z%05.0f\r\n", fdm.get_Altitude() );
 
     // create msg_A
     sprintf( msg_A, "A");
 
-    double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
+    double latd = fdm.get_Latitude() * SGD_RADIANS_TO_DEGREES;
     if ( latd < 0.0 ) {
        latd = -latd;
        dir = 'S';
@@ -97,7 +98,7 @@ bool FGAV400::gen_message() {
     sprintf( msg_A, "A%c %02d %04.0f\r\n", dir, deg, min);
 
     // create msg_B
-    double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
+    double lond = fdm.get_Longitude() * SGD_RADIANS_TO_DEGREES;
     if ( lond < 0.0 ) {
        lond = -lond;
        dir = 'W';
@@ -262,7 +263,7 @@ bool FGAV400::parse_message() {
                lat *= -1;
            }
 
-           cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
+           fdm.set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lat = " << lat );
 
            // lon val
@@ -291,17 +292,17 @@ bool FGAV400::parse_message() {
                lon *= -1;
            }
 
-           cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
+           fdm.set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lon = " << lon );
 
 #if 0
            double sl_radius, lat_geoc;
-           sgGeodToGeoc( cur_fdm_state->get_Latitude(), 
-                         cur_fdm_state->get_Altitude(), 
+           sgGeodToGeoc( fdm.get_Latitude(), 
+                         fdm.get_Altitude(), 
                          &sl_radius, &lat_geoc );
-           cur_fdm_state->set_Geocentric_Position( lat_geoc, 
-                          cur_fdm_state->get_Longitude(), 
-                          sl_radius + cur_fdm_state->get_Altitude() );
+           fdm.set_Geocentric_Position( lat_geoc, 
+                          fdm.get_Longitude(), 
+                          sl_radius + fdm.get_Altitude() );
 #endif
 
            // speed
@@ -313,8 +314,8 @@ bool FGAV400::parse_message() {
            string speed_str = msg.substr(begin, end - begin);
            begin = end + 1;
            speed = atof( speed_str.c_str() );
-           cur_fdm_state->set_V_calibrated_kts( speed );
-           // cur_fdm_state->set_V_ground_speed( speed );
+           fdm.set_V_calibrated_kts( speed );
+           // fdm.set_V_ground_speed( speed );
            SG_LOG( SG_IO, SG_INFO, "  speed = " << speed );
 
            // heading
@@ -326,8 +327,8 @@ bool FGAV400::parse_message() {
            string hdg_str = msg.substr(begin, end - begin);
            begin = end + 1;
            heading = atof( hdg_str.c_str() );
-           cur_fdm_state->set_Euler_Angles( cur_fdm_state->get_Phi(), 
-                                            cur_fdm_state->get_Theta(), 
+           fdm.set_Euler_Angles( fdm.get_Phi(), 
+                                            fdm.get_Theta(), 
                                             heading * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  heading = " << heading );
        } else if ( sentence == "PGRMZ" ) {
@@ -354,7 +355,7 @@ bool FGAV400::parse_message() {
                altitude *= SG_METER_TO_FEET;
            }
 
-           cur_fdm_state->set_Altitude( altitude );
+           fdm.set_Altitude( altitude );
     
            SG_LOG( SG_IO, SG_INFO, " altitude  = " << altitude );
 

diff --git a/src/Network/AV400.hxx b/src/Network/AV400.hxx
index 02c0fcb0d23c1a93964a0ef01f853d1d45e24c8b..cacfa2051d2339571aad837d42a8f233d9941bc5 100644 (file)
--- a/src/Network/AV400.hxx
+++ b/src/Network/AV400.hxx
@@ -30,9 +30,7 @@
 #include <string>
 
 #include "protocol.hxx"
-
-using std::string;
-
+#include <FDM/flightProperties.hxx>
 
 class FGAV400 : public FGProtocol {
 
@@ -55,6 +53,8 @@ public:
 
     // close the channel
     bool close();
+    
+  FlightProperties fdm;
 };
 
 

diff --git a/src/Network/AV400Sim.cxx b/src/Network/AV400Sim.cxx
index 2d704a83ebe71b75a8e317818cf796f01d1d1433..894dcbef8e1cd1a9401547fd3b42a53069207ebe 100644 (file)
--- a/src/Network/AV400Sim.cxx
+++ b/src/Network/AV400Sim.cxx
@@ -29,21 +29,25 @@
 #  include "config.h"
 #endif
 
+#include <cstring>
+
 #include <simgear/debug/logstream.hxx>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/io/iochannel.hxx>
 #include <simgear/timing/sg_time.hxx>
 
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/globals.hxx>
 
 #include "AV400Sim.hxx"
 
 FGAV400Sim::FGAV400Sim() {
+  fdm = new FlightProperties;
 }
 
 FGAV400Sim::~FGAV400Sim() {
+  delete fdm;
 }
 
 
@@ -60,7 +64,7 @@ bool FGAV400Sim::gen_message() {
     double min;
 
     // create msg_a
-    double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
+    double latd = fdm->get_Latitude() * SGD_RADIANS_TO_DEGREES;
     if ( latd < 0.0 ) {
        latd = -latd;
        dir = 'S';
@@ -72,7 +76,7 @@ bool FGAV400Sim::gen_message() {
     sprintf( msg_a, "a%c %03d %04.0f\r\n", dir, deg, min);
 
     // create msg_b
-    double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
+    double lond = fdm->get_Longitude() * SGD_RADIANS_TO_DEGREES;
     if ( lond < 0.0 ) {
        lond = -lond;
        dir = 'W';
@@ -84,7 +88,7 @@ bool FGAV400Sim::gen_message() {
     sprintf( msg_b, "b%c %03d %04.0f\r\n", dir, deg, min);
 
     // create msg_c
-    double alt = cur_fdm_state->get_Altitude();
+    double alt = fdm->get_Altitude();
     if ( alt > 99999.0 ) { alt = 99999.0; }
     sprintf( msg_c, "c%05.0f\r\n", alt );
 

diff --git a/src/Network/AV400Sim.hxx b/src/Network/AV400Sim.hxx
index ea4493f68bf53998f3c7052fab98ffc470183c08..9a4c45611db5183a3183a24af0b984b47d8c632a 100644 (file)
--- a/src/Network/AV400Sim.hxx
+++ b/src/Network/AV400Sim.hxx
@@ -35,14 +35,14 @@
 
 #include "protocol.hxx"
 
-using std::string;
-
+class FlightProperties;
 
 class FGAV400Sim : public FGProtocol {
 
     char buf[ FG_MAX_MSG_SIZE ];
     int length;
-
+    FlightProperties* fdm;
+    
 public:
 
     FGAV400Sim();

diff --git a/src/Network/atlas.cxx b/src/Network/atlas.cxx
index f0738a12f208e42ed3ab8009a8b11353c4b3861a..4a2cd9d64911be983546731be43460db784e7d11 100644 (file)
--- a/src/Network/atlas.cxx
+++ b/src/Network/atlas.cxx
@@ -24,14 +24,14 @@
 #  include "config.h"
 #endif
 
+#include <cstring>
+
 #include <simgear/debug/logstream.hxx>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/io/iochannel.hxx>
+#include <simgear/timing/sg_time.hxx>
 
-
-
-
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 #include <Main/globals.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/fg_init.hxx>
@@ -40,9 +40,11 @@
 
 
 FGAtlas::FGAtlas() {
+  fdm = new FlightProperties;
 }
 
 FGAtlas::~FGAtlas() {
+  delete fdm;
 }
 
 
@@ -65,7 +67,6 @@ static char calc_atlas_cksum(char *sentence) {
     return sum;
 }
 
-
 // generate Atlas message
 bool FGAtlas::gen_message() {
     // cout << "generating atlas message" << endl;
@@ -94,7 +95,7 @@ bool FGAtlas::gen_message() {
             t->getGmt()->tm_hour, t->getGmt()->tm_min, t->getGmt()->tm_sec );
 
     char lat[20];
-    double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
+    double latd = fdm->get_Latitude() * SGD_RADIANS_TO_DEGREES;
     if ( latd < 0.0 ) {
        latd *= -1.0;
        dir = 'S';
@@ -106,7 +107,7 @@ bool FGAtlas::gen_message() {
     sprintf( lat, "%02d%06.3f,%c", abs(deg), min, dir);
 
     char lon[20];
-    double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
+    double lond = fdm->get_Longitude() * SGD_RADIANS_TO_DEGREES;
     if ( lond < 0.0 ) {
        lond *= -1.0;
        dir = 'W';
@@ -118,17 +119,17 @@ bool FGAtlas::gen_message() {
     sprintf( lon, "%03d%06.3f,%c", abs(deg), min, dir);
 
     char speed[10];
-    sprintf( speed, "%05.1f", cur_fdm_state->get_V_equiv_kts() );
+    sprintf( speed, "%05.1f", fdm->get_V_equiv_kts() );
 
     char heading[10];
-    sprintf( heading, "%05.1f", cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES );
+    sprintf( heading, "%05.1f", fdm->get_Psi() * SGD_RADIANS_TO_DEGREES );
 
     char altitude_m[10];
     sprintf( altitude_m, "%02d", 
-            (int)(cur_fdm_state->get_Altitude() * SG_FEET_TO_METER) );
+            (int)(fdm->get_Altitude() * SG_FEET_TO_METER) );
 
     char altitude_ft[10];
-    sprintf( altitude_ft, "%02d", (int)cur_fdm_state->get_Altitude() );
+    sprintf( altitude_ft, "%02d", (int)fdm->get_Altitude() );
 
     char date[10];
     sprintf( date, "%02d%02d%02d", t->getGmt()->tm_mday, 
@@ -275,7 +276,7 @@ bool FGAtlas::parse_message() {
                lat *= -1;
            }
 
-           cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
+           fdm->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lat = " << lat );
 
            // lon val
@@ -304,17 +305,17 @@ bool FGAtlas::parse_message() {
                lon *= -1;
            }
 
-           cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
+           fdm->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lon = " << lon );
 
 #if 0
            double sl_radius, lat_geoc;
-           sgGeodToGeoc( cur_fdm_state->get_Latitude(), 
-                         cur_fdm_state->get_Altitude(), 
+           sgGeodToGeoc( fdm->get_Latitude(), 
+                         fdm->get_Altitude(), 
                          &sl_radius, &lat_geoc );
-           cur_fdm_state->set_Geocentric_Position( lat_geoc, 
-                          cur_fdm_state->get_Longitude(), 
-                          sl_radius + cur_fdm_state->get_Altitude() );
+           fdm->set_Geocentric_Position( lat_geoc, 
+                          fdm->get_Longitude(), 
+                          sl_radius + fdm->get_Altitude() );
 #endif
 
            // speed
@@ -326,8 +327,8 @@ bool FGAtlas::parse_message() {
            string speed_str = msg.substr(begin, end - begin);
            begin = end + 1;
            speed = atof( speed_str.c_str() );
-           cur_fdm_state->set_V_calibrated_kts( speed );
-           // cur_fdm_state->set_V_ground_speed( speed );
+           fdm->set_V_calibrated_kts( speed );
+           // fdm->set_V_ground_speed( speed );
            SG_LOG( SG_IO, SG_INFO, "  speed = " << speed );
 
            // heading
@@ -339,8 +340,8 @@ bool FGAtlas::parse_message() {
            string hdg_str = msg.substr(begin, end - begin);
            begin = end + 1;
            heading = atof( hdg_str.c_str() );
-           cur_fdm_state->set_Euler_Angles( cur_fdm_state->get_Phi(), 
-                                            cur_fdm_state->get_Theta(), 
+           fdm->set_Euler_Angles( fdm->get_Phi(), 
+                                            fdm->get_Theta(), 
                                             heading * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  heading = " << heading );
        } else if ( sentence == "GPGGA" ) {
@@ -380,7 +381,7 @@ bool FGAtlas::parse_message() {
                lat *= -1;
            }
 
-           // cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
+           // fdm->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lat = " << lat );
 
            // lon val
@@ -409,7 +410,7 @@ bool FGAtlas::parse_message() {
                lon *= -1;
            }
 
-           // cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
+           // fdm->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lon = " << lon );
 
            // junk
@@ -465,7 +466,7 @@ bool FGAtlas::parse_message() {
                altitude *= SG_METER_TO_FEET;
            }
 
-           cur_fdm_state->set_Altitude( altitude );
+           fdm->set_Altitude( altitude );
     
            SG_LOG( SG_IO, SG_INFO, " altitude  = " << altitude );
 

diff --git a/src/Network/atlas.hxx b/src/Network/atlas.hxx
index c91355afd6e7cff3bb2776e2872264b228774559..f73a14d7d56a75f157402192e055412ac15a7961 100644 (file)
--- a/src/Network/atlas.hxx
+++ b/src/Network/atlas.hxx
@@ -31,14 +31,14 @@
 
 #include "protocol.hxx"
 
-using std::string;
-
+class FlightProperties;
 
 class FGAtlas : public FGProtocol {
 
     char buf[ FG_MAX_MSG_SIZE ];
     int length;
-
+    FlightProperties* fdm;
+    
 public:
 
     FGAtlas();

diff --git a/src/Network/garmin.cxx b/src/Network/garmin.cxx
index ea6cbbe5e90bb6094df0f4c44dee78e597c04b0b..e6bc2dcd7cfe9411b4058ac92286fb7d7d0d014e 100644 (file)
--- a/src/Network/garmin.cxx
+++ b/src/Network/garmin.cxx
@@ -25,13 +25,14 @@
 #endif
 
 #include <iostream>
+#include <cstring>
 
 #include <simgear/debug/logstream.hxx>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/io/iochannel.hxx>
 #include <simgear/timing/sg_time.hxx>
 
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/globals.hxx>
 
@@ -40,9 +41,11 @@
 using std::string;
 
 FGGarmin::FGGarmin() {
+  fdm = new FlightProperties;
 }
 
 FGGarmin::~FGGarmin() {
+  delete fdm;
 }
 
 
@@ -82,7 +85,7 @@ bool FGGarmin::gen_message() {
             t->getGmt()->tm_hour, t->getGmt()->tm_min, t->getGmt()->tm_sec );
 
     char rmc_lat[20];
-    double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
+    double latd = fdm->get_Latitude() * SGD_RADIANS_TO_DEGREES;
     if ( latd < 0.0 ) {
        latd = -latd;
        dir = 'S';
@@ -94,7 +97,7 @@ bool FGGarmin::gen_message() {
     sprintf( rmc_lat, "%02d%07.4f,%c", abs(deg), min, dir);
 
     char rmc_lon[20];
-    double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
+    double lond = fdm->get_Longitude() * SGD_RADIANS_TO_DEGREES;
     if ( lond < 0.0 ) {
        lond = -lond;
        dir = 'W';
@@ -106,14 +109,14 @@ bool FGGarmin::gen_message() {
     sprintf( rmc_lon, "%03d%07.4f,%c", abs(deg), min, dir);
 
     char speed[10];
-    sprintf( speed, "%05.1f", cur_fdm_state->get_V_equiv_kts() );
+    sprintf( speed, "%05.1f", fdm->get_V_equiv_kts() );
 
     char heading[10];
-    sprintf( heading, "%05.1f", cur_fdm_state->get_Psi() * SGD_RADIANS_TO_DEGREES );
+    sprintf( heading, "%05.1f", fdm->get_Psi() * SGD_RADIANS_TO_DEGREES );
 
     char altitude_m[10];
     sprintf( altitude_m, "%02d", 
-            (int)(cur_fdm_state->get_Altitude() * SG_FEET_TO_METER) );
+            (int)(fdm->get_Altitude() * SG_FEET_TO_METER) );
 
     char date[10];
     int year = t->getGmt()->tm_year;
@@ -261,7 +264,7 @@ bool FGGarmin::parse_message() {
                lat *= -1;
            }
 
-           cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
+           fdm->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lat = " << lat );
 
            // lon val
@@ -290,17 +293,17 @@ bool FGGarmin::parse_message() {
                lon *= -1;
            }
 
-           cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
+           fdm->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lon = " << lon );
 
 #if 0
            double sl_radius, lat_geoc;
-           sgGeodToGeoc( cur_fdm_state->get_Latitude(), 
-                         cur_fdm_state->get_Altitude(), 
+           sgGeodToGeoc( fdm->get_Latitude(), 
+                         fdm->get_Altitude(), 
                          &sl_radius, &lat_geoc );
-           cur_fdm_state->set_Geocentric_Position( lat_geoc, 
-                          cur_fdm_state->get_Longitude(), 
-                          sl_radius + cur_fdm_state->get_Altitude() );
+           fdm->set_Geocentric_Position( lat_geoc, 
+                          fdm->get_Longitude(), 
+                          sl_radius + fdm->get_Altitude() );
 #endif
 
            // speed
@@ -312,8 +315,8 @@ bool FGGarmin::parse_message() {
            string speed_str = msg.substr(begin, end - begin);
            begin = end + 1;
            speed = atof( speed_str.c_str() );
-           cur_fdm_state->set_V_calibrated_kts( speed );
-           // cur_fdm_state->set_V_ground_speed( speed );
+           fdm->set_V_calibrated_kts( speed );
+           // fdm->set_V_ground_speed( speed );
            SG_LOG( SG_IO, SG_INFO, "  speed = " << speed );
 
            // heading
@@ -325,8 +328,8 @@ bool FGGarmin::parse_message() {
            string hdg_str = msg.substr(begin, end - begin);
            begin = end + 1;
            heading = atof( hdg_str.c_str() );
-           cur_fdm_state->set_Euler_Angles( cur_fdm_state->get_Phi(), 
-                                            cur_fdm_state->get_Theta(), 
+           fdm->set_Euler_Angles( fdm->get_Phi(), 
+                                            fdm->get_Theta(), 
                                             heading * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  heading = " << heading );
        } else if ( sentence == "PGRMZ" ) {
@@ -353,7 +356,7 @@ bool FGGarmin::parse_message() {
                altitude *= SG_METER_TO_FEET;
            }
 
-           cur_fdm_state->set_Altitude( altitude );
+           fdm->set_Altitude( altitude );
     
            SG_LOG( SG_IO, SG_INFO, " altitude  = " << altitude );
 

diff --git a/src/Network/garmin.hxx b/src/Network/garmin.hxx
index 60f2420b66ea1b76fa0e8d51961e2042730e43db..e69d4ab4f868d1088f6fcae17dac8051af6016a5 100644 (file)
--- a/src/Network/garmin.hxx
+++ b/src/Network/garmin.hxx
@@ -31,14 +31,14 @@
 
 #include "protocol.hxx"
 
-using std::string;
-
+class FlightProperties;
 
 class FGGarmin : public FGProtocol {
 
     char buf[ FG_MAX_MSG_SIZE ];
     int length;
-
+    FlightProperties* fdm;
+    
 public:
 
     FGGarmin();

diff --git a/src/Network/jsclient.cxx b/src/Network/jsclient.cxx
index 33c80d24bfecd4d2845cd97f0103ba3da88d046c..2ee35320daefd605f23a6a95cb93eebce4b4e90d 100644 (file)
--- a/src/Network/jsclient.cxx
+++ b/src/Network/jsclient.cxx
@@ -29,7 +29,6 @@
 #include <simgear/io/iochannel.hxx>
 #include <simgear/misc/stdint.hxx>
 
-#include <Aircraft/aircraft.hxx>
 #include <Main/fg_props.hxx>
 
 #include "jsclient.hxx"

diff --git a/src/Network/lfsglass.cxx b/src/Network/lfsglass.cxx
index ea67689923444708f8fd4f3dcc83434865db3abf..d1e39d06da5015d8dd66337958fbfdcf61e4c8a5 100644 (file)
--- a/src/Network/lfsglass.cxx
+++ b/src/Network/lfsglass.cxx
@@ -37,7 +37,8 @@
 #include <vector>
 
 #include "lfsglass.hxx"
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
+
 #include <Main/globals.hxx>
 #include <Main/fg_props.hxx>
 
@@ -127,9 +128,11 @@ bool FGLFSGlass::open() {
 }
 
 //static void collect_data( const FGInterface *fdm, ogcFGData *data ) {
-void FGLFSGlass::collect_data( const FGInterface *fdm, FGLFSGlassData *data ) {
+void FGLFSGlass::collect_data(FGLFSGlassData *data ) {
     data->version_id = OGC_VERSION;
     
+    FlightProperties fdm_state;
+
     data->longitude = p_longitude->getDoubleValue();   
     data->latitude = p_latitude->getDoubleValue();
     data->elevation = p_elev_node->getDoubleValue();
@@ -143,16 +146,16 @@ void FGLFSGlass::collect_data( const FGInterface *fdm, FGLFSGlassData *data ) {
    
     data->vvi = p_vvi->getDoubleValue();
     data->mach = p_mach->getDoubleValue();
-    data->groundspeed = cur_fdm_state->get_V_ground_speed();
-    data->v_keas = cur_fdm_state->get_V_equiv_kts();
+    data->groundspeed = fdm_state.get_V_ground_speed();
+    data->v_keas = fdm_state.get_V_equiv_kts();
     data->v_kcas = vel_kcas->getDoubleValue();
  
 
-    data->phi_dot = cur_fdm_state->get_Phi_dot();
-    data->theta_dot = cur_fdm_state->get_Theta_dot();
-    data->psi_dot = cur_fdm_state->get_Psi_dot();
+    data->phi_dot = fdm_state.get_Phi_dot();
+    data->theta_dot = fdm_state.get_Theta_dot();
+    data->psi_dot = fdm_state.get_Psi_dot();
 
-    data->alpha = cur_fdm_state->get_Alpha();
+    data->alpha = fdm_state.get_Alpha();
     data->beta = p_yaw->getDoubleValue();
     data->alpha_dot = p_alphadot->getDoubleValue();
     data->beta_dot = p_yaw_rate->getDoubleValue();
@@ -271,9 +274,9 @@ void FGLFSGlass::collect_data( const FGInterface *fdm, FGLFSGlassData *data ) {
                data->x_feed_valve[2] = x_feed2_node->getBoolValue(); 
                data->x_feed_valve[3] = x_feed3_node->getBoolValue(); 
                **********/                     
-    data->total_temperature = cur_fdm_state->get_Total_temperature();
-    data->total_pressure = cur_fdm_state->get_Total_pressure();
-    data->dynamic_pressure = cur_fdm_state->get_Dynamic_pressure();
+    data->total_temperature = fdm_state.get_Total_temperature();
+    data->total_pressure = fdm_state.get_Total_pressure();
+    data->dynamic_pressure = fdm_state.get_Dynamic_pressure();
     
     data->static_pressure = press_node->getDoubleValue();
     data->static_temperature = temp_node->getDoubleValue();
@@ -282,7 +285,7 @@ void FGLFSGlass::collect_data( const FGInterface *fdm, FGLFSGlassData *data ) {
     data->sea_level_pressure = fgGetDouble("/environment/sea-level-pressure-inhg");
 }
 
-static void distribute_data( const FGLFSGlassData *data, FGInterface *chunk ) {
+static void distribute_data( const FGLFSGlassData *data) {
     // just a place holder until the CDU is developed
        
 }
@@ -293,7 +296,7 @@ bool FGLFSGlass::process() {
     int length = sizeof(buf);
 
     if ( get_direction() == SG_IO_OUT ) {
-        collect_data( cur_fdm_state, &buf );
+        collect_data(&buf );
        //collect_data( &buf );
        if ( ! io->write( (char *)(& buf), length ) ) {
            SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
@@ -303,12 +306,12 @@ bool FGLFSGlass::process() {
        if ( io->get_type() == sgFileType ) {
            if ( io->read( (char *)(& buf), length ) == length ) {
                SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
-               distribute_data( &buf, cur_fdm_state );
+               distribute_data( &buf);
            }
        } else {
            while ( io->read( (char *)(& buf), length ) == length ) {
                SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
-               distribute_data( &buf, cur_fdm_state );
+               distribute_data( &buf);
            }
        }
     }

diff --git a/src/Network/lfsglass.hxx b/src/Network/lfsglass.hxx
index c3c7276567dc47a1209da17940b4fac918503ae5..6844ed3784181e81accd3f358cff64ce977f26fa 100644 (file)
--- a/src/Network/lfsglass.hxx
+++ b/src/Network/lfsglass.hxx
@@ -30,13 +30,12 @@
 
 #include <string>
 
-#include <FDM/flight.hxx>
 #include <Main/fg_props.hxx>
 
 #include "protocol.hxx"
 #include "lfsglass_data.hxx"
 
-class FGLFSGlass : public FGProtocol, public FGInterface {
+class FGLFSGlass : public FGProtocol {
 
     FGLFSGlassData buf;
     int length;
@@ -155,7 +154,7 @@ public:
     // close the channel
     bool close();
 
-    void collect_data( const FGInterface *fdm, FGLFSGlassData *data );
+    void collect_data(FGLFSGlassData *data );
 };
 
 #endif // _FG_LFSGlass_HXX

diff --git a/src/Network/multiplay.cxx b/src/Network/multiplay.cxx
index f6e0e30c7865f2b7000d34edb3b209f992ff31f2..d37c42fdf5040cb98cdf7293e091b74f5a83669e 100644 (file)
--- a/src/Network/multiplay.cxx
+++ b/src/Network/multiplay.cxx
@@ -37,7 +37,7 @@
 #include <simgear/debug/logstream.hxx>
 #include <simgear/math/SGMath.hxx>
 
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 #include <MultiPlayer/mpmessages.hxx>
 
 #include "multiplay.hxx"
@@ -129,7 +129,7 @@ bool FGMultiplay::process() {
 //     if (sim_time < 20)
 //       return true;
 
-    FGInterface *ifce = cur_fdm_state;
+    FlightProperties ifce;
 
     // put together a motion info struct, you will get that later
     // from FGInterface directly ...
@@ -150,10 +150,10 @@ bool FGMultiplay::process() {
 
     // These are for now converted from lat/lon/alt and euler angles.
     // But this should change in FGInterface ...
-    double lon = ifce->get_Longitude();
-    double lat = ifce->get_Latitude();
+    double lon = ifce.get_Longitude();
+    double lat = ifce.get_Latitude();
     // first the aprioriate structure for the geodetic one
-    SGGeod geod = SGGeod::fromRadFt(lon, lat, ifce->get_Altitude());
+    SGGeod geod = SGGeod::fromRadFt(lon, lat, ifce.get_Altitude());
     // Convert to cartesion coordinate
     motionInfo.position = SGVec3d::fromGeod(geod);
     
@@ -161,28 +161,28 @@ bool FGMultiplay::process() {
     // horizontal local frame
     SGQuatf qEc2Hl = SGQuatf::fromLonLatRad((float)lon, (float)lat);
     // The orientation wrt the horizontal local frame
-    float heading = ifce->get_Psi();
-    float pitch = ifce->get_Theta();
-    float roll = ifce->get_Phi();
+    float heading = ifce.get_Psi();
+    float pitch = ifce.get_Theta();
+    float roll = ifce.get_Phi();
     SGQuatf hlOr = SGQuatf::fromYawPitchRoll(heading, pitch, roll);
     // The orientation of the vehicle wrt the earth centered frame
     motionInfo.orientation = qEc2Hl*hlOr;
 
-    if (!ifce->is_suspended()) {
+    if (!globals->get_subsystem("flight")->is_suspended()) {
       // velocities
-      motionInfo.linearVel = SG_FEET_TO_METER*SGVec3f(ifce->get_U_body(),
-                                                      ifce->get_V_body(),
-                                                      ifce->get_W_body());
-      motionInfo.angularVel = SGVec3f(ifce->get_P_body(),
-                                      ifce->get_Q_body(),
-                                      ifce->get_R_body());
+      motionInfo.linearVel = SG_FEET_TO_METER*SGVec3f(ifce.get_uBody(),
+                                                      ifce.get_vBody(),
+                                                      ifce.get_wBody());
+      motionInfo.angularVel = SGVec3f(ifce.get_P_body(),
+                                      ifce.get_Q_body(),
+                                      ifce.get_R_body());
       
       // accels, set that to zero for now.
       // Angular accelerations are missing from the interface anyway,
       // linear accelerations are screwed up at least for JSBSim.
-//  motionInfo.linearAccel = SG_FEET_TO_METER*SGVec3f(ifce->get_U_dot_body(),
-//                                                    ifce->get_V_dot_body(),
-//                                                    ifce->get_W_dot_body());
+//  motionInfo.linearAccel = SG_FEET_TO_METER*SGVec3f(ifce.get_U_dot_body(),
+//                                                    ifce.get_V_dot_body(),
+//                                                    ifce.get_W_dot_body());
       motionInfo.linearAccel = SGVec3f::zeros();
       motionInfo.angularAccel = SGVec3f::zeros();
     } else {

diff --git a/src/Network/native.cxx b/src/Network/native.cxx
index c627cb15f3f32fd62a19d98c038348165d36784e..0057040537e30b8450a46e80afc373b3fc60efc5 100644 (file)
--- a/src/Network/native.cxx
+++ b/src/Network/native.cxx
@@ -29,6 +29,7 @@
 
 #include "native.hxx"
 
+#include <FDM/flight.hxx>
 
 FGNative::FGNative() {
 }
@@ -57,15 +58,21 @@ bool FGNative::open() {
     return true;
 }
 
+/**
+ * The design of FGNative requires direct, memcpy access to FGInterface,
+ * unfortunately. Since this is the only remaining place that does, the
+ * extern lives here, rather than a header file.
+ *
+ */
+extern FGInterface* evil_global_fdm_state;
 
 // process work for this port
 bool FGNative::process() {
     SGIOChannel *io = get_io_channel();
-    int length = sizeof(*cur_fdm_state);
+    int length = sizeof(FGInterface);
 
     if ( get_direction() == SG_IO_OUT ) {
-       // cout << "size of cur_fdm_state = " << length << endl;
-       buf = *cur_fdm_state;
+       buf = *evil_global_fdm_state;
        if ( ! io->write( (char *)(& buf), length ) ) {
            SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
            return false;
@@ -74,12 +81,12 @@ bool FGNative::process() {
        if ( io->get_type() == sgFileType ) {
            if ( io->read( (char *)(& buf), length ) == length ) {
                SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
-               *cur_fdm_state = buf;
+               *evil_global_fdm_state = buf;
            }
        } else {
            while ( io->read( (char *)(& buf), length ) == length ) {
                SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
-               *cur_fdm_state = buf;
+               *evil_global_fdm_state = buf;
            }
        }
     }

diff --git a/src/Network/native.hxx b/src/Network/native.hxx
index 262ca24920c9a4df87d4f025c2ba5a0426546fa7..66e00830d2e5bab151a0a75480f9874bc205a871 100644 (file)
--- a/src/Network/native.hxx
+++ b/src/Network/native.hxx
@@ -29,12 +29,8 @@
 
 #include <string>
 
-#include <FDM/flight.hxx>
-
 #include "protocol.hxx"
-
-using std::string;
-
+#include <FDM/flight.hxx>
 
 class FGNative : public FGProtocol {
 

diff --git a/src/Network/native_ctrls.cxx b/src/Network/native_ctrls.cxx
index d7bd3f6bfa4936a5619b64237dcba25667edbea1..2ad871f834f28387b39baebd9cb1eea00661e054 100644 (file)
--- a/src/Network/native_ctrls.cxx
+++ b/src/Network/native_ctrls.cxx
@@ -29,7 +29,6 @@
 #include <simgear/io/iochannel.hxx>
 #include <simgear/io/lowlevel.hxx> // endian tests
 
-#include <FDM/flight.hxx>
 #include <Main/fg_props.hxx>
 #include <Scenery/scenery.hxx> // ground elevation
 
@@ -205,12 +204,7 @@ void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
     net->temp_c = fgGetDouble("/environment/temperature-degc");
     net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
 
-    // cur_fdm_state->get_ground_elev_ft() is what we want ... this
-    // reports the altitude of the aircraft.
-    // "/environment/ground-elevation-m" reports the ground elevation
-    // of the current view point which could change substantially if
-    // the user is switching views.
-    net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
+    net->hground = fgGetDouble("/position/ground-elev-m");
     net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
 
     net->icing = fgGetBool("/hazards/icing/wing");
@@ -469,7 +463,6 @@ bool FGNativeCtrls::process() {
     int length = sizeof(FGNetCtrls);
 
     if ( get_direction() == SG_IO_OUT ) {
-       // cout << "size of cur_fdm_state = " << length << endl;
 
        FGProps2NetCtrls( &net_ctrls, true, true );
 

diff --git a/src/Network/native_fdm.cxx b/src/Network/native_fdm.cxx
index 4fa6275cedd7937179b35feaf855ae69576d0841..46fb62d1ab857710b8a594d7af24cd1ec0f29918 100644 (file)
--- a/src/Network/native_fdm.cxx
+++ b/src/Network/native_fdm.cxx
@@ -30,8 +30,7 @@
 #include <simgear/io/iochannel.hxx>
 #include <simgear/timing/sg_time.hxx>
 
-#include <FDM/flight.hxx>
-#include <Time/tmp.hxx>
+#include <FDM/flightProperties.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/globals.hxx>
 #include <Scenery/scenery.hxx>
@@ -115,7 +114,9 @@ bool FGNativeFDM::open() {
     set_enabled( true );
 
     // Is this really needed here ????
-    cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
+    fgSetDouble("/position/sea-level-radius-ft", SG_EQUATORIAL_RADIUS_FT);
+
+    
 
     return true;
 }
@@ -124,37 +125,39 @@ bool FGNativeFDM::open() {
 void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
     unsigned int i;
 
+    FlightProperties fdm_state;
+
     // Version sanity checking
     net->version = FG_NET_FDM_VERSION;
 
     // Aero parameters
-    net->longitude = cur_fdm_state->get_Longitude();
-    net->latitude = cur_fdm_state->get_Latitude();
-    net->altitude = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER;
-    net->agl = cur_fdm_state->get_Altitude_AGL() * SG_FEET_TO_METER;
-    net->phi = cur_fdm_state->get_Phi();
-    net->theta = cur_fdm_state->get_Theta();
-    net->psi = cur_fdm_state->get_Psi();
-    net->alpha = cur_fdm_state->get_Alpha();
-    net->beta = cur_fdm_state->get_Beta();
-    net->phidot = cur_fdm_state->get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
-    net->thetadot = cur_fdm_state->get_Theta_dot_degps()
+    net->longitude = fdm_state.get_Longitude();
+    net->latitude = fdm_state.get_Latitude();
+    net->altitude = fdm_state.get_Altitude() * SG_FEET_TO_METER;
+    net->agl = fdm_state.get_Altitude_AGL() * SG_FEET_TO_METER;
+    net->phi = fdm_state.get_Phi();
+    net->theta = fdm_state.get_Theta();
+    net->psi = fdm_state.get_Psi();
+    net->alpha = fdm_state.get_Alpha();
+    net->beta = fdm_state.get_Beta();
+    net->phidot = fdm_state.get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
+    net->thetadot = fdm_state.get_Theta_dot_degps()
         * SG_DEGREES_TO_RADIANS;
-    net->psidot = cur_fdm_state->get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
+    net->psidot = fdm_state.get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
 
-    net->vcas = cur_fdm_state->get_V_calibrated_kts();
-    net->climb_rate = cur_fdm_state->get_Climb_Rate();
+    net->vcas = fdm_state.get_V_calibrated_kts();
+    net->climb_rate = fdm_state.get_Climb_Rate();
 
-    net->v_north = cur_fdm_state->get_V_north();
-    net->v_east = cur_fdm_state->get_V_east();
-    net->v_down = cur_fdm_state->get_V_down();
-    net->v_wind_body_north = cur_fdm_state->get_uBody();
-    net->v_wind_body_east = cur_fdm_state->get_vBody();
-    net->v_wind_body_down = cur_fdm_state->get_wBody();
+    net->v_north = fdm_state.get_V_north();
+    net->v_east = fdm_state.get_V_east();
+    net->v_down = fdm_state.get_V_down();
+    net->v_wind_body_north = fdm_state.get_uBody();
+    net->v_wind_body_east = fdm_state.get_vBody();
+    net->v_wind_body_down = fdm_state.get_wBody();
 
-    net->A_X_pilot = cur_fdm_state->get_A_X_pilot();
-    net->A_Y_pilot = cur_fdm_state->get_A_Y_pilot();
-    net->A_Z_pilot = cur_fdm_state->get_A_Z_pilot();
+    net->A_X_pilot = fdm_state.get_A_X_pilot();
+    net->A_Y_pilot = fdm_state.get_A_Y_pilot();
+    net->A_Z_pilot = fdm_state.get_A_Z_pilot();
 
     net->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
     net->slip_deg
@@ -300,7 +303,8 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
 
 void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
     unsigned int i;
-
+    FlightProperties fdm_state;
+    
     if ( net_byte_order ) {
         // Convert to the net buffer from network format
         net->version = ntohl(net->version);
@@ -379,37 +383,38 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
 
     if ( net->version == FG_NET_FDM_VERSION ) {
         // cout << "pos = " << net->longitude << " " << net->latitude << endl;
-        // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
+        // cout << "sea level rad = " << fdm_state.get_Sea_level_radius()
        //      << endl;
-        cur_fdm_state->_updateGeodeticPosition( net->latitude,
-                                                net->longitude,
-                                                net->altitude
-                                                  * SG_METER_TO_FEET );
+                                      
+      fdm_state.set_Latitude(net->latitude);
+        fdm_state.set_Longitude(net->longitude);
+        fdm_state.set_Altitude(net->altitude * SG_METER_TO_FEET);
+        
        if ( net->agl > -9000 ) {
-           cur_fdm_state->_set_Altitude_AGL( net->agl * SG_METER_TO_FEET );
+           fdm_state.set_Altitude_AGL( net->agl * SG_METER_TO_FEET );
        } else {
            double agl_m = net->altitude
-              - cur_fdm_state->get_Runway_altitude_m();
-           cur_fdm_state->_set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
+              - fdm_state.get_Runway_altitude_m();
+           fdm_state.set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
        }
-        cur_fdm_state->_set_Euler_Angles( net->phi,
+        fdm_state.set_Euler_Angles( net->phi,
                                           net->theta,
                                           net->psi );
-        cur_fdm_state->_set_Alpha( net->alpha );
-        cur_fdm_state->_set_Beta( net->beta );
-        cur_fdm_state->_set_Euler_Rates( net->phidot,
+        fdm_state.set_Alpha( net->alpha );
+        fdm_state.set_Beta( net->beta );
+        fdm_state.set_Euler_Rates( net->phidot,
                                         net->thetadot,
                                         net->psidot );
-        cur_fdm_state->_set_V_calibrated_kts( net->vcas );
-        cur_fdm_state->_set_Climb_Rate( net->climb_rate );
-        cur_fdm_state->_set_Velocities_Local( net->v_north,
+        fdm_state.set_V_calibrated_kts( net->vcas );
+        fdm_state.set_Climb_Rate( net->climb_rate );
+        fdm_state.set_Velocities_Local( net->v_north,
                                               net->v_east,
                                               net->v_down );
-        cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
+        fdm_state.set_Velocities_Wind_Body( net->v_wind_body_north,
                                                   net->v_wind_body_east,
                                                   net->v_wind_body_down );
 
-        cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
+        fdm_state.set_Accels_Pilot_Body( net->A_X_pilot,
                                               net->A_Y_pilot,
                                               net->A_Z_pilot );
 
@@ -502,7 +507,7 @@ bool FGNativeFDM::process() {
     int length = sizeof(buf);
 
     if ( get_direction() == SG_IO_OUT ) {
-       // cout << "size of cur_fdm_state = " << length << endl;
+
        FGProps2NetFDM( &buf );
        if ( ! io->write( (char *)(& buf), length ) ) {
            SG_LOG( SG_IO, SG_ALERT, "Error writing data." );

diff --git a/src/Network/native_fdm.hxx b/src/Network/native_fdm.hxx
index fd8672bb60b8c24434bf698e408434e7a7d4219c..4a21864c7c8a355ef11edf5ec86af51f1b4d9e17 100644 (file)
--- a/src/Network/native_fdm.hxx
+++ b/src/Network/native_fdm.hxx
@@ -29,17 +29,15 @@
 
 #include <simgear/timing/timestamp.hxx>
 
-#include <FDM/flight.hxx>
-
 #include "protocol.hxx"
 #include "net_fdm.hxx"
 
 
-class FGNativeFDM : public FGProtocol, public FGInterface {
+class FGNativeFDM : public FGProtocol {
 
     FGNetFDM buf;
     int length;
-
+    
 public:
 
     FGNativeFDM();

diff --git a/src/Network/native_gui.cxx b/src/Network/native_gui.cxx
index d7310101a96bd2c91420a8a57398ff39a5883c45..eaae3c32a0adbabb07b8242d5621b88d46f7616a 100644 (file)
--- a/src/Network/native_gui.cxx
+++ b/src/Network/native_gui.cxx
@@ -30,11 +30,10 @@
 #include <simgear/io/iochannel.hxx>
 #include <simgear/timing/sg_time.hxx>
 
-#include <FDM/flight.hxx>
-#include <Time/tmp.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/globals.hxx>
 #include <Scenery/scenery.hxx>
+#include <FDM/flightProperties.hxx>
 
 #include "native_gui.hxx"
 
@@ -116,7 +115,7 @@ bool FGNativeGUI::open() {
 
     set_enabled( true );
 
-    cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
+    fgSetDouble("/position/sea-level-radius-ft", SG_EQUATORIAL_RADIUS_FT);
     return true;
 }
 
@@ -140,20 +139,22 @@ void FGProps2NetGUI( FGNetGUI *net ) {
        = fgGetNode("/instrumentation/nav/gs-needle-deflection", true);
     unsigned int i;
 
+    static FlightProperties* fdm_state = new FlightProperties;
+
     // Version sanity checking
     net->version = FG_NET_GUI_VERSION;
 
     // Aero parameters
-    net->longitude = cur_fdm_state->get_Longitude();
-    net->latitude = cur_fdm_state->get_Latitude();
-    net->altitude = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER;
-    net->phi = cur_fdm_state->get_Phi();
-    net->theta = cur_fdm_state->get_Theta();
-    net->psi = cur_fdm_state->get_Psi();
+    net->longitude = fdm_state->get_Longitude();
+    net->latitude = fdm_state->get_Latitude();
+    net->altitude = fdm_state->get_Altitude() * SG_FEET_TO_METER;
+    net->phi = fdm_state->get_Phi();
+    net->theta = fdm_state->get_Theta();
+    net->psi = fdm_state->get_Psi();
 
     // Velocities
-    net->vcas = cur_fdm_state->get_V_calibrated_kts();
-    net->climb_rate = cur_fdm_state->get_Climb_Rate();
+    net->vcas = fdm_state->get_V_calibrated_kts();
+    net->climb_rate = fdm_state->get_Climb_Rate();
 
     // Consumables
     net->num_tanks = FGNetGUI::FG_MAX_TANKS;
@@ -165,7 +166,7 @@ void FGProps2NetGUI( FGNetGUI *net ) {
     // Environment
     net->cur_time = globals->get_time_params()->get_cur_time();
     net->warp = globals->get_warp();
-    net->ground_elev = cur_fdm_state->get_Runway_altitude_m();
+    net->ground_elev = fdm_state->get_Runway_altitude_m();
 
     // Approach
     net->tuned_freq = nav_freq->getDoubleValue();
@@ -281,19 +282,22 @@ void FGNetGUI2Props( FGNetGUI *net ) {
 #endif
 
     if ( net->version == FG_NET_GUI_VERSION ) {
+        FlightProperties fdm_state;
+        
         // cout << "pos = " << net->longitude << " " << net->latitude << endl;
-        // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
+        // cout << "sea level rad = " << fdm_state->get_Sea_level_radius()
        //      << endl;
-        cur_fdm_state->_updateGeodeticPosition( net->latitude,
-                                                net->longitude,
-                                                net->altitude
-                                                  * SG_METER_TO_FEET );
-        cur_fdm_state->_set_Euler_Angles( net->phi,
+  
+        fdm_state.set_Latitude(net->latitude);
+        fdm_state.set_Longitude(net->longitude);
+        fdm_state.set_Altitude(net->altitude * SG_METER_TO_FEET);
+
+        fdm_state.set_Euler_Angles( net->phi,
                                           net->theta,
                                           net->psi );
 
-        cur_fdm_state->_set_V_calibrated_kts( net->vcas );
-        cur_fdm_state->_set_Climb_Rate( net->climb_rate );
+        fdm_state.set_V_calibrated_kts( net->vcas );
+        fdm_state.set_Climb_Rate( net->climb_rate );
 
        for (i = 0; i < net->num_tanks; ++i ) {
            SGPropertyNode * node
@@ -333,7 +337,7 @@ bool FGNativeGUI::process() {
     int length = sizeof(buf);
 
     if ( get_direction() == SG_IO_OUT ) {
-       // cout << "size of cur_fdm_state = " << length << endl;
+       // cout << "size of fdm_state = " << length << endl;
        FGProps2NetGUI( &buf );
        if ( ! io->write( (char *)(& buf), length ) ) {
            SG_LOG( SG_IO, SG_ALERT, "Error writing data." );

diff --git a/src/Network/native_gui.hxx b/src/Network/native_gui.hxx
index cf5e9de41f72c5bb3fca1ea09d6ed15113905cb8..299a40628b67bb7613459fadf134e53953bc65ae 100644 (file)
--- a/src/Network/native_gui.hxx
+++ b/src/Network/native_gui.hxx
@@ -27,17 +27,14 @@
 
 #include <simgear/compiler.h>
 
-#include <FDM/flight.hxx>
-
 #include "protocol.hxx"
 #include "net_gui.hxx"
 
-
-class FGNativeGUI : public FGProtocol, public FGInterface {
+class FGNativeGUI : public FGProtocol {
 
     FGNetGUI buf;
     int length;
-
+    
 public:
 
     FGNativeGUI();

diff --git a/src/Network/nmea.cxx b/src/Network/nmea.cxx
index 921f5aa606842aea7a544b8f50e5028faf669ac3..bbfd3fc0dc5b7ef1c07f481c6d251d115fb1b8b3 100644 (file)
--- a/src/Network/nmea.cxx
+++ b/src/Network/nmea.cxx
@@ -24,21 +24,25 @@
 #  include "config.h"
 #endif
 
+#include <cstring>
+
 #include <simgear/debug/logstream.hxx>
 #include <simgear/math/sg_geodesy.hxx>
 #include <simgear/io/iochannel.hxx>
 #include <simgear/timing/sg_time.hxx>
 
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 #include <Main/fg_props.hxx>
 #include <Main/globals.hxx>
 
 #include "nmea.hxx"
 
 FGNMEA::FGNMEA() {
+  fdm = new FlightProperties();
 }
 
 FGNMEA::~FGNMEA() {
+  delete fdm;
 }
 
 
@@ -79,7 +83,7 @@ bool FGNMEA::gen_message() {
             t->getGmt()->tm_hour, t->getGmt()->tm_min, t->getGmt()->tm_sec );
 
     char gga_lat[20], rmc_lat[20];
-    double latd = cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES;
+    double latd = fdm->get_Latitude() * SGD_RADIANS_TO_DEGREES;
     if ( latd < 0.0 ) {
        latd = -latd;
        dir = 'S';
@@ -92,7 +96,7 @@ bool FGNMEA::gen_message() {
     sprintf( rmc_lat, "%02d%07.4f,%c", abs(deg), min, dir);
 
     char gga_lon[20], rmc_lon[20];
-    double lond = cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES;
+    double lond = fdm->get_Longitude() * SGD_RADIANS_TO_DEGREES;
     if ( lond < 0.0 ) {
        lond = -lond;
        dir = 'W';
@@ -121,7 +125,7 @@ bool FGNMEA::gen_message() {
 
     char altitude_m[10];
     sprintf( altitude_m, "%.1f", 
-            cur_fdm_state->get_Altitude() * SG_FEET_TO_METER );
+            fdm->get_Altitude() * SG_FEET_TO_METER );
 
     char date[10];
     int year = t->getGmt()->tm_year;
@@ -272,7 +276,7 @@ bool FGNMEA::parse_message() {
                lat *= -1;
            }
 
-           cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
+           fdm->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lat = " << lat );
 
            // lon val
@@ -301,17 +305,17 @@ bool FGNMEA::parse_message() {
                lon *= -1;
            }
 
-           cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
+           fdm->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lon = " << lon );
 
 #if 0
            double sl_radius, lat_geoc;
-           sgGeodToGeoc( cur_fdm_state->get_Latitude(), 
-                         cur_fdm_state->get_Altitude(), 
+           sgGeodToGeoc( fdm->get_Latitude(), 
+                         fdm->get_Altitude(), 
                          &sl_radius, &lat_geoc );
-           cur_fdm_state->set_Geocentric_Position( lat_geoc, 
-                          cur_fdm_state->get_Longitude(), 
-                          sl_radius + cur_fdm_state->get_Altitude() );
+           fdm->set_Geocentric_Position( lat_geoc, 
+                          fdm->get_Longitude(), 
+                          sl_radius + fdm->get_Altitude() );
 #endif
 
            // speed
@@ -323,8 +327,8 @@ bool FGNMEA::parse_message() {
            string speed_str = msg.substr(begin, end - begin);
            begin = end + 1;
            speed = atof( speed_str.c_str() );
-           cur_fdm_state->set_V_calibrated_kts( speed );
-           // cur_fdm_state->set_V_ground_speed( speed );
+           fdm->set_V_calibrated_kts( speed );
+           // fdm->set_V_ground_speed( speed );
            SG_LOG( SG_IO, SG_INFO, "  speed = " << speed );
 
            // heading
@@ -336,8 +340,8 @@ bool FGNMEA::parse_message() {
            string hdg_str = msg.substr(begin, end - begin);
            begin = end + 1;
            heading = atof( hdg_str.c_str() );
-           cur_fdm_state->set_Euler_Angles( cur_fdm_state->get_Phi(), 
-                                            cur_fdm_state->get_Theta(), 
+           fdm->set_Euler_Angles( fdm->get_Phi(), 
+                                            fdm->get_Theta(), 
                                             heading * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  heading = " << heading );
        } else if ( sentence == "GPGGA" ) {
@@ -377,7 +381,7 @@ bool FGNMEA::parse_message() {
                lat *= -1;
            }
 
-           // cur_fdm_state->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
+           // fdm->set_Latitude( lat * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lat = " << lat );
 
            // lon val
@@ -406,7 +410,7 @@ bool FGNMEA::parse_message() {
                lon *= -1;
            }
 
-           // cur_fdm_state->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
+           // fdm->set_Longitude( lon * SGD_DEGREES_TO_RADIANS );
            SG_LOG( SG_IO, SG_INFO, "  lon = " << lon );
 
            // junk
@@ -462,7 +466,7 @@ bool FGNMEA::parse_message() {
                altitude *= SG_METER_TO_FEET;
            }
 
-           cur_fdm_state->set_Altitude( altitude );
+           fdm->set_Altitude( altitude );
     
            SG_LOG( SG_IO, SG_INFO, " altitude  = " << altitude );
 

diff --git a/src/Network/nmea.hxx b/src/Network/nmea.hxx
index 0549b70145f5ce05bd8b033a33b4ad5282b38d5a..38a266e7e6e7227a1735ca7444d671cc9e05334d 100644 (file)
--- a/src/Network/nmea.hxx
+++ b/src/Network/nmea.hxx
@@ -31,14 +31,13 @@
 
 #include "protocol.hxx"
 
-using std::string;
-
+class FlightProperties;
 
 class FGNMEA : public FGProtocol {
 
     char buf[ FG_MAX_MSG_SIZE ];
     int length;
-
+    FlightProperties* fdm;
 public:
 
     FGNMEA();

diff --git a/src/Network/opengc.cxx b/src/Network/opengc.cxx
index 6cdb5a4f55566fa6344739eef2a8f46774a4f398..687df7a04c6e2ed15c0fc1301e636021ecb99561 100644 (file)
--- a/src/Network/opengc.cxx
+++ b/src/Network/opengc.cxx
@@ -38,7 +38,7 @@
 #include <vector>
 
 #include "opengc.hxx"
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 #include <Main/globals.hxx>
 #include <Main/fg_props.hxx>
 
@@ -101,9 +101,11 @@ FGOpenGC::FGOpenGC() :
        p_alphadot(fgGetNode("/fdm/jsbsim/aero/alphadot-rad_sec[0]", true)),
        p_betadot(fgGetNode("/fdm/jsbsim/aero/betadot-rad_sec[0]", true))
 {
+  fdm = new FlightProperties;
 }
 
 FGOpenGC::~FGOpenGC() {
+  delete fdm;
 }
 
 // open hailing frequencies
@@ -127,7 +129,7 @@ bool FGOpenGC::open() {
 }
 
 //static void collect_data( const FGInterface *fdm, ogcFGData *data ) {
-void FGOpenGC::collect_data( const FGInterface *fdm, ogcFGData *data ) {       
+void FGOpenGC::collect_data(ogcFGData *data ) {        
                                                                                        
     data->version_id = OGC_VERSION;
     
@@ -144,16 +146,16 @@ void FGOpenGC::collect_data( const FGInterface *fdm, ogcFGData *data ) {
    
     data->vvi = p_vvi->getDoubleValue();
     data->mach = p_mach->getDoubleValue();
-    data->groundspeed = cur_fdm_state->get_V_ground_speed();
-    data->v_keas = cur_fdm_state->get_V_equiv_kts();
+    data->groundspeed = fdm->get_V_ground_speed();
+    data->v_keas = fdm->get_V_equiv_kts();
     data->v_kcas = vel_kcas->getDoubleValue();
  
 
-    data->phi_dot = cur_fdm_state->get_Phi_dot();
-    data->theta_dot = cur_fdm_state->get_Theta_dot();
-    data->psi_dot = cur_fdm_state->get_Psi_dot();
+    data->phi_dot = fdm->get_Phi_dot();
+    data->theta_dot = fdm->get_Theta_dot();
+    data->psi_dot = fdm->get_Psi_dot();
 
-    data->alpha = cur_fdm_state->get_Alpha();
+    data->alpha = fdm->get_Alpha();
     data->beta = p_yaw->getDoubleValue();
     data->alpha_dot = p_alphadot->getDoubleValue();
     data->beta_dot = p_yaw_rate->getDoubleValue();
@@ -272,9 +274,9 @@ void FGOpenGC::collect_data( const FGInterface *fdm, ogcFGData *data ) {
                data->x_feed_valve[2] = x_feed2_node->getBoolValue(); 
                data->x_feed_valve[3] = x_feed3_node->getBoolValue(); 
                **********/                     
-    data->total_temperature = cur_fdm_state->get_Total_temperature();
-    data->total_pressure = cur_fdm_state->get_Total_pressure();
-    data->dynamic_pressure = cur_fdm_state->get_Dynamic_pressure();
+    data->total_temperature = fdm->get_Total_temperature();
+    data->total_pressure = fdm->get_Total_pressure();
+    data->dynamic_pressure = fdm->get_Dynamic_pressure();
     
     data->static_pressure = press_node->getDoubleValue();
     data->static_temperature = temp_node->getDoubleValue();
@@ -283,7 +285,7 @@ void FGOpenGC::collect_data( const FGInterface *fdm, ogcFGData *data ) {
     data->sea_level_pressure = fgGetDouble("/environment/sea-level-pressure-inhg");
 }
 
-static void distribute_data( const ogcFGData *data, FGInterface *chunk ) {
+static void distribute_data( const ogcFGData *data ) {
     // just a place holder until the CDU is developed
        
 }
@@ -294,7 +296,7 @@ bool FGOpenGC::process() {
     int length = sizeof(buf);
 
     if ( get_direction() == SG_IO_OUT ) {
-        collect_data( cur_fdm_state, &buf );
+        collect_data( &buf );
        //collect_data( &buf );
        if ( ! io->write( (char *)(& buf), length ) ) {
            SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
@@ -304,12 +306,12 @@ bool FGOpenGC::process() {
        if ( io->get_type() == sgFileType ) {
            if ( io->read( (char *)(& buf), length ) == length ) {
                SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
-               distribute_data( &buf, cur_fdm_state );
+               distribute_data( &buf );
            }
        } else {
            while ( io->read( (char *)(& buf), length ) == length ) {
                SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
-               distribute_data( &buf, cur_fdm_state );
+               distribute_data( &buf );
            }
        }
     }

diff --git a/src/Network/opengc.hxx b/src/Network/opengc.hxx
index 0f7ad4c385765b7f7dcf1e0f7b9cd6caa4cfcde4..6371e1d0ae98bf91f3e4a2ac0fe313c22cdff95b 100644 (file)
--- a/src/Network/opengc.hxx
+++ b/src/Network/opengc.hxx
@@ -30,15 +30,18 @@
 
 #include <string>
 
-#include <FDM/flight.hxx>
 #include <Main/fg_props.hxx>
 
 #include "protocol.hxx"
 #include "opengc_data.hxx"
 
-class FGOpenGC : public FGProtocol, public FGInterface {
+class FlightProperties;
+
+class FGOpenGC : public FGProtocol
+{
 
     ogcFGData buf;
+    FlightProperties* fdm;
     
     // Environment
     SGPropertyNode_ptr press_node;
@@ -154,7 +157,7 @@ public:
     // close the channel
     bool close();
 
-    void collect_data( const FGInterface *fdm, ogcFGData *data );
+    void collect_data(ogcFGData *data );
 };
 
 #endif // _FG_OPENGC_HXX

diff --git a/src/Network/pve.cxx b/src/Network/pve.cxx
index b497120ca9deaceabfa4c7e9ad385d8584d8402a..c78422eb627536298e6a955ac0a636b496e3ac89 100644 (file)
--- a/src/Network/pve.cxx
+++ b/src/Network/pve.cxx
@@ -30,7 +30,7 @@
 #include <simgear/debug/logstream.hxx>
 #include <simgear/io/iochannel.hxx>
 
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 
 #include "pve.hxx"
 
@@ -55,10 +55,10 @@ FGPVE::~FGPVE() {
 
 bool FGPVE::gen_message() {
     // cout << "generating pve message" << endl;
-    FGInterface *f = cur_fdm_state;
+    FlightProperties f;
 
     // get roll and pitch, convert to degrees
-    double roll_deg = f->get_Phi() * SGD_RADIANS_TO_DEGREES;
+    double roll_deg = f.get_Phi() * SGD_RADIANS_TO_DEGREES;
     while ( roll_deg <= -180.0 ) {
        roll_deg += 360.0;
     }
@@ -66,7 +66,7 @@ bool FGPVE::gen_message() {
        roll_deg -= 360.0;
     }
 
-    double pitch_deg = f->get_Theta() * SGD_RADIANS_TO_DEGREES;
+    double pitch_deg = f.get_Theta() * SGD_RADIANS_TO_DEGREES;
     while ( pitch_deg <= -180.0 ) {
        pitch_deg += 360.0;
     }
@@ -74,7 +74,7 @@ bool FGPVE::gen_message() {
        pitch_deg -= 360.0;
     }
 
-    short int heave = (int)(f->get_W_body() * 128.0);
+    short int heave = (int)(f.get_wBody() * 128.0);
 
     // scale roll and pitch to output format (1 - 255)
     // straight && level == (128, 128)

diff --git a/src/Network/ray.cxx b/src/Network/ray.cxx
index 97a0c1262e83ff2052cb40150da0a5e5d1aa528a..b85831087d68c83e8998b0483de4dd71506fb89f 100644 (file)
--- a/src/Network/ray.cxx
+++ b/src/Network/ray.cxx
@@ -28,7 +28,7 @@
 #include <simgear/debug/logstream.hxx>
 #include <simgear/io/iochannel.hxx>
 
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 
 #include "ray.hxx"
 
@@ -66,7 +66,8 @@ FGRAY::~FGRAY() {
 
 bool FGRAY::gen_message() {
     // cout << "generating RayWoodworth message" << endl;
-    FGInterface *f = cur_fdm_state;
+    FlightProperties f;
+    
     int axis, subaxis;
     const double fullscale[6] = { -0.5, -0.5, -0.5, /* radians */
                                  -0.3, -0.3, -0.15  /* meters */ };
@@ -76,7 +77,7 @@ bool FGRAY::gen_message() {
 
     /* get basic information about gravity */
     double grav_acc = -9.81;
-    double vert_acc = f->get_A_Z_pilot() * 0.3;
+    double vert_acc = f.get_A_Z_pilot() * 0.3;
     if ( -3.0 < vert_acc )
        vert_acc = -3.0;
 
@@ -89,13 +90,13 @@ bool FGRAY::gen_message() {
 
        /* Retrieve the desired components */
        switch ( axis ) {
-       case 0: ang_pos = f->get_Phi();
-               lin_acc = f->get_A_Y_pilot() * 0.3;
+       case 0: ang_pos = f.get_Phi();
+               lin_acc = f.get_A_Y_pilot() * 0.3;
                break;
-       case 1: ang_pos = f->get_Theta();
-               lin_acc = f->get_A_X_pilot() * 0.3;
+       case 1: ang_pos = f.get_Theta();
+               lin_acc = f.get_A_X_pilot() * 0.3;
                break;
-       case 2: ang_pos = f->get_Psi();
+       case 2: ang_pos = f.get_Psi();
                lin_acc = grav_acc - vert_acc;
                break;
        default:

diff --git a/src/Network/rul.cxx b/src/Network/rul.cxx
index a55a897f2a02194c371804e4485db1cdf4d81c99..9945163069f0d684248d70a64a91aad455e2a951 100644 (file)
--- a/src/Network/rul.cxx
+++ b/src/Network/rul.cxx
@@ -31,7 +31,7 @@
 #include <simgear/debug/logstream.hxx>
 #include <simgear/io/iochannel.hxx>
 
-#include <FDM/flight.hxx>
+#include <FDM/flightProperties.hxx>
 
 #include "rul.hxx"
 
@@ -61,10 +61,10 @@ FGRUL::~FGRUL() {
 
 bool FGRUL::gen_message() {
     // cout << "generating rul message" << endl;
-    FGInterface *f = cur_fdm_state;
+    FlightProperties f;
 
     // get roll and pitch, convert to degrees
-    double roll_deg = f->get_Phi() * SGD_RADIANS_TO_DEGREES;
+    double roll_deg = f.get_Phi() * SGD_RADIANS_TO_DEGREES;
     while ( roll_deg < -180.0 ) {
        roll_deg += 360.0;
     }
@@ -72,7 +72,7 @@ bool FGRUL::gen_message() {
        roll_deg -= 360.0;
     }
 
-    double pitch_deg = f->get_Theta() * SGD_RADIANS_TO_DEGREES;
+    double pitch_deg = f.get_Theta() * SGD_RADIANS_TO_DEGREES;
     while ( pitch_deg < -180.0 ) {
        pitch_deg += 360.0;
     }

diff --git a/src/Scenery/tilemgr.cxx b/src/Scenery/tilemgr.cxx
index a7bbb388bf7bf32802caec5364b072d409b56bd3..e5cd08bbb281bd8b9358b71f0cd468d831bbde06 100644 (file)
--- a/src/Scenery/tilemgr.cxx
+++ b/src/Scenery/tilemgr.cxx
@@ -32,7 +32,6 @@
 
 #include <simgear/constants.h>
 #include <simgear/debug/logstream.hxx>
-#include <simgear/math/vector.hxx>
 #include <simgear/structure/exception.hxx>
 #include <simgear/scene/model/modellib.hxx>
 #include <simgear/scene/tgdb/SGReaderWriterBTGOptions.hxx>

diff --git a/src/Scripting/NasalSys.cxx b/src/Scripting/NasalSys.cxx
index a210d03569c50bbafbc35ba4bda2f4720e1f9f03..0a221fc6ebe6ae4c357ac853d35b1979fe4460e7 100644 (file)
--- a/src/Scripting/NasalSys.cxx
+++ b/src/Scripting/NasalSys.cxx
@@ -374,6 +374,19 @@ static naRef f_directory(naContext c, naRef me, int argc, naRef* args)
     return result;
 }
 
+/**
+ * Given a data path, resolve it in FG_ROOT or an FG_AIRCRFT directory
+ */
+static naRef f_resolveDataPath(naContext c, naRef me, int argc, naRef* args)
+{
+    if(argc != 1 || !naIsString(args[0]))
+        naRuntimeError(c, "bad arguments to resolveDataPath()");
+
+    SGPath p = globals->resolve_maybe_aircraft_path(naStr_data(args[0]));
+    const char* pdata = p.c_str();
+    return naStr_fromdata(naNewString(c), const_cast<char*>(pdata), strlen(pdata));
+}
+
 // Parse XML file.
 //     parsexml(<path> [, <start-tag> [, <end-tag> [, <data> [, <pi>]]]]);
 //
@@ -635,6 +648,7 @@ static struct { const char* name; naCFunction func; } funcs[] = {
     { "srand",  f_srand },
     { "abort", f_abort },
     { "directory", f_directory },
+    { "resolvepath", f_resolveDataPath },
     { "parsexml", f_parsexml },
     { "systime", f_systime },
     { "carttogeod", f_carttogeod },
@@ -750,8 +764,7 @@ void FGNasalSys::loadPropertyScripts()
         while((fn = n->getChild("file", j)) != NULL) {
             file_specified = true;
             const char* file = fn->getStringValue();
-            SGPath p(globals->get_fg_root());
-            p.append(file);
+            SGPath p = globals->resolve_maybe_aircraft_path(file);
             loadModule(p, module);
             j++;
         }

diff --git a/src/Sound/beacon.cxx b/src/Sound/beacon.cxx
index 4505017c93da03183788ebd3b2dbbf60b44b96b4..f722891892b7012bf3a230e8bcef0476fbba0a0b 100644 (file)
--- a/src/Sound/beacon.cxx
+++ b/src/Sound/beacon.cxx
@@ -22,6 +22,7 @@
 
 
 #include <stdlib.h>
+#include <cstring>
 
 #include "beacon.hxx"
 

diff --git a/src/Sound/fg_fx.cxx b/src/Sound/fg_fx.cxx
index f1c11f775f176a4b923a35a3dff8db10c94a1856..950e0bdd071467a6bd9e4e954788e96429ec0913 100644 (file)
--- a/src/Sound/fg_fx.cxx
+++ b/src/Sound/fg_fx.cxx
@@ -69,13 +69,12 @@ FGFX::init()
     SGPropertyNode *node = fgGetNode("/sim/sound", true);
 
     string path_str = node->getStringValue("path");
-    SGPath path( globals->get_fg_root() );
     if (path_str.empty()) {
         SG_LOG(SG_GENERAL, SG_ALERT, "No path in /sim/sound/path");
         return;
     }
-
-    path.append(path_str.c_str());
+    
+    SGPath path = globals->resolve_aircraft_path(path_str);
     SG_LOG(SG_GENERAL, SG_INFO, "Reading sound " << node->getName()
            << " from " << path.str());
 

diff --git a/src/Sound/morse.cxx b/src/Sound/morse.cxx
index df6c969face529f7572d3e55f9f15c59af5b3f7a..7ae7cac98871672cd553aaca2d2b6ac83e18682e 100644 (file)
--- a/src/Sound/morse.cxx
+++ b/src/Sound/morse.cxx
@@ -25,31 +25,32 @@
 
 #include "morse.hxx"
 
+#include <cstring>
 
 static const char alphabet[26][4] = {
-    { DI, DAH, end, end },     /* A */ 
+    { DI, DAH, END, END },     /* A */ 
     { DA, DI, DI, DIT },       /* B */ 
     { DA, DI, DA, DIT },       /* C */ 
-    { DA, DI, DIT, end },      /* D */ 
-    { DIT, end, end, end },    /* E */ 
+    { DA, DI, DIT, END },      /* D */ 
+    { DIT, END, END, END },    /* E */ 
     { DI, DI, DA, DIT },       /* F */ 
-    { DA, DA, DIT, end },      /* G */ 
+    { DA, DA, DIT, END },      /* G */ 
     { DI, DI, DI, DIT },       /* H */ 
-    { DI, DIT, end, end },     /* I */ 
+    { DI, DIT, END, END },     /* I */ 
     { DI, DA, DA, DAH },       /* J */ 
-    { DA, DI, DAH, end },      /* K */ 
+    { DA, DI, DAH, END },      /* K */ 
     { DI, DA, DI, DIT },       /* L */ 
-    { DA, DAH, end, end },     /* M */ 
-    { DA, DIT, end, end },     /* N */ 
-    { DA, DA, DAH, end },      /* O */ 
+    { DA, DAH, END, END },     /* M */ 
+    { DA, DIT, END, END },     /* N */ 
+    { DA, DA, DAH, END },      /* O */ 
     { DI, DA, DA, DIT },       /* P */ 
     { DA, DA, DI, DAH },       /* Q */ 
-    { DI, DA, DIT, end },      /* R */ 
-    { DI, DI, DIT, end },      /* S */ 
-    { DAH, end, end, end },    /* T */ 
-    { DI, DI, DAH, end },      /* U */ 
+    { DI, DA, DIT, END },      /* R */ 
+    { DI, DI, DIT, END },      /* S */ 
+    { DAH, END, END, END },    /* T */ 
+    { DI, DI, DAH, END },      /* U */ 
     { DI, DI, DI, DAH },       /* V */ 
-    { DI, DA, DAH, end },      /* W */ 
+    { DI, DA, DAH, END },      /* W */ 
     { DA, DI, DI, DAH },       /* X */ 
     { DA, DI, DA, DAH },       /* Y */ 
     { DA, DA, DI, DIT }                /* Z */ 
@@ -193,7 +194,7 @@ SGSoundSample *FGMorse::make_ident( const string& id, const int freq ) {
     for ( i = 0; i < (int)id.length(); ++i ) {
        if ( idptr[i] >= 'A' && idptr[i] <= 'Z' ) {
            int c = (int)(idptr[i] - 'A');
-           for ( j = 0; j < 4 && alphabet[c][j] != end; ++j ) {
+           for ( j = 0; j < 4 && alphabet[c][j] != END; ++j ) {
                if ( alphabet[c][j] == DIT ) {
                    length += DIT_SIZE;
                } else if ( alphabet[c][j] == DAH ) {
@@ -227,7 +228,7 @@ SGSoundSample *FGMorse::make_ident( const string& id, const int freq ) {
     for ( i = 0; i < (int)id.length(); ++i ) {
        if ( idptr[i] >= 'A' && idptr[i] <= 'Z' ) {
            int c = (int)(idptr[i] - 'A');
-           for ( j = 0; j < 4 && alphabet[c][j] != end; ++j ) {
+           for ( j = 0; j < 4 && alphabet[c][j] != END; ++j ) {
                if ( alphabet[c][j] == DIT ) {
                    memcpy( buf_ptr, dit_ptr, DIT_SIZE );
                    buf_ptr += DIT_SIZE;

diff --git a/src/Sound/morse.hxx b/src/Sound/morse.hxx
index f01d45b1279459ee99c8fe0f9620761cc71a7e92..c6ed5a43b750411b62ad20b1a3c89198206d69ea 100644 (file)
--- a/src/Sound/morse.hxx
+++ b/src/Sound/morse.hxx
@@ -83,7 +83,7 @@ static const char DI = '1';
 static const char DIT = '1';
 static const char DA = '2';
 static const char DAH = '2';
-static const char end = '0';
+static const char END = '0';
 
 static const int BYTES_PER_SECOND = 22050;
 // static const int BEAT_LENGTH = 240; // milleseconds (5 wpm)

diff --git a/src/Systems/electrical.cxx b/src/Systems/electrical.cxx
index 103456a485b899ecb1f6f3ddb21ebb14a69798e1..18e80222faf586a4ac9af8d54cbf9502378e3fb7 100644 (file)
--- a/src/Systems/electrical.cxx
+++ b/src/Systems/electrical.cxx
@@ -24,6 +24,8 @@
 #  include <config.h>
 #endif
 
+#include <cstring>
+
 #include <simgear/structure/exception.hxx>
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/debug/logstream.hxx>

diff --git a/src/Systems/system_mgr.cxx b/src/Systems/system_mgr.cxx
index 4936ea63818fec9a43fe5ceaac56d9fb75ff18ed..0ca9efb7a1b0eca305ab0b23372ddb56762231d9 100644 (file)
--- a/src/Systems/system_mgr.cxx
+++ b/src/Systems/system_mgr.cxx
@@ -34,8 +34,7 @@ FGSystemMgr::FGSystemMgr ()
     SGPropertyNode *path_n = fgGetNode("/sim/systems/path");
 
     if (path_n) {
-        SGPath config( globals->get_fg_root() );
-        config.append( path_n->getStringValue() );
+        SGPath config = globals->resolve_aircraft_path(path_n->getStringValue());
 
         SG_LOG( SG_ALL, SG_INFO, "Reading systems from "
                 << config.str() );

diff --git a/src/Systems/vacuum.cxx b/src/Systems/vacuum.cxx
index 9303073b27089a6adb46b4562338e82ec16a94d2..a776d9a493d246a36561c57356a784fb1775fdc5 100644 (file)
--- a/src/Systems/vacuum.cxx
+++ b/src/Systems/vacuum.cxx
@@ -8,6 +8,9 @@
 #endif
 
 #include "vacuum.hxx"
+
+#include <cstring>
+
 #include <Main/fg_props.hxx>
 
 

diff --git a/src/Time/Makefile.am b/src/Time/Makefile.am
index 7c824d8d0cc85de7a4a0331986c6898f74e7b921..5db2d7b26c68429e7e8d1c42657fc39e21994934 100644 (file)
--- a/src/Time/Makefile.am
+++ b/src/Time/Makefile.am
@@ -3,6 +3,6 @@ noinst_LIBRARIES = libTime.a
 libTime_a_SOURCES = \
        light.cxx light.hxx \
        sunsolver.cxx sunsolver.hxx \
-       tmp.cxx tmp.hxx
+       TimeManager.cxx TimeManager.hxx
 
 INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src

diff --git a/src/Time/TimeManager.cxx b/src/Time/TimeManager.cxx
new file mode 100644 (file)
index 0000000..a511797
--- /dev/null
+++ b/src/Time/TimeManager.cxx
@@ -0,0 +1,357 @@
+// TimeManager.cxx -- simulation-wide time management
+//
+// Written by James Turner, started July 2010.
+//
+// Copyright (C) 2010  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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+
+#ifdef HAVE_CONFIG_H
+# include "config.h"
+#endif
+
+#include "TimeManager.hxx"
+
+#ifdef _WIN32
+#  define WIN32_LEAN_AND_MEAN
+#  include <windows.h> // for Sleep()
+#else
+#  include <unistd.h> // for usleep()
+#endif
+
+#include <simgear/timing/sg_time.hxx>
+#include <simgear/structure/event_mgr.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/timing/lowleveltime.h>
+
+#include <Main/fg_props.hxx>
+#include <Main/globals.hxx>
+#include <Time/sunsolver.hxx>
+
+TimeManager::TimeManager() :
+  _inited(false),
+  _impl(NULL)
+{
+  
+}
+
+void TimeManager::init()
+{
+  if (_inited) {
+    // time manager has to be initialised early, so needs to be defensive
+    // about multiple initialisation 
+    return; 
+  }
+  
+  _firstUpdate = true;
+  _inited = true;
+  _dtRemainder = 0.0;
+  
+  _maxDtPerFrame = fgGetNode("/sim/max-simtime-per-frame", true);
+  _clockFreeze = fgGetNode("/sim/freeze/clock", true);
+  _timeOverride = fgGetNode("/sim/time/cur-time-override", true);
+  
+  _longitudeDeg = fgGetNode("/position/longitude-deg", true);
+  _latitudeDeg = fgGetNode("/position/latitude-deg", true);
+  
+  SGPath zone(globals->get_fg_root());
+  zone.append("Timezone");
+  double lon = _longitudeDeg->getDoubleValue() * SG_DEGREES_TO_RADIANS;
+  double lat = _latitudeDeg->getDoubleValue() * SG_DEGREES_TO_RADIANS;
+  _impl = new SGTime(lon, lat, zone.str(), _timeOverride->getLongValue());
+  
+  globals->set_warp_delta(0);
+  
+  globals->get_event_mgr()->addTask("updateLocalTime", this,
+                            &TimeManager::updateLocalTime, 30*60 );
+  updateLocalTime();
+  
+  _impl->update(lon, lat, _timeOverride->getLongValue(),
+               globals->get_warp());
+  globals->set_time_params(_impl);
+    
+// frame/update-rate counters
+  _frameRate = fgGetNode("/sim/frame-rate", true);
+  _lastFrameTime = _impl->get_cur_time();
+  _frameCount = 0;
+}
+
+void TimeManager::postinit()
+{
+  initTimeOffset();
+}
+
+void TimeManager::reinit()
+{
+  globals->set_time_params(NULL);
+  delete _impl;
+  _inited = false;
+  globals->get_event_mgr()->removeTask("updateLocalTime");
+  
+  init();
+  postinit();
+}
+
+void TimeManager::computeTimeDeltas(double& simDt, double& realDt)
+{
+  // Update the elapsed time.
+  if (_firstUpdate) {
+    _lastStamp.stamp();
+    _firstUpdate = false;
+    _lastClockFreeze = _clockFreeze->getBoolValue();
+  }
+
+  bool scenery_loaded = fgGetBool("sim/sceneryloaded");
+  bool wait_for_scenery = !(scenery_loaded || fgGetBool("sim/sceneryloaded-override"));
+  
+  if (!wait_for_scenery) {
+    throttleUpdateRate();
+  }
+  
+  SGTimeStamp currentStamp;
+  currentStamp.stamp();
+  double dt = (currentStamp - _lastStamp).toSecs();
+  
+// Limit the time we need to spend in simulation loops
+// That means, if the /sim/max-simtime-per-frame value is strictly positive
+// you can limit the maximum amount of time you will do simulations for
+// one frame to display. The cpu time spent in simulations code is roughly
+// at least O(real_delta_time_sec). If this is (due to running debug
+// builds or valgrind or something different blowing up execution times)
+// larger than the real time you will no longer get any response
+// from flightgear. This limits that effect. Just set to property from
+// your .fgfsrc or commandline ...
+  double dtMax = _maxDtPerFrame->getDoubleValue();
+  if (0 < dtMax && dtMax < dt) {
+    dt = dtMax;
+  }
+  
+  int model_hz = fgGetInt("/sim/model-hz");
+  
+  SGSubsystemGroup* fdmGroup = 
+    globals->get_subsystem_mgr()->get_group(SGSubsystemMgr::FDM);
+  fdmGroup->set_fixed_update_time(1.0 / model_hz);
+  
+// round the real time down to a multiple of 1/model-hz.
+// this way all systems are updated the _same_ amount of dt.
+  dt += _dtRemainder;
+  int multiLoop = long(floor(dt * model_hz));
+  multiLoop = SGMisc<long>::max(0, multiLoop);
+  _dtRemainder = dt - double(multiLoop)/double(model_hz);
+  dt = double(multiLoop)/double(model_hz);
+
+  realDt = dt;
+  if (_clockFreeze->getBoolValue() || wait_for_scenery) {
+    simDt = 0;
+  } else {
+    simDt = dt;
+  }
+  
+  _lastStamp = currentStamp;
+  globals->inc_sim_time_sec(simDt);
+
+// These are useful, especially for Nasal scripts.
+  fgSetDouble("/sim/time/delta-realtime-sec", realDt);
+  fgSetDouble("/sim/time/delta-sec", simDt);
+}
+
+void TimeManager::update(double dt)
+{
+  bool freeze = _clockFreeze->getBoolValue();
+  if (freeze) {
+    // clock freeze requested
+    if (_timeOverride->getLongValue() == 0) {
+      fgSetLong( "/sim/time/cur-time-override", _impl->get_cur_time());
+      globals->set_warp(0);
+    }
+  } else {
+    // no clock freeze requested
+    if (_lastClockFreeze) {
+    // clock just unfroze, let's set warp as the difference
+    // between frozen time and current time so we don't get a
+    // time jump (and corresponding sky object and lighting
+    // jump.)
+      globals->set_warp(_timeOverride->getLongValue() - time(NULL));
+      fgSetLong( "/sim/time/cur-time-override", 0 );
+    }
+    
+    if ( globals->get_warp_delta() != 0 ) {
+      globals->inc_warp( globals->get_warp_delta() );
+    }
+  }
+
+  _lastClockFreeze = freeze;
+  double lon = _longitudeDeg->getDoubleValue() * SG_DEGREES_TO_RADIANS;
+  double lat = _latitudeDeg->getDoubleValue() * SG_DEGREES_TO_RADIANS;
+  _impl->update(lon, lat,
+               _timeOverride->getLongValue(),
+               globals->get_warp());
+
+  computeFrameRate();
+}
+
+void TimeManager::computeFrameRate()
+{
+  // Calculate frame rate average
+  if ((_impl->get_cur_time() != _lastFrameTime) && (_lastFrameTime > 0)) {
+    _frameRate->setIntValue(_frameCount);
+    _frameCount = 0;
+  }
+  
+  _lastFrameTime = _impl->get_cur_time();
+  ++_frameCount;
+}
+
+void TimeManager::throttleUpdateRate()
+{
+  double throttle_hz = fgGetDouble("/sim/frame-rate-throttle-hz", 0.0);
+  SGTimeStamp currentStamp;
+  
+  // common case, no throttle requested
+  if (throttle_hz <= 0.0) {
+    return; // no-op
+  }
+  
+  double frame_us = 1000000.0 / throttle_hz;
+#define FG_SLEEP_BASED_TIMING 1
+#if defined(FG_SLEEP_BASED_TIMING)
+  // sleep based timing loop.
+  //
+  // Calling sleep, even usleep() on linux is less accurate than
+  // we like, but it does free up the cpu for other tasks during
+  // the sleep so it is desirable.  Because of the way sleep()
+  // is implemented in consumer operating systems like windows
+  // and linux, you almost always sleep a little longer than the
+  // requested amount.
+  //
+  // To combat the problem of sleeping too long, we calculate the
+  // desired wait time and shorten it by 2000us (2ms) to avoid
+  // [hopefully] over-sleep'ing.  The 2ms value was arrived at
+  // via experimentation.  We follow this up at the end with a
+  // simple busy-wait loop to get the final pause timing exactly
+  // right.
+  //
+  // Assuming we don't oversleep by more than 2000us, this
+  // should be a reasonable compromise between sleep based
+  // waiting, and busy waiting.
+
+  // sleep() will always overshoot by a bit so undersleep by
+  // 2000us in the hopes of never oversleeping.
+  frame_us -= 2000.0;
+  if ( frame_us < 0.0 ) {
+      frame_us = 0.0;
+  }
+  
+  currentStamp.stamp();
+
+  double elapsed_us = (currentStamp - _lastStamp).toUSecs();
+  if ( elapsed_us < frame_us ) {
+    double requested_us = frame_us - elapsed_us;
+ 
+#ifdef _WIN32
+    Sleep ((int)(requested_us / 1000.0)) ;
+#else
+    usleep(requested_us) ;
+#endif
+  }
+#endif
+
+  // busy wait timing loop.
+  //
+  // This yields the most accurate timing.  If the previous
+  // ulMilliSecondSleep() call is omitted this will peg the cpu
+  // (which is just fine if FG is the only app you care about.)
+  currentStamp.stamp();
+  SGTimeStamp next_time_stamp = _lastStamp;
+  next_time_stamp += SGTimeStamp::fromSec(1e-6*frame_us);
+  while ( currentStamp < next_time_stamp ) {
+      currentStamp.stamp();
+  }
+}
+
+// periodic time updater wrapper
+void TimeManager::updateLocalTime() 
+{
+  SGPath zone(globals->get_fg_root());
+  zone.append("Timezone");
+  
+  double lon = _longitudeDeg->getDoubleValue() * SG_DEGREES_TO_RADIANS;
+  double lat = _latitudeDeg->getDoubleValue() * SG_DEGREES_TO_RADIANS;
+  
+  SG_LOG(SG_GENERAL, SG_INFO, "updateLocal(" << lon << ", " << lat << ", " << zone.str() << ")");
+  _impl->updateLocal(lon, lat, zone.str());
+}
+
+void TimeManager::initTimeOffset()
+{
+  // Handle potential user specified time offsets
+  int orig_warp = globals->get_warp();
+  time_t cur_time = _impl->get_cur_time();
+  time_t currGMT = sgTimeGetGMT( gmtime(&cur_time) );
+  time_t systemLocalTime = sgTimeGetGMT( localtime(&cur_time) );
+  time_t aircraftLocalTime = 
+      sgTimeGetGMT( fgLocaltime(&cur_time, _impl->get_zonename() ) );
+    
+  // Okay, we now have several possible scenarios
+  int offset = fgGetInt("/sim/startup/time-offset");
+  string offset_type = fgGetString("/sim/startup/time-offset-type");
+  double lon = _longitudeDeg->getDoubleValue() * SG_DEGREES_TO_RADIANS;
+  double lat = _latitudeDeg->getDoubleValue() * SG_DEGREES_TO_RADIANS;
+  int warp = 0;
+  
+  if ( offset_type == "real" ) {
+      warp = 0;
+  } else if ( offset_type == "dawn" ) {
+      warp = fgTimeSecondsUntilSunAngle( cur_time, lon, lat, 90.0, true ); 
+  } else if ( offset_type == "morning" ) {
+     warp = fgTimeSecondsUntilSunAngle( cur_time, lon, lat, 75.0, true ); 
+  } else if ( offset_type == "noon" ) {
+     warp = fgTimeSecondsUntilSunAngle( cur_time, lon, lat, 0.0, true ); 
+  } else if ( offset_type == "afternoon" ) {
+    warp = fgTimeSecondsUntilSunAngle( cur_time, lon, lat, 60.0, false );  
+  } else if ( offset_type == "dusk" ) {
+    warp = fgTimeSecondsUntilSunAngle( cur_time, lon, lat, 90.0, false );
+  } else if ( offset_type == "evening" ) {
+    warp = fgTimeSecondsUntilSunAngle( cur_time, lon, lat, 100.0, false );
+  } else if ( offset_type == "midnight" ) {
+    warp = fgTimeSecondsUntilSunAngle( cur_time, lon, lat, 180.0, false );
+  } else if ( offset_type == "system-offset" ) {
+    warp = offset;
+    orig_warp = 0;
+  } else if ( offset_type == "gmt-offset" ) {
+    warp = offset - (currGMT - systemLocalTime);
+    orig_warp = 0;
+  } else if ( offset_type == "latitude-offset" ) {
+    warp = offset - (aircraftLocalTime - systemLocalTime);
+    orig_warp = 0;
+  } else if ( offset_type == "system" ) {
+    warp = offset - (systemLocalTime - currGMT) - cur_time;
+  } else if ( offset_type == "gmt" ) {
+      warp = offset - cur_time;
+  } else if ( offset_type == "latitude" ) {
+      warp = offset - (aircraftLocalTime - currGMT)- cur_time; 
+  } else {
+    SG_LOG( SG_GENERAL, SG_ALERT,
+          "TimeManager::initTimeOffset: unsupported offset: " << offset_type );
+     warp = 0;
+  }
+  
+  globals->set_warp( orig_warp + warp );
+  _impl->update(lon, lat, _timeOverride->getLongValue(),
+               globals->get_warp() );
+
+  SG_LOG( SG_GENERAL, SG_INFO, "After fgInitTimeOffset(): warp = " 
+            << globals->get_warp() );
+}

diff --git a/src/Time/TimeManager.hxx b/src/Time/TimeManager.hxx
new file mode 100644 (file)
index 0000000..c0a89c3
--- /dev/null
+++ b/src/Time/TimeManager.hxx
@@ -0,0 +1,78 @@
+// TimeManager.hxx -- simulation-wide time management
+//
+// Written by James Turner, started July 2010.
+//
+// Copyright (C) 2010  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
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+
+#ifndef FG_TIME_TIMEMANAGER_HXX
+#define FG_TIME_TIMEMANAGER_HXX
+
+#include <simgear/structure/subsystem_mgr.hxx>
+
+// forward decls
+class SGTime;
+
+class TimeManager : public SGSubsystem
+{
+public:
+  TimeManager();
+  
+  void computeTimeDeltas(double& simDt, double& realDt);
+  
+  virtual void init();
+  virtual void reinit();
+  virtual void postinit();
+  
+  void update(double dt);
+  
+private:
+  /**
+   * Ensure a consistent update-rate using a combination of
+   * sleep()-ing and busy-waiting.  
+   */
+  void throttleUpdateRate();
+  
+  /**
+   * Compute frame (update) rate and write it to a property
+   */
+  void computeFrameRate();
+  
+  void updateLocalTime();
+  
+  // set up a time offset (aka warp) if one is specified
+  void initTimeOffset();
+  
+  bool _inited;
+  SGTime* _impl;
+  SGTimeStamp _lastStamp;
+  bool _firstUpdate;
+  double _dtRemainder;
+  SGPropertyNode_ptr _maxDtPerFrame;
+  SGPropertyNode_ptr _clockFreeze;
+  SGPropertyNode_ptr _timeOverride;
+  bool _lastClockFreeze;
+
+  SGPropertyNode_ptr _longitudeDeg;
+  SGPropertyNode_ptr _latitudeDeg;
+  
+// frame-rate / update-rate counters  
+  SGPropertyNode_ptr _frameRate;
+  time_t _lastFrameTime;
+  int _frameCount;
+};
+
+#endif // of FG_TIME_TIMEMANAGER_HXX

diff --git a/src/Time/light.cxx b/src/Time/light.cxx
index 1f24bef4e3f28fb108eff00d95fdf56b66683413..08d0fbf72280ef2d5f3efbd97a546e86cbe81075 100644 (file)
--- a/src/Time/light.cxx
+++ b/src/Time/light.cxx
@@ -36,6 +36,8 @@
 #include <simgear/misc/sg_path.hxx>
 #include <simgear/scene/sky/sky.hxx>
 #include <simgear/screen/colors.hxx>
+#include <simgear/timing/sg_time.hxx>
+#include <simgear/structure/event_mgr.hxx>
 
 #include <Main/main.hxx>
 #include <Main/globals.hxx>
@@ -44,7 +46,38 @@
 #include <Main/viewer.hxx>
 
 #include "light.hxx"
-#include "tmp.hxx"
+#include "sunsolver.hxx"
+
+/**
+ * Map i.e. project a vector onto a plane.
+ * @param normal (in) normal vector for the plane
+ * @param v0 (in) a point on the plane
+ * @param vec (in) the vector to map onto the plane
+ */
+static SGVec3f map_vec_onto_cur_surface_plane(const SGVec3f& normal, 
+                                             const SGVec3f& v0, 
+                                             const SGVec3f& vec)
+{
+    // calculate a vector "u1" representing the shortest distance from
+    // the plane specified by normal and v0 to a point specified by
+    // "vec".  "u1" represents both the direction and magnitude of
+    // this desired distance.
+
+    // u1 = ( (normal <dot> vec) / (normal <dot> normal) ) * normal
+    SGVec3f u1 = (dot(normal, vec) / dot(normal, normal)) * normal;
+
+    // calculate the vector "v" which is the vector "vec" mapped onto
+    // the plane specified by "normal" and "v0".
+
+    // v = v0 + vec - u1
+    SGVec3f v = v0 + vec - u1;
+    
+    // Calculate the vector "result" which is "v" - "v0" which is a
+    // directional vector pointing from v0 towards v
+
+    // result = v - v0
+    return v - v0;
+}
 
 
 // Constructor
@@ -114,6 +147,9 @@ void FGLight::init () {
     SGPath sky_path = path;
     sky_path.append( "Lighting/sky" );
     _sky_tbl = new SGInterpTable( sky_path.str() );
+    
+    globals->get_event_mgr()->addTask("updateSunPos", this,
+                            &FGLight::updateSunPos, 0.5 );
 }
 
 
@@ -128,8 +164,7 @@ void FGLight::reinit () {
 
     init();
 
-    fgUpdateSunPos();
-
+    updateSunPos();
     update_sky_color();
     update_adj_fog_color();
 }
@@ -188,18 +223,12 @@ void FGLight::unbind () {
 
 
 // update lighting parameters based on current sun position
-void FGLight::update( double dt ) {
-
-    _dt_total += dt;
-    if (_dt_total >= 0.5) {
-        _dt_total -= 0.5;
-        fgUpdateSunPos();
-    }
-
+void FGLight::update( double dt )
+{
     update_adj_fog_color();
 
     if (_prev_sun_angle != _sun_angle) {
-       _prev_sun_angle = _sun_angle;
+        _prev_sun_angle = _sun_angle;
         update_sky_color();
     }
 }
@@ -326,6 +355,7 @@ void FGLight::update_adj_fog_color () {
     }
 
     double hor_rotation, vert_rotation;
+    static float gamma = system_gamma;
 
     // first determine the difference between our view angle and local
     // direction to the sun
@@ -340,8 +370,8 @@ void FGLight::update_adj_fog_color () {
     //
     SGVec4f color = thesky->get_scene_color();
 
-    gamma_restore_rgb( _fog_color.data() );
-    gamma_restore_rgb( _sky_color.data() );
+    gamma_restore_rgb( _fog_color.data(), gamma );
+    gamma_restore_rgb( _sky_color.data(), gamma );
 
     // Calculate the fog color in the direction of the sun for
     // sunrise/sunset effects.
@@ -367,15 +397,115 @@ void FGLight::update_adj_fog_color () {
     float rf2 = avf * pow(rf1*rf1, 1/sif) * 1.0639;
     float rf3 = 1.0 - rf2;
 
+    gamma = system_gamma * (0.9 - sif*avf);
+
     _adj_fog_color[0] = rf3 * _fog_color[0] + rf2 * s_red;
     _adj_fog_color[1] = rf3 * _fog_color[1] + rf2 * s_green;
     _adj_fog_color[2] = rf3 * _fog_color[2] + rf2 * s_blue;
-    gamma_correct_rgb( _adj_fog_color.data() );
+    gamma_correct_rgb( _adj_fog_color.data(), gamma);
 
     // make sure the colors have their original value before they are being
     // used by the rest of the program.
     //
-    gamma_correct_rgb( _fog_color.data() );
-    gamma_correct_rgb( _sky_color.data() );
+    gamma_correct_rgb( _fog_color.data(), gamma );
+    gamma_correct_rgb( _sky_color.data(), gamma );
 }
 
+// update the cur_time_params structure with the current sun position
+void FGLight::updateSunPos()
+{
+    SGTime *t = globals->get_time_params();
+    FGViewer *v = globals->get_current_view();
+
+    SG_LOG( SG_EVENT, SG_DEBUG, "  Updating Sun position" );
+    SG_LOG( SG_EVENT, SG_DEBUG, "  Gst = " << t->getGst() );
+
+    double sun_l;
+    double sun_gd_lat;
+    fgSunPositionGST(t->getGst(), &sun_l, &sun_gd_lat);
+    set_sun_lon(sun_l);
+    set_sun_lat(sun_gd_lat);
+    SGVec3d sunpos(SGVec3d::fromGeod(SGGeod::fromRad(sun_l, sun_gd_lat)));
+
+    SG_LOG( SG_EVENT, SG_DEBUG, "    t->cur_time = " << t->get_cur_time() );
+    SG_LOG( SG_EVENT, SG_DEBUG,
+            "    Sun Geodetic lat = " << sun_gd_lat
+            << " Geodetic lat = " << sun_gd_lat );
+
+    // update the sun light vector
+    sun_vec() = SGVec4f(toVec3f(normalize(sunpos)), 0);
+    sun_vec_inv() = - sun_vec();
+
+    // calculate the sun's relative angle to local up
+    SGVec3d viewPos = v->get_view_pos();
+    SGQuatd hlOr = SGQuatd::fromLonLat(SGGeod::fromCart(viewPos));
+    SGVec3f world_up = toVec3f(hlOr.backTransform(-SGVec3d::e3()));
+    SGVec3f nsun = toVec3f(normalize(sunpos));
+    // cout << "nup = " << nup[0] << "," << nup[1] << ","
+    //      << nup[2] << endl;
+    // cout << "nsun = " << nsun[0] << "," << nsun[1] << ","
+    //      << nsun[2] << endl;
+
+    set_sun_angle( acos( dot ( world_up, nsun ) ) );
+    SG_LOG( SG_EVENT, SG_DEBUG, "sun angle relative to current location = "
+            << get_sun_angle() );
+
+    // calculate vector to sun's position on the earth's surface
+    SGVec3d rel_sunpos = sunpos - v->get_view_pos();
+    // vector in cartesian coordinates from current position to the
+    // postion on the earth's surface the sun is directly over
+    SGVec3f to_sun = toVec3f(rel_sunpos);
+    // printf( "Vector to sun = %.2f %.2f %.2f\n",
+    //         v->to_sun[0], v->to_sun[1], v->to_sun[2]);
+
+    // Given a vector from the view position to the point on the
+    // earth's surface the sun is directly over, map into onto the
+    // local plane representing "horizontal".
+
+    // surface direction to go to head towards sun
+    SGVec3f surface_to_sun;
+    SGVec3f view_pos = toVec3f(v->get_view_pos());
+    surface_to_sun = map_vec_onto_cur_surface_plane(world_up, view_pos, to_sun);
+    surface_to_sun = normalize(surface_to_sun);
+    // cout << "(sg) Surface direction to sun is "
+    //   << surface_to_sun[0] << ","
+    //   << surface_to_sun[1] << ","
+    //   << surface_to_sun[2] << endl;
+    // cout << "Should be close to zero = "
+    //   << sgScalarProductVec3(nup, surface_to_sun) << endl;
+
+    // calculate the angle between surface_to_sun and
+    // v->get_surface_east().  We do this so we can sort out the
+    // acos() ambiguity.  I wish I could think of a more efficient
+    // way. :-(
+    SGVec3f surface_east(toVec3f(hlOr.backTransform(SGVec3d::e2())));
+    float east_dot = dot( surface_to_sun, surface_east );
+    // cout << "  East dot product = " << east_dot << endl;
+
+    // calculate the angle between v->surface_to_sun and
+    // v->surface_south.  this is how much we have to rotate the sky
+    // for it to align with the sun
+    SGVec3f surface_south(toVec3f(hlOr.backTransform(-SGVec3d::e1())));
+    float dot_ = dot( surface_to_sun, surface_south );
+    // cout << "  Dot product = " << dot << endl;
+
+    if (dot_ > 1.0) {
+        SG_LOG( SG_ASTRO, SG_INFO,
+                "Dot product  = " << dot_ << " is greater than 1.0" );
+        dot_ = 1.0;
+    }
+    else if (dot_ < -1.0) {
+         SG_LOG( SG_ASTRO, SG_INFO,
+                 "Dot product  = " << dot_ << " is less than -1.0" );
+         dot_ = -1.0;
+     }
+
+    if ( east_dot >= 0 ) {
+        set_sun_rotation( acos(dot_) );
+    } else {
+        set_sun_rotation( -acos(dot_) );
+    }
+    // cout << "  Sky needs to rotate = " << angle << " rads = "
+    //      << angle * SGD_RADIANS_TO_DEGREES << " degrees." << endl;
+
+}

diff --git a/src/Time/light.hxx b/src/Time/light.hxx
index f3ecb32e16bf5f8f8c30c23ca2435ca6c36e38f3..ebc5099665cd117b6bc0c94deee0249eda2e9329 100644 (file)
--- a/src/Time/light.hxx
+++ b/src/Time/light.hxx
@@ -102,6 +102,8 @@ private:
     void update_sky_color ();
     void update_adj_fog_color ();
 
+    void updateSunPos();
+    
     // properties for chrome light; not a tie because I want to fire
     // property listeners when the values change.
     SGPropertyNode_ptr _chromeProps[4];

diff --git a/src/Time/sunsolver.cxx b/src/Time/sunsolver.cxx
index 504de90817387a90011ab97e38eb8fe1085790e9..a83422759ef9bfcbe8252d76bc88f2b8ec6eb9a8 100644 (file)
--- a/src/Time/sunsolver.cxx
+++ b/src/Time/sunsolver.cxx
@@ -29,14 +29,14 @@
 
 #include <cmath>
 #include <ctime>
+#include <cassert>
 
 #include <simgear/math/SGMath.hxx>
-#include <simgear/ephemeris/ephemeris.hxx>
 #include <simgear/timing/sg_time.hxx>
 
 #include <Main/globals.hxx>
+#include <Main/fg_props.hxx>
 
-#include "tmp.hxx"
 #include "sunsolver.hxx"
 
 
@@ -56,12 +56,14 @@ void fgSunPositionGST(double gst, double *lon, double *lat) {
     double alpha, delta;
     double tmp;
 
-    double beta = globals->get_ephem()->get_sun()->getLat();
+    SGPropertyNode* sun = fgGetNode("/ephemeris/sun");
+    assert(sun);
+    double beta = sun->getDoubleValue("lat-deg");
     // double r = globals->get_ephem()->get_sun()->getDistance();
-    double xs = globals->get_ephem()->get_sun()->getxs();
-    double ys = globals->get_ephem()->get_sun()->getys();
-    double ye = globals->get_ephem()->get_sun()->getye();
-    double ze = globals->get_ephem()->get_sun()->getze();
+    double xs = sun->getDoubleValue("xs");
+    double ys = sun->getDoubleValue("ys");
+    double ye = sun->getDoubleValue("ye");
+    double ze = sun->getDoubleValue("ze");
     alpha = atan2(ys - tan(beta)*ze/ys, xs);
     delta = asin(sin(beta)*ye/ys + cos(beta)*ze);
 

diff --git a/src/Time/tmp.cxx b/src/Time/tmp.cxx
deleted file mode 100644 (file)
index 0e04d5b..0000000
--- a/src/Time/tmp.cxx
+++ /dev/null
@@ -1,209 +0,0 @@
-// tmp.cxx -- stuff I don't know what to do with at the moment
-//
-// Written by Curtis Olson, started July 2000.
-//
-// Copyright (C) 2000  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
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-//
-// $Id$
-
-
-#ifdef HAVE_CONFIG_H
-#  include <config.h>
-#endif
-
-#include <simgear/math/SGMath.hxx>
-#include <simgear/math/vector.hxx>
-#include <simgear/misc/sg_path.hxx>
-#include <simgear/timing/sg_time.hxx>
-
-#include <Main/fg_props.hxx>
-#include <Main/globals.hxx>
-#include <Main/viewer.hxx>
-#include <Scenery/scenery.hxx>
-
-#include "light.hxx"
-#include "sunsolver.hxx"
-#include "tmp.hxx"
-
-
-// periodic time updater wrapper
-void fgUpdateLocalTime() {
-    static const SGPropertyNode *longitude
-       = fgGetNode("/position/longitude-deg");
-    static const SGPropertyNode *latitude
-       = fgGetNode("/position/latitude-deg");
-
-    SGPath zone( globals->get_fg_root() );
-    zone.append( "Timezone" );
-
-    SG_LOG(SG_GENERAL, SG_INFO, "updateLocal("
-          << longitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS
-          << ", "
-          << latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS
-          << ", " << zone.str() << ")");
-    globals->get_time_params()->updateLocal( longitude->getDoubleValue()
-                                              * SGD_DEGREES_TO_RADIANS, 
-                                            latitude->getDoubleValue()
-                                              * SGD_DEGREES_TO_RADIANS,
-                                            zone.str() );
-}
-
-
-// update the cur_time_params structure with the current sun position
-void fgUpdateSunPos( void ) {
-#if 0
-    // This only works at lat,lon = 0,0
-    // need to find a way to get it working at other locations
-
-    FGLight *light = (FGLight *)(globals->get_subsystem("lighting"));
-    FGViewer *viewer = globals->get_current_view();
-    SGTime *time_now = globals->get_time_params();
-
-    SG_LOG( SG_EVENT, SG_DEBUG, "  Updating Sun position" );
-    SG_LOG( SG_EVENT, SG_DEBUG, "  Gst = " << time_now->getGst() );
-
-    double sun_lon, sun_lat;
-    fgSunPositionGST(time_now->getGst(), &sun_lon, &sun_lat);
-    light->set_sun_lon(sun_lon);
-    light->set_sun_lat(sun_lat);
-
-    // update the sun light vector
-    // calculations are in the horizontal normal plane: x-north, y-east, z-down
-    static SGQuatd q = SGQuatd::fromLonLat(SGGeod::fromRad(0,0));
-
-    // sun orientation
-    SGGeod geodSunPos = SGGeod::fromRad(sun_lon, sun_lat);
-    SGQuatd sunOr = SGQuatd::fromLonLat(geodSunPos);
-
-    // scenery orientation
-    SGGeod geodViewPos = SGGeod::fromCart(viewer->getViewPosition());
-    SGQuatd hlOr = SGQuatd::fromLonLat(geodViewPos);
-    SGVec3d localAt = hlOr.backTransform(SGVec3d::e3());
-
-    // transpose the sun direction from (lat,lon) to (0,0)
-    SGVec3d transSunDir = (q*sunOr).transform(-localAt);
-    SGQuatd sunDirOr = SGQuatd::fromRealImag(0, transSunDir);
-
-    // transpose the calculated sun vector back to (lat,lon)
-    SGVec3d sunDirection = sunDirOr.transform(localAt);
-    light->set_sun_rotation( acos(sunDirection[1])-SGD_PI_2 );
-    light->set_sun_angle( acos(-sunDirection[2]) );
-
-    SGVec3d sunPos = SGVec3d::fromGeod(geodSunPos);
-    light->sun_vec() = SGVec4f(toVec3f(normalize(sunPos)), 0);
-    light->sun_vec_inv() = -light->sun_vec();
-
-#else
-    FGLight *l = (FGLight *)(globals->get_subsystem("lighting"));
-    SGTime *t = globals->get_time_params();
-    FGViewer *v = globals->get_current_view();
-
-    SG_LOG( SG_EVENT, SG_DEBUG, "  Updating Sun position" );
-    SG_LOG( SG_EVENT, SG_DEBUG, "  Gst = " << t->getGst() );
-
-    double sun_l;
-    double sun_gd_lat;
-    fgSunPositionGST(t->getGst(), &sun_l, &sun_gd_lat);
-    l->set_sun_lon(sun_l);
-    l->set_sun_lat(sun_gd_lat);
-    SGVec3d sunpos(SGVec3d::fromGeod(SGGeod::fromRad(sun_l, sun_gd_lat)));
-
-    SG_LOG( SG_EVENT, SG_DEBUG, "    t->cur_time = " << t->get_cur_time() );
-    SG_LOG( SG_EVENT, SG_DEBUG,
-            "    Sun Geodetic lat = " << sun_gd_lat
-            << " Geodetic lat = " << sun_gd_lat );
-
-    // update the sun light vector
-    l->sun_vec() = SGVec4f(toVec3f(normalize(sunpos)), 0);
-    l->sun_vec_inv() = - l->sun_vec();
-
-    // calculate the sun's relative angle to local up
-    SGVec3d viewPos = v->get_view_pos();
-    SGQuatd hlOr = SGQuatd::fromLonLat(SGGeod::fromCart(viewPos));
-    SGVec3f world_up = toVec3f(hlOr.backTransform(-SGVec3d::e3()));
-    SGVec3f nsun = toVec3f(normalize(sunpos));
-    // cout << "nup = " << nup[0] << "," << nup[1] << ","
-    //      << nup[2] << endl;
-    // cout << "nsun = " << nsun[0] << "," << nsun[1] << ","
-    //      << nsun[2] << endl;
-
-    l->set_sun_angle( acos( dot ( world_up, nsun ) ) );
-    SG_LOG( SG_EVENT, SG_DEBUG, "sun angle relative to current location = "
-            << l->get_sun_angle() );
-
-    // calculate vector to sun's position on the earth's surface
-    SGVec3d rel_sunpos = sunpos - v->get_view_pos();
-    // vector in cartesian coordinates from current position to the
-    // postion on the earth's surface the sun is directly over
-    SGVec3f to_sun = toVec3f(rel_sunpos);
-    // printf( "Vector to sun = %.2f %.2f %.2f\n",
-    //         v->to_sun[0], v->to_sun[1], v->to_sun[2]);
-
-    // Given a vector from the view position to the point on the
-    // earth's surface the sun is directly over, map into onto the
-    // local plane representing "horizontal".
-
-    // surface direction to go to head towards sun
-    SGVec3f surface_to_sun;
-    SGVec3f view_pos = toVec3f(v->get_view_pos());
-    sgmap_vec_onto_cur_surface_plane( world_up.data(), view_pos.data(),
-                                      to_sun.data(), surface_to_sun.data() );
-    surface_to_sun = normalize(surface_to_sun);
-    // cout << "(sg) Surface direction to sun is "
-    //   << surface_to_sun[0] << ","
-    //   << surface_to_sun[1] << ","
-    //   << surface_to_sun[2] << endl;
-    // cout << "Should be close to zero = "
-    //   << sgScalarProductVec3(nup, surface_to_sun) << endl;
-
-    // calculate the angle between surface_to_sun and
-    // v->get_surface_east().  We do this so we can sort out the
-    // acos() ambiguity.  I wish I could think of a more efficient
-    // way. :-(
-    SGVec3f surface_east(toVec3f(hlOr.backTransform(SGVec3d::e2())));
-    float east_dot = dot( surface_to_sun, surface_east );
-    // cout << "  East dot product = " << east_dot << endl;
-
-    // calculate the angle between v->surface_to_sun and
-    // v->surface_south.  this is how much we have to rotate the sky
-    // for it to align with the sun
-    SGVec3f surface_south(toVec3f(hlOr.backTransform(-SGVec3d::e1())));
-    float dot_ = dot( surface_to_sun, surface_south );
-    // cout << "  Dot product = " << dot << endl;
-
-    if (dot_ > 1.0) {
-        SG_LOG( SG_ASTRO, SG_INFO,
-                "Dot product  = " << dot_ << " is greater than 1.0" );
-        dot_ = 1.0;
-    }
-    else if (dot_ < -1.0) {
-         SG_LOG( SG_ASTRO, SG_INFO,
-                 "Dot product  = " << dot_ << " is less than -1.0" );
-         dot_ = -1.0;
-     }
-
-    if ( east_dot >= 0 ) {
-        l->set_sun_rotation( acos(dot_) );
-    } else {
-        l->set_sun_rotation( -acos(dot_) );
-    }
-    // cout << "  Sky needs to rotate = " << angle << " rads = "
-    //      << angle * SGD_RADIANS_TO_DEGREES << " degrees." << endl;
-
-#endif
-}
-

diff --git a/src/Time/tmp.hxx b/src/Time/tmp.hxx
deleted file mode 100644 (file)
index 0d65655..0000000
--- a/src/Time/tmp.hxx
+++ /dev/null
@@ -1,45 +0,0 @@
-// tmp.hxx -- stuff I don't know what to do with at the moment
-//
-// Written by Curtis Olson, started July 2000.
-//
-// Copyright (C) 2000  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
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
-//
-// $Id$
-
-
-#ifndef _TMP_HXX
-#define _TMP_HXX
-
-
-#ifndef __cplusplus                                                          
-# error This library requires C++
-#endif                                   
-
-
-#ifdef HAVE_CONFIG_H
-#  include <config.h>
-#endif
-
-
-// periodic time updater
-void fgUpdateLocalTime();
-
-// update the cur_time_params structure with the current sun position
-void fgUpdateSunPos( void );
-
-#endif // _LIGHT_HXX
-

diff --git a/src/Traffic/SchedFlight.cxx b/src/Traffic/SchedFlight.cxx
index 40d237b43e68fae957a8a0c76276fb555022f80c..5575f6ee090f924b0f5aace94b140bced3cb5c17 100644 (file)
--- a/src/Traffic/SchedFlight.cxx
+++ b/src/Traffic/SchedFlight.cxx
@@ -33,7 +33,6 @@
  *
  * TODO:
  * - Check the code for known portability issues
- * - Find an alternative for the depricated Point3D class
  *
  *****************************************************************************/
 

diff --git a/src/Traffic/Schedule.cxx b/src/Traffic/Schedule.cxx
index 3b990e377d3364213c27d6269af5ee5e3a2f28a9..8c0030de1f7a1163ead67111f5d0eadeadfce69c 100644 (file)
--- a/src/Traffic/Schedule.cxx
+++ b/src/Traffic/Schedule.cxx
@@ -496,7 +496,6 @@ bool compareSchedules(FGAISchedule*a, FGAISchedule*b)
 //   double course;
 //   double dist;
 
-//   Point3D temp;
 //   time_t 
 //     totalTimeEnroute, 
 //     elapsedTimeEnroute;

diff --git a/tests/.gitignore b/tests/.gitignore
new file mode 100644 (file)
index 0000000..b05dfc9
--- /dev/null
+++ b/tests/.gitignore
@@ -0,0 +1,9 @@
+est-epsilon
+al-info
+alcinfo
+gl-info
+test-env-map
+test-gethostname
+test-mktime
+test-text
+test-up

diff --git a/tests/Makefile.am b/tests/Makefile.am
index 2062c36ba29a7021bd902d2e9c2577644d3ee310..cade53233d653fcea3633b8961f8815608ad08ce 100644 (file)
--- a/tests/Makefile.am
+++ b/tests/Makefile.am
@@ -1,6 +1,6 @@
 bin_PROGRAMS = est-epsilon gl-info alcinfo
 
-noinst_PROGRAMS = test-gethostname test-mktime test-text test-up test-env-map
+noinst_PROGRAMS = test-gethostname test-mktime test-text test-env-map
 
 if HAVE_FRAMEWORK_PLIB
 test_up_LDFLAGS = $(plib_FRAMEWORK)
@@ -26,5 +26,3 @@ test_mktime_SOURCES = test-mktime.cxx
 
 test_text_SOURCES = test-text.cxx
 
-test_up_SOURCES = test-up.cxx
-test_up_LDADD = $(test_up_PLIB_LIBS) -lsgmath -lsgxml -lsgmisc -lsgdebug -lsgstructure -lsgtiming -lz $(base_LIBS)

diff --git a/tests/test-up.cxx b/tests/test-up.cxx
index 85811423cd99e6b493200d52f8ce326a4efd80c3..5d2d75d0b2bc35b6a0dbdf2a2cc90ac7f5f80771 100644 (file)
--- a/tests/test-up.cxx
+++ b/tests/test-up.cxx
@@ -8,8 +8,6 @@
 
 #include <iostream>
 
-#include <plib/sg.h>
-
 #include <simgear/constants.h>
 #include <simgear/math/sg_geodesy.hxx>
 

diff --git a/utils/GPSsmooth/.gitignore b/utils/GPSsmooth/.gitignore
new file mode 100644 (file)
index 0000000..90991a7
--- /dev/null
+++ b/utils/GPSsmooth/.gitignore
@@ -0,0 +1,3 @@
+GPSsmooth
+MIDGsmooth
+UGsmooth

diff --git a/utils/GPSsmooth/MIDG-II.cxx b/utils/GPSsmooth/MIDG-II.cxx
index d1cb6d1f59c9ab0a89fabee99c84d501b5cd2766..5ca224d15ec78fd45c8c32c1aa7d394e6dcb97d4 100644 (file)
--- a/utils/GPSsmooth/MIDG-II.cxx
+++ b/utils/GPSsmooth/MIDG-II.cxx
@@ -2,6 +2,8 @@
 #  include <config.h>
 #endif 
 
+#include <simgear/compiler.h>
+
 #include <iostream>
 
 #include <simgear/constants.h>

diff --git a/utils/GPSsmooth/UGear.cxx b/utils/GPSsmooth/UGear.cxx
index 95781f87625e54a144621ee44df3a2d167221167..2a570e1e9070a9ea8c659463fffc0053f67223d3 100644 (file)
--- a/utils/GPSsmooth/UGear.cxx
+++ b/utils/GPSsmooth/UGear.cxx
@@ -3,6 +3,7 @@
 #endif 
 
 #include <iostream>
+#include <cstdio>
 
 #include <simgear/constants.h>
 #include <simgear/io/sg_file.hxx>

diff --git a/utils/GPSsmooth/UGear_command.cxx b/utils/GPSsmooth/UGear_command.cxx
index c490a4238146950b15371d7370b57e23b7cad114..c4bef8ad40971f4e3079b2b1eac03872cb399874 100644 (file)
--- a/utils/GPSsmooth/UGear_command.cxx
+++ b/utils/GPSsmooth/UGear_command.cxx
@@ -55,8 +55,8 @@ static int serial_send( SGSerialPort *serial, int sequence,
     unsigned int result = serial->write_port( package.c_str(),
                                               package.length() );
     if ( result != package.length() ) {
-        printf("ERROR: wrote %d of %d bytes to serial port!\n",
-               result, package.length() );
+        printf("ERROR: wrote %u of %u bytes to serial port!\n",
+               result, (unsigned)package.length() );
         return 0;
     }
 
@@ -88,7 +88,7 @@ int UGCommand::update( SGSerialPort *serial )
 
     // send the command
     string command = cmd_queue.front();
-    int result = serial_send( serial, cmd_send_index, command );
+    /*int result =*/ serial_send( serial, cmd_send_index, command );
 
     return cmd_send_index;
 }

diff --git a/utils/GPSsmooth/gps.cxx b/utils/GPSsmooth/gps.cxx
index fd783398f6ec197a045ba25b1bcd02b20b7dcc6f..1d6a79c2274762a5490e2cd6cd5ed41299bc0945 100644 (file)
--- a/utils/GPSsmooth/gps.cxx
+++ b/utils/GPSsmooth/gps.cxx
@@ -2,6 +2,8 @@
 #  include <config.h>
 #endif
 
+#include <simgear/compiler.h>
+
 #include <iostream>
 
 #include <simgear/constants.h>

diff --git a/utils/GPSsmooth/gps_main.cxx b/utils/GPSsmooth/gps_main.cxx
index cb70e3bc09b9be3037e4c48b42832c4a9f81c7e1..f5a10d7ac0b36656710bc0529e89e69e8e0802d4 100644 (file)
--- a/utils/GPSsmooth/gps_main.cxx
+++ b/utils/GPSsmooth/gps_main.cxx
@@ -276,7 +276,7 @@ static void gps2fg( const GPSPoint p, FGNetFDM *fdm, FGNetCtrls *ctrls )
 
 static void send_data( const GPSPoint p ) {
     int len;
-    int ctrlsize = sizeof( FGNetCtrls );
+//    int ctrlsize = sizeof( FGNetCtrls );
     int fdmsize = sizeof( FGNetFDM );
 
     // cout << "Running main loop" << endl;

diff --git a/utils/Modeller/.gitignore b/utils/Modeller/.gitignore
new file mode 100644 (file)
index 0000000..6677933
--- /dev/null
+++ b/utils/Modeller/.gitignore
@@ -0,0 +1,5 @@
+3dconvert
+animassist
+threedconvert
+normalmap
+photomodel

diff --git a/utils/TerraSync/.gitignore b/utils/TerraSync/.gitignore
new file mode 100644 (file)
index 0000000..bb0d3cd
--- /dev/null
+++ b/utils/TerraSync/.gitignore
@@ -0,0 +1 @@
+terrasync

diff --git a/utils/TerraSync/terrasync.cxx b/utils/TerraSync/terrasync.cxx
index f6c33c9b64c3e393ae6f2749c127dc22d88a43e8..c8138e708564ff14c2490384047bd3807c9890e5 100644 (file)
--- a/utils/TerraSync/terrasync.cxx
+++ b/utils/TerraSync/terrasync.cxx
@@ -128,10 +128,6 @@ svn_opt_revision_t *mysvn_rev_peg = NULL;
 static const svn_version_checklist_t mysvn_checklist[] = {
     { "svn_subr",   svn_subr_version },
     { "svn_client", svn_client_version },
-    { "svn_wc",     svn_wc_version },
-    { "svn_ra",     svn_ra_version },
-    { "svn_delta",  svn_delta_version },
-    { "svn_diff",   svn_diff_version },
     { NULL, NULL }
 };
 
@@ -273,7 +269,7 @@ void sync_tree(const char* dir) {
     }
 }
 
-#ifdef _MSC_VER
+#if defined(_MSC_VER) || defined(__MINGW32__)
 typedef void (__cdecl * sighandler_t)(int);
 #elif defined( __APPLE__ )
 typedef sig_t sighandler_t;
@@ -282,10 +278,10 @@ typedef sig_t sighandler_t;
 bool terminating = false;
 sighandler_t prior_signal_handlers[32];
 int termination_triggering_signals[] = {
-#ifndef _MSC_VER
-    SIGHUP, SIGINT, SIGQUIT, SIGKILL,
-#else
+#if defined(_MSC_VER) || defined(__MINGW32__)
     SIGINT, SIGILL, SIGFPE, SIGSEGV, SIGTERM, SIGBREAK, SIGABRT,
+#else
+    SIGHUP, SIGINT, SIGQUIT, SIGKILL,
 #endif
     0};  // zero terminated
 

diff --git a/utils/fgviewer/.gitignore b/utils/fgviewer/.gitignore
new file mode 100644 (file)
index 0000000..e32910d
--- /dev/null
+++ b/utils/fgviewer/.gitignore
@@ -0,0 +1 @@
+fgviewer

diff --git a/utils/fgviewer/fgviewer.cxx b/utils/fgviewer/fgviewer.cxx
index e59a91645a9846f2238d8b20cb07d4c26ebaa441..c7a6599941d607b97da317da2af8de12a0d2ad14 100644 (file)
--- a/utils/fgviewer/fgviewer.cxx
+++ b/utils/fgviewer/fgviewer.cxx
@@ -58,14 +58,14 @@ main(int argc, char** argv)
     osgGA::KeySwitchMatrixManipulator* keyswitchManipulator;
     keyswitchManipulator = new osgGA::KeySwitchMatrixManipulator;
     
-    osgGA::MatrixManipulator* mm = new osgGA::TrackballManipulator;
-    keyswitchManipulator->addMatrixManipulator('1', "Trackball", mm);
-    mm = new osgGA::FlightManipulator;
-    keyswitchManipulator->addMatrixManipulator('2', "Flight", mm);
-    mm = new osgGA::DriveManipulator;
-    keyswitchManipulator->addMatrixManipulator('3', "Drive", mm);
-    mm = new osgGA::TerrainManipulator;
-    keyswitchManipulator->addMatrixManipulator('4', "Terrain", mm);
+    keyswitchManipulator->addMatrixManipulator('1', "Trackball",
+                                               new osgGA::TrackballManipulator);
+    keyswitchManipulator->addMatrixManipulator('2', "Flight",
+                                               new osgGA::FlightManipulator);
+    keyswitchManipulator->addMatrixManipulator('3', "Drive",
+                                               new osgGA::DriveManipulator);
+    keyswitchManipulator->addMatrixManipulator('4', "Terrain",
+                                               new osgGA::TerrainManipulator);
     
     viewer.setCameraManipulator(keyswitchManipulator);
 

diff --git a/utils/js_server/.gitignore b/utils/js_server/.gitignore
new file mode 100644 (file)
index 0000000..2f9dff8
--- /dev/null
+++ b/utils/js_server/.gitignore
@@ -0,0 +1 @@
+js_server

diff --git a/utils/js_server/js_server.cxx b/utils/js_server/js_server.cxx
index 4da358ce71c90e30bbb42e472159ec0abfb9c2d7..a0bb9d3a1067f0681be1fb9bd804d22df5f19820 100644 (file)
--- a/utils/js_server/js_server.cxx
+++ b/utils/js_server/js_server.cxx
@@ -27,6 +27,8 @@
 
 #include <math.h>
 #include <stdio.h>
+#include <stdint.h>
+
 #include <plib/netSocket.h>
 #include <plib/js.h>
 

diff --git a/utils/propmerge/.gitignore b/utils/propmerge/.gitignore
new file mode 100644 (file)
index 0000000..7f18038
--- /dev/null
+++ b/utils/propmerge/.gitignore
@@ -0,0 +1 @@
+propmerge