--- /dev/null
+// LaRCsim.cxx -- interface to the LaRCsim flight model
+//
+// Written by Curtis Olson, started October 1998.
+//
+// Copyright (C) 1998 Curtis L. Olson - curt@me.umn.edu
+//
+// 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.
+//
+// $Id$
+// (Log is kept at end of this file)
+
+
+#include "LaRCsim.hxx"
+
+#include <Aircraft/aircraft.hxx>
+#include <Controls/controls.h>
+#include <Flight/flight.hxx>
+#include <Flight/LaRCsim/ls_cockpit.h>
+#include <Flight/LaRCsim/ls_generic.h>
+#include <Flight/LaRCsim/ls_interface.h>
+
+
+// Initialize the LaRCsim flight model, dt is the time increment for
+// each subsequent iteration through the EOM
+int fgLaRCsimInit(double dt) {
+ ls_toplevel_init(dt);
+
+ return(1);
+}
+
+
+// Run an iteration of the EOM (equations of motion)
+int fgLaRCsimUpdate(fgFLIGHT *f, int multiloop) {
+ double save_alt = 0.0;
+
+ // lets try to avoid really screwing up the LaRCsim model
+ if ( FG_Altitude < -9000 ) {
+ save_alt = FG_Altitude;
+ FG_Altitude = 0;
+ }
+
+ // translate FG to LaRCsim structure
+ fgFlight_2_LaRCsim(f);
+ // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
+ // printf("Altitude = %.2f\n", Altitude * 0.3048);
+ // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
+
+ ls_update(multiloop);
+
+ // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
+ // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
+
+ // translate LaRCsim back to FG structure so that the
+ // autopilot (and the rest of the sim can use the updated
+ // values
+ fgLaRCsim_2_Flight(f);
+
+ // but lets restore our original bogus altitude when we are done
+ if ( save_alt < -9000 ) {
+ FG_Altitude = save_alt;
+ }
+
+ return 1;
+}
+
+
+// Convert from the fgFLIGHT struct to the LaRCsim generic_ struct
+int fgFlight_2_LaRCsim (fgFLIGHT *f) {
+ Mass = FG_Mass;
+ I_xx = FG_I_xx;
+ I_yy = FG_I_yy;
+ I_zz = FG_I_zz;
+ I_xz = FG_I_xz;
+ Dx_pilot = FG_Dx_pilot;
+ Dy_pilot = FG_Dy_pilot;
+ Dz_pilot = FG_Dz_pilot;
+ Dx_cg = FG_Dx_cg;
+ Dy_cg = FG_Dy_cg;
+ Dz_cg = FG_Dz_cg;
+ F_X = FG_F_X;
+ F_Y = FG_F_Y;
+ F_Z = FG_F_Z;
+ F_north = FG_F_north;
+ F_east = FG_F_east;
+ F_down = FG_F_down;
+ F_X_aero = FG_F_X_aero;
+ F_Y_aero = FG_F_Y_aero;
+ F_Z_aero = FG_F_Z_aero;
+ F_X_engine = FG_F_X_engine;
+ F_Y_engine = FG_F_Y_engine;
+ F