fi
AM_CONDITIONAL(ENABLE_MPLAYER_AS, test "x$with_multiplayer" != "xno")
+AC_ARG_ENABLE(sp_fdms, [ --enable-sp-fdms Include special purpose Flight Models], [enable_sp_fdms="$enableval"] )
+AC_DEFINE([ENABLE_SP_FMDS], test "x$enable_sp_fdms" = "xyes", [Define to include special purpose FDMs])
+AM_CONDITIONAL(ENABLE_SP_FDM, test "x$enable_sp_fdms" != "xno")
+
dnl Thread related checks
# defaults to yes
base_LIBS="$LIBS"
dnl Check for SDL if enabled.
-AC_ARG_ENABLE(sdl, [ --enable-sdl Configure to use SDL instead of GLUT], enable_sdl="yes", enable_sdl="")
+AC_ARG_ENABLE(sdl, [ --enable-sdl Configure to use SDL instead of GLUT], [enable_sdl="$enableval"])
AM_CONDITIONAL(USE_SDL, test "x$enable_sdl" = "xyes")
if test "x$enable_sdl" = "xyes"; then
AC_DEFINE([PU_USE_SDL], 1, [Define to use SDL])
src/FDM/JSBSim/Makefile \
src/FDM/JSBSim/filtersjb/Makefile \
src/FDM/LaRCsim/Makefile \
+ src/FDM/SP/Makefile \
src/FDM/UIUCModel/Makefile \
src/FDM/YASim/Makefile \
src/FDM/Makefile \
else
echo "threads: no"
fi
+
+if test "x$enable_sp_fdms" != "xno"; then
+ echo "Include special purpose flight models: yes"
+else
+ echo "Include special purpose flight models: no"
+fi
+
#include <Aircraft/aircraft.hxx>
#include <Include/general.hxx>
-#include <FDM/ADA.hxx>
+#ifdef ENABLE_SP_FMDS
+#include <FDM/SP/ADA.hxx>
+#endif
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include <Main/viewmgr.hxx>
return anzg;
}
+#ifdef ENABLE_SP_FMDS
int get_iaux1 (void)
{
FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
FGADA *fdm = (FGADA *)current_aircraft.fdm_state;
return fdm->get_faux(10);
}
-// #endif
+#endif
// $$$ end - added, VS Renganathan 13 Oct 2K
+++ /dev/null
-// ADA.cxx -- interface to the "External"-ly driven ADA flight model
-//
-// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
-//
-// $Id$
-
-// Modified by Cdr. VS Renganthan <vsranga@ada.ernet.in>, 12 Oct 2K
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include <simgear/io/iochannel.hxx>
-#include <simgear/io/sg_socket.hxx>
-#include <simgear/constants.h>
-
-#include <Controls/controls.hxx>
-#include <Main/globals.hxx>
-
-#include <Main/fg_props.hxx> //to get ID of window (left/right or center)
-#include <Scenery/scenery.hxx> //to pass ground elevation to FDM
-
-#include "ADA.hxx"
-
-#define numberofbytes 472 // from FDM to visuals
-#define nbytes 8 //from visuals to FDM
-
-struct {
- double number_of_bytes;
- double lat_geoc;
- double lon_geoc;
- double altitude;
- double psirad;
- double thetrad;
- double phirad;
- double earth_posn_angle;
- double radius_to_vehicle;
- double sea_level_radius;
- double latitude;
- double longitude;
- double Vnorth;
- double Veast;
- double Vdown;
- double Vcas_kts;
- double prad;
- double qrad;
- double rrad;
- double alpharad;
- double betarad;
- double latitude_dot;
- double longitude_dot;
- double radius_dot;
- double Gamma_vert_rad;
- double Runway_altitude;
- double throttle;
- double pstick;
- double rstick;
- double rpedal;
- double U_local;
- double V_local;
- double W_local;
- double U_dot_local;
- double V_dot_local;
- double W_dot_local;
- double Machno;
- double anxg;
- double anyg;
- double anzg;
- double aux1;
- double aux2;
- double aux3;
- double aux4;
- double aux5;
- double aux6;
- double aux7;
- double aux8;
- int iaux1;
- int iaux2;
- int iaux3;
- int iaux4;
- int iaux5;
- int iaux6;
- int iaux7;
- int iaux8;
- int iaux9;
- int iaux10;
- int iaux11;
- int iaux12;
- float aux9;
- float aux10;
- float aux11;
- float aux12;
- float aux13;
- float aux14;
- float aux15;
- float aux16;
- float aux17;
- float aux18;
-} sixdof_to_visuals;
-
-double view_offset; //if this zero, means center window
-
-struct {
- double ground_elevation;
-} visuals_to_sixdof;
-
-#define ground_elevation visuals_to_sixdof.ground_elevation
-
-#define number_of_bytes sixdof_to_visuals.number_of_bytes
-#define U_dot_local sixdof_to_visuals.U_dot_local
-#define V_dot_local sixdof_to_visuals.V_dot_local
-#define W_dot_local sixdof_to_visuals.W_dot_local
-#define U_local sixdof_to_visuals.U_local
-#define V_local sixdof_to_visuals.V_local
-#define W_local sixdof_to_visuals.W_local
-#define throttle sixdof_to_visuals.throttle
-#define pstick sixdof_to_visuals.pstick
-#define rstick sixdof_to_visuals.rstick
-#define rpedal sixdof_to_visuals.rpedal
-#define V_north sixdof_to_visuals.Vnorth
-#define V_east sixdof_to_visuals.Veast
-#define V_down sixdof_to_visuals.Vdown
-#define V_calibrated_kts sixdof_to_visuals.Vcas_kts
-#define P_body sixdof_to_visuals.prad
-#define Q_body sixdof_to_visuals.qrad
-#define R_body sixdof_to_visuals.rrad
-#define Latitude_dot sixdof_to_visuals.latitude_dot
-#define Longitude_dot sixdof_to_visuals.longitude_dot
-#define Radius_dot sixdof_to_visuals.radius_dot
-#define Latitude sixdof_to_visuals.latitude
-#define Longitude sixdof_to_visuals.longitude
-#define Lat_geocentric sixdof_to_visuals.lat_geoc
-#define Lon_geocentric sixdof_to_visuals.lon_geoc
-#define Radius_to_vehicle sixdof_to_visuals.radius_to_vehicle
-#define Altitude sixdof_to_visuals.altitude
-#define Phi sixdof_to_visuals.phirad
-#define Theta sixdof_to_visuals.thetrad
-#define Psi sixdof_to_visuals.psirad
-#define Alpha sixdof_to_visuals.alpharad
-#define Beta sixdof_to_visuals.betarad
-#define Sea_level_radius sixdof_to_visuals.sea_level_radius
-#define Earth_position_angle sixdof_to_visuals.earth_posn_angle
-#define Runway_altitude sixdof_to_visuals.Runway_altitude
-#define Gamma_vert_rad sixdof_to_visuals.Gamma_vert_rad
-#define Machno sixdof_to_visuals.Machno
-#define anxg sixdof_to_visuals.anxg
-#define anyg sixdof_to_visuals.anyg
-#define anzg sixdof_to_visuals.anzg
-
-
-FGADA::FGADA( double dt ) {
-// set_delta_t( dt );
-}
-
-
-FGADA::~FGADA() {
-}
-
-
-// Initialize the ADA flight model, dt is the time increment
-// for each subsequent iteration through the EOM
-void FGADA::init() {
-
- //do init common to all FDM"s
- common_init();
-
- //now do ADA-specific init.
-
- // cout << "FGADA::init()" << endl;
-
- char OutBuffer[nbytes];
- copy_to_FGADA();
-
- printf("\nInitialising UDP sockets\n");
- // initialise a "udp" socket
- fdmsock = new SGSocket( "fdm_pc", "5001", "udp" );
-
- // open as a client
- bool result = fdmsock->open(SG_IO_OUT);
- if (result == false) {
- printf ("Socket Open Error\n");
- } else {
- copy_to_FGADA();
- // Write FGExternal structure from socket to establish connection
- int result = fdmsock->write(OutBuffer, nbytes);
- printf("Connection established = %d.\n", result);
- }
-}
-
-
-// Run an iteration of the EOM. This is essentially a NOP here
-// because these values are getting filled in elsewhere based on
-// external input.
-void FGADA::update( double dt ) {
- // cout << "FGADA::update()" << endl;
-
- if (is_suspended())
- return;
-
- char Buffer[numberofbytes];
- char OutBuffer[nbytes];
-
- // Read FGExternal structure from socket
- while (1) {
- int result = fdmsock->read(Buffer, numberofbytes);
- if (result == numberofbytes) {
- // Copy buffer into FGExternal structure
- memcpy (&sixdof_to_visuals, &Buffer, sizeof (Buffer));
- // Convert from the FGExternal struct to the FGInterface struct (input)
- copy_from_FGADA();
- } else {
- break;
- }
- }
-
- copy_to_FGADA();
- fgGetDouble("/sim/view/offset",view_offset);
- if ( view_offset == 0.0) {
- memcpy (&OutBuffer, &visuals_to_sixdof, sizeof (OutBuffer));
- fdmsock->write(OutBuffer, nbytes);
- }
-}
-
-// Convert from the FGInterface struct to the FGADA struct (output)
-bool FGADA::copy_to_FGADA () {
- ground_elevation = globals->get_scenery()->get_cur_elev();
- return true;
-}
-
-
-// Convert from the FGADA struct to the FGInterface struct (input)
-bool FGADA::copy_from_FGADA() {
-
- //Positions and attitudes for The Rendering engine
- _set_Geodetic_Position( Latitude, Longitude, Altitude );
- _set_Euler_Angles( Phi, Theta, Psi );
- _set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
- Radius_to_vehicle );
- _set_Sea_level_radius( Sea_level_radius );
-
- _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
- _set_Earth_position_angle( Earth_position_angle );
- _set_sin_lat_geocentric(Lat_geocentric);
- _set_cos_lat_geocentric(Lat_geocentric);
- _set_sin_cos_longitude(Longitude);
- _set_sin_cos_latitude(Latitude);
-
- // Velocities and accelerations for the pitch ladder and velocity vector
- _set_Accels_Local( U_dot_local, V_dot_local, W_dot_local );
- _set_Velocities_Ground( U_local, V_local, W_local );//same as V_NED in mps
- _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
-
- // controls
- globals->get_controls()->set_throttle(0,throttle/131.0);
- globals->get_controls()->set_elevator(pstick);
- globals->get_controls()->set_aileron(rstick);
- globals->get_controls()->set_rudder(rpedal);
-
- // auxilliary parameters for HUD
- _set_V_calibrated_kts( V_calibrated_kts );
- _set_Alpha( Alpha );
- _set_Beta( Beta );
- _set_Accels_CG_Body_N( anxg,anyg,anzg);
- _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);
-
- // Angular rates
- _set_Omega_Body( P_body, Q_body, R_body );
-
- // Miscellaneous quantities
- _set_Gamma_vert_rad( Gamma_vert_rad );
- _set_Runway_altitude( Runway_altitude );
-
- // SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
- // << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
- // << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
- // << " radius_to_vehicle = " << Radius_to_vehicle );
-
-
- // printf("sr=%f\n",Sea_level_radius);
- // printf("psi = %f %f\n",Psi,Psi*SGD_RADIANS_TO_DEGREES);
-
- return true;
-}
+++ /dev/null
-// ADA.hxx -- interface to the "External"-ly driven ADA flight model
-//
-// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
-//
-// $Id$
-
-
-#ifndef _ADA_HXX
-#define _ADA_HXX
-
-
-class SGSocket;
-
-#include <FDM/flight.hxx>
-
-
-class FGADA: public FGInterface {
-
-private:
-
- SGSocket *fdmsock;
-
- // Auxilliary Flight Model parameters, basically for HUD
- double aux1; // auxilliary flag
- double aux2; // auxilliary flag
- double aux3; // auxilliary flag
- double aux4; // auxilliary flag
- double aux5; // auxilliary flag
- double aux6; // auxilliary flag
- double aux7; // auxilliary flag
- double aux8; // auxilliary flag
- float aux9; // auxilliary flag
- float aux10; // auxilliary flag
- float aux11; // auxilliary flag
- float aux12; // auxilliary flag
- float aux13; // auxilliary flag
- float aux14; // auxilliary flag
- float aux15; // auxilliary flag
- float aux16; // auxilliary flag
- float aux17; // auxilliary flag
- float aux18; // auxilliary flag
- int iaux1; // auxilliary flag
- int iaux2; // auxilliary flag
- int iaux3; // auxilliary flag
- int iaux4; // auxilliary flag
- int iaux5; // auxilliary flag
- int iaux6; // auxilliary flag
- int iaux7; // auxilliary flag
- int iaux8; // auxilliary flag
- int iaux9; // auxilliary flag
- int iaux10; // auxilliary flag
- int iaux11; // auxilliary flag
- int iaux12; // auxilliary flag
-
- // copy FDM state to FGADA structures
- bool copy_to_FGADA();
-
- // copy FDM state from FGADA structures
- bool copy_from_FGADA();
-
-public:
-
- FGADA( double dt );
- ~FGADA();
-
- // reset flight params to a specific position
- void init();
-
- // update position based on inputs, positions, velocities, etc.
- void update(double dt);
-
-};
-
-
-#endif // _ADA_HXX
-SUBDIRS = Balloon ExternalNet ExternalPipe JSBSim LaRCsim UIUCModel YASim
+if ENABLE_SP_FDM
+SP_DIR = SP
+else
+SP_DIR =
+endif
+
+SUBDIRS = Balloon JSBSim LaRCsim UIUCModel YASim \
+ $(SP_DIR) ExternalNet ExternalPipe
noinst_LIBRARIES = libFlight.a
libFlight_a_SOURCES = \
- ADA.cxx ADA.hxx \
Balloon.cxx Balloon.h \
flight.cxx flight.hxx \
MagicCarpet.cxx MagicCarpet.hxx \
--- /dev/null
+// ACMS.cxx -- interface to the ACMS FDM
+//
+// Written by Erik Hofman, started October 2004
+//
+// Copyright (C) 2004 Erik Hofman <erik@ehofman.com>
+//
+// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+
+#include <simgear/math/sg_geodesy.hxx>
+#include <Main/fg_props.hxx>
+
+#include "ACMS.hxx"
+
+FGACMS::FGACMS( double dt )
+{
+// set_delta_t( dt );
+}
+
+
+FGACMS::~FGACMS() {
+}
+
+
+// Initialize the ACMSFDM flight model, dt is the time increment
+// for each subsequent iteration through the EOM
+void FGACMS::init() {
+ common_init();
+}
+
+
+// Run an iteration of the EOM (equations of motion)
+void FGACMS::update( double dt ) {
+
+ double pitch = get_Theta();
+ double roll = get_Phi();
+ double heading = get_Psi() * SG_DEGREES_TO_RADIANS;
+ double alt = get_Altitude();
+
+ double sl_radius, lat_geoc;
+ sgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc );
+
+ double lon_acc = get_V_north();
+ double lat_acc = get_V_east();
+ double vert_acc = get_V_down();
+
+ double accel_heading = atan( lon_acc/lat_acc );
+ double accel_pitch = atan( vert_acc/accel_heading );
+
+ double accel = sqrt(sqrt(lon_acc*lon_acc + lat_acc*lat_acc)
+ + vert_acc*vert_acc);
+
+ double velocity = get_V_true_kts() * accel / (SG_METER_TO_NM * 3600.0);
+ double speed = cos (pitch) * velocity; // meters/sec
+ double dist = speed * dt;
+ double kts = velocity * 6076.11549 * 3600.0;
+
+ double climb_rate = fgGetDouble("/velocities/climb-rate", 0);
+ double climb = climb_rate * dt;
+
+ _set_Alpha( pitch - accel_pitch);
+ _set_Beta( heading - accel_heading);
+ _set_Climb_Rate( climb_rate );
+ _set_V_equiv_kts( kts );
+ _set_V_calibrated_kts( kts );
+ _set_V_ground_speed( kts );
+ _set_Altitude( get_Altitude() + climb );
+
+ // update (lon/lat) position
+ double lat2, lon2, az2;
+ geo_direct_wgs_84 ( get_Altitude(),
+ get_Latitude() * SGD_RADIANS_TO_DEGREES,
+ get_Longitude() * SGD_RADIANS_TO_DEGREES,
+ get_Psi() * SGD_RADIANS_TO_DEGREES,
+ dist, &lat2, &lon2, &az2 );
+ _set_Geocentric_Position( lat_geoc, get_Longitude(),
+ sl_radius + get_Altitude() + climb );
+ _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET);
+
+ _set_Longitude( lon2 * SGD_DEGREES_TO_RADIANS );
+ _set_Latitude( lat2 * SGD_DEGREES_TO_RADIANS );
+
+}
--- /dev/null
+// ACMS.hxx -- interface to the AIAircraft FDM
+//
+// Written by Erik Hofman, started October 2004
+//
+// Copyright (C) 2004 Erik Hofman <erik@ehofman.com>
+//
+// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+
+
+#ifndef _ACMS_HXX
+#define _ACMS_HXX
+
+#include <simgear/props/props.hxx>
+
+#include <FDM/flight.hxx>
+
+
+class FGACMS: public FGInterface
+{
+public:
+ FGACMS( double dt );
+ ~FGACMS();
+
+ // reset flight params to a specific position
+ void init();
+
+ // update position based on properties
+ void update( double dt );
+
+};
+
+
+#endif // _ACMS_HXX
--- /dev/null
+// ADA.cxx -- interface to the "External"-ly driven ADA flight model
+//
+// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+// $Id$
+
+// Modified by Cdr. VS Renganthan <vsranga@ada.ernet.in>, 12 Oct 2K
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <simgear/io/iochannel.hxx>
+#include <simgear/io/sg_socket.hxx>
+#include <simgear/constants.h>
+
+#include <Controls/controls.hxx>
+#include <Main/globals.hxx>
+
+#include <Main/fg_props.hxx> //to get ID of window (left/right or center)
+#include <Scenery/scenery.hxx> //to pass ground elevation to FDM
+
+#include "ADA.hxx"
+
+#define numberofbytes 472 // from FDM to visuals
+#define nbytes 8 //from visuals to FDM
+
+struct {
+ double number_of_bytes;
+ double lat_geoc;
+ double lon_geoc;
+ double altitude;
+ double psirad;
+ double thetrad;
+ double phirad;
+ double earth_posn_angle;
+ double radius_to_vehicle;
+ double sea_level_radius;
+ double latitude;
+ double longitude;
+ double Vnorth;
+ double Veast;
+ double Vdown;
+ double Vcas_kts;
+ double prad;
+ double qrad;
+ double rrad;
+ double alpharad;
+ double betarad;
+ double latitude_dot;
+ double longitude_dot;
+ double radius_dot;
+ double Gamma_vert_rad;
+ double Runway_altitude;
+ double throttle;
+ double pstick;
+ double rstick;
+ double rpedal;
+ double U_local;
+ double V_local;
+ double W_local;
+ double U_dot_local;
+ double V_dot_local;
+ double W_dot_local;
+ double Machno;
+ double anxg;
+ double anyg;
+ double anzg;
+ double aux1;
+ double aux2;
+ double aux3;
+ double aux4;
+ double aux5;
+ double aux6;
+ double aux7;
+ double aux8;
+ int iaux1;
+ int iaux2;
+ int iaux3;
+ int iaux4;
+ int iaux5;
+ int iaux6;
+ int iaux7;
+ int iaux8;
+ int iaux9;
+ int iaux10;
+ int iaux11;
+ int iaux12;
+ float aux9;
+ float aux10;
+ float aux11;
+ float aux12;
+ float aux13;
+ float aux14;
+ float aux15;
+ float aux16;
+ float aux17;
+ float aux18;
+} sixdof_to_visuals;
+
+double view_offset; //if this zero, means center window
+
+struct {
+ double ground_elevation;
+} visuals_to_sixdof;
+
+#define ground_elevation visuals_to_sixdof.ground_elevation
+
+#define number_of_bytes sixdof_to_visuals.number_of_bytes
+#define U_dot_local sixdof_to_visuals.U_dot_local
+#define V_dot_local sixdof_to_visuals.V_dot_local
+#define W_dot_local sixdof_to_visuals.W_dot_local
+#define U_local sixdof_to_visuals.U_local
+#define V_local sixdof_to_visuals.V_local
+#define W_local sixdof_to_visuals.W_local
+#define throttle sixdof_to_visuals.throttle
+#define pstick sixdof_to_visuals.pstick
+#define rstick sixdof_to_visuals.rstick
+#define rpedal sixdof_to_visuals.rpedal
+#define V_north sixdof_to_visuals.Vnorth
+#define V_east sixdof_to_visuals.Veast
+#define V_down sixdof_to_visuals.Vdown
+#define V_calibrated_kts sixdof_to_visuals.Vcas_kts
+#define P_body sixdof_to_visuals.prad
+#define Q_body sixdof_to_visuals.qrad
+#define R_body sixdof_to_visuals.rrad
+#define Latitude_dot sixdof_to_visuals.latitude_dot
+#define Longitude_dot sixdof_to_visuals.longitude_dot
+#define Radius_dot sixdof_to_visuals.radius_dot
+#define Latitude sixdof_to_visuals.latitude
+#define Longitude sixdof_to_visuals.longitude
+#define Lat_geocentric sixdof_to_visuals.lat_geoc
+#define Lon_geocentric sixdof_to_visuals.lon_geoc
+#define Radius_to_vehicle sixdof_to_visuals.radius_to_vehicle
+#define Altitude sixdof_to_visuals.altitude
+#define Phi sixdof_to_visuals.phirad
+#define Theta sixdof_to_visuals.thetrad
+#define Psi sixdof_to_visuals.psirad
+#define Alpha sixdof_to_visuals.alpharad
+#define Beta sixdof_to_visuals.betarad
+#define Sea_level_radius sixdof_to_visuals.sea_level_radius
+#define Earth_position_angle sixdof_to_visuals.earth_posn_angle
+#define Runway_altitude sixdof_to_visuals.Runway_altitude
+#define Gamma_vert_rad sixdof_to_visuals.Gamma_vert_rad
+#define Machno sixdof_to_visuals.Machno
+#define anxg sixdof_to_visuals.anxg
+#define anyg sixdof_to_visuals.anyg
+#define anzg sixdof_to_visuals.anzg
+
+
+FGADA::FGADA( double dt ) {
+// set_delta_t( dt );
+}
+
+
+FGADA::~FGADA() {
+}
+
+
+// Initialize the ADA flight model, dt is the time increment
+// for each subsequent iteration through the EOM
+void FGADA::init() {
+
+ //do init common to all FDM"s
+ common_init();
+
+ //now do ADA-specific init.
+
+ // cout << "FGADA::init()" << endl;
+
+ char OutBuffer[nbytes];
+ copy_to_FGADA();
+
+ printf("\nInitialising UDP sockets\n");
+ // initialise a "udp" socket
+ fdmsock = new SGSocket( "fdm_pc", "5001", "udp" );
+
+ // open as a client
+ bool result = fdmsock->open(SG_IO_OUT);
+ if (result == false) {
+ printf ("Socket Open Error\n");
+ } else {
+ copy_to_FGADA();
+ // Write FGExternal structure from socket to establish connection
+ int result = fdmsock->write(OutBuffer, nbytes);
+ printf("Connection established = %d.\n", result);
+ }
+}
+
+
+// Run an iteration of the EOM. This is essentially a NOP here
+// because these values are getting filled in elsewhere based on
+// external input.
+void FGADA::update( double dt ) {
+ // cout << "FGADA::update()" << endl;
+
+ if (is_suspended())
+ return;
+
+ char Buffer[numberofbytes];
+ char OutBuffer[nbytes];
+
+ // Read FGExternal structure from socket
+ while (1) {
+ int result = fdmsock->read(Buffer, numberofbytes);
+ if (result == numberofbytes) {
+ // Copy buffer into FGExternal structure
+ memcpy (&sixdof_to_visuals, &Buffer, sizeof (Buffer));
+ // Convert from the FGExternal struct to the FGInterface struct (input)
+ copy_from_FGADA();
+ } else {
+ break;
+ }
+ }
+
+ copy_to_FGADA();
+ fgGetDouble("/sim/view/offset",view_offset);
+ if ( view_offset == 0.0) {
+ memcpy (&OutBuffer, &visuals_to_sixdof, sizeof (OutBuffer));
+ fdmsock->write(OutBuffer, nbytes);
+ }
+}
+
+// Convert from the FGInterface struct to the FGADA struct (output)
+bool FGADA::copy_to_FGADA () {
+ ground_elevation = globals->get_scenery()->get_cur_elev();
+ return true;
+}
+
+
+// Convert from the FGADA struct to the FGInterface struct (input)
+bool FGADA::copy_from_FGADA() {
+
+ //Positions and attitudes for The Rendering engine
+ _set_Geodetic_Position( Latitude, Longitude, Altitude );
+ _set_Euler_Angles( Phi, Theta, Psi );
+ _set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
+ Radius_to_vehicle );
+ _set_Sea_level_radius( Sea_level_radius );
+
+ _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
+ _set_Earth_position_angle( Earth_position_angle );
+ _set_sin_lat_geocentric(Lat_geocentric);
+ _set_cos_lat_geocentric(Lat_geocentric);
+ _set_sin_cos_longitude(Longitude);
+ _set_sin_cos_latitude(Latitude);
+
+ // Velocities and accelerations for the pitch ladder and velocity vector
+ _set_Accels_Local( U_dot_local, V_dot_local, W_dot_local );
+ _set_Velocities_Ground( U_local, V_local, W_local );//same as V_NED in mps
+ _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
+
+ // controls
+ globals->get_controls()->set_throttle(0,throttle/131.0);
+ globals->get_controls()->set_elevator(pstick);
+ globals->get_controls()->set_aileron(rstick);
+ globals->get_controls()->set_rudder(rpedal);
+
+ // auxilliary parameters for HUD
+ _set_V_calibrated_kts( V_calibrated_kts );
+ _set_Alpha( Alpha );
+ _set_Beta( Beta );
+ _set_Accels_CG_Body_N( anxg,anyg,anzg);
+ _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);
+
+ // Angular rates
+ _set_Omega_Body( P_body, Q_body, R_body );
+
+ // Miscellaneous quantities
+ _set_Gamma_vert_rad( Gamma_vert_rad );
+ _set_Runway_altitude( Runway_altitude );
+
+ // SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
+ // << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
+ // << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
+ // << " radius_to_vehicle = " << Radius_to_vehicle );
+
+
+ // printf("sr=%f\n",Sea_level_radius);
+ // printf("psi = %f %f\n",Psi,Psi*SGD_RADIANS_TO_DEGREES);
+
+ return true;
+}
--- /dev/null
+// ADA.hxx -- interface to the "External"-ly driven ADA flight model
+//
+// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+// $Id$
+
+
+#ifndef _ADA_HXX
+#define _ADA_HXX
+
+
+class SGSocket;
+
+#include <FDM/flight.hxx>
+
+
+class FGADA: public FGInterface {
+
+private:
+
+ SGSocket *fdmsock;
+
+ // Auxilliary Flight Model parameters, basically for HUD
+ double aux1; // auxilliary flag
+ double aux2; // auxilliary flag
+ double aux3; // auxilliary flag
+ double aux4; // auxilliary flag
+ double aux5; // auxilliary flag
+ double aux6; // auxilliary flag
+ double aux7; // auxilliary flag
+ double aux8; // auxilliary flag
+ float aux9; // auxilliary flag
+ float aux10; // auxilliary flag
+ float aux11; // auxilliary flag
+ float aux12; // auxilliary flag
+ float aux13; // auxilliary flag
+ float aux14; // auxilliary flag
+ float aux15; // auxilliary flag
+ float aux16; // auxilliary flag
+ float aux17; // auxilliary flag
+ float aux18; // auxilliary flag
+ int iaux1; // auxilliary flag
+ int iaux2; // auxilliary flag
+ int iaux3; // auxilliary flag
+ int iaux4; // auxilliary flag
+ int iaux5; // auxilliary flag
+ int iaux6; // auxilliary flag
+ int iaux7; // auxilliary flag
+ int iaux8; // auxilliary flag
+ int iaux9; // auxilliary flag
+ int iaux10; // auxilliary flag
+ int iaux11; // auxilliary flag
+ int iaux12; // auxilliary flag
+
+ // copy FDM state to FGADA structures
+ bool copy_to_FGADA();
+
+ // copy FDM state from FGADA structures
+ bool copy_from_FGADA();
+
+public:
+
+ FGADA( double dt );
+ ~FGADA();
+
+ // reset flight params to a specific position
+ void init();
+
+ // update position based on inputs, positions, velocities, etc.
+ void update(double dt);
+
+};
+
+
+#endif // _ADA_HXX
--- /dev/null
+
+noinst_LIBRARIES = libSPFDM.a
+
+libSPFDM_a_SOURCES = \
+ ADA.cxx ADA.hxx \
+ ACMS.cxx ACMS.hxx
+
+INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src
--- /dev/null
+This directory contains special purpose FDM's that should not be of
+interest to the common user. At this time there is a special FDM to
+support ACMS files which are generated from flight recorder data
+(http://www.sasflightops.com/dlk/acms.htm).
+
MPLAYER_LIBS =
endif
+if ENABLE_SP_FDM
+SP_FDM_LIBS = $(top_builddir)/src/FDM/SP/libSPFDM.a
+else
+SP_FDM_LIBS =
+endif
+
if WITH_THREADS
THREAD_LIBS = -lsgthreads $(thread_LIBS)
else
$(top_builddir)/src/FDM/JSBSim/filtersjb/libfiltersjb.a \
$(top_builddir)/src/FDM/LaRCsim/libLaRCsim.a \
$(top_builddir)/src/FDM/UIUCModel/libUIUCModel.a \
+ $(SP_FDM_LIBS) \
$(top_builddir)/src/GUI/libGUI.a \
$(top_builddir)/src/Autopilot/libAutopilot.a \
$(top_builddir)/src/Input/libInput.a \
#include <Cockpit/radiostack.hxx>
#include <Cockpit/panel.hxx>
#include <Cockpit/panel_io.hxx>
-#include <FDM/ADA.hxx>
+#ifdef ENABLE_SP_FMDS
+#include <FDM/SP/ADA.hxx>
+#include <FDM/SP/ACMS.hxx>
+#endif
#include <FDM/Balloon.h>
#include <FDM/ExternalNet/ExternalNet.hxx>
#include <FDM/ExternalPipe/ExternalPipe.hxx>
cur_fdm_state = new FGLaRCsim( dt );
} else if ( model == "jsb" ) {
cur_fdm_state = new FGJSBsim( dt );
+#ifdef ENABLE_SP_FMDS
} else if ( model == "ada" ) {
cur_fdm_state = new FGADA( dt );
+ } else if ( model == "acms" ) {
+ cur_fdm_state = new FGACMS( dt );
+#endif
} else if ( model == "balloon" ) {
cur_fdm_state = new FGBalloonSim( dt );
} else if ( model == "magic" ) {
////////////////////////////////////////////////////////////////////
// Initialize the radio stack subsystem.
////////////////////////////////////////////////////////////////////
-
current_radiostack = new FGRadioStack;
current_radiostack->init();
current_radiostack->bind();
////////////////////////////////////////////////////////////////////
// Initialize the cockpit subsystem
////////////////////////////////////////////////////////////////////
-
if( fgCockpitInit( ¤t_aircraft )) {
// Cockpit initialized ok.
} else {
#include <Scenery/tilemgr.hxx>
#include <FDM/flight.hxx>
#include <FDM/UIUCModel/uiuc_aircraftdir.h>
-#include <FDM/ADA.hxx>
+// #include <FDM/ADA.hxx>
#include <ATC/ATCdisplay.hxx>
#include <ATC/ATCmgr.hxx>
#include <ATC/AIMgr.hxx>
projects / flightgear.git / commitdiff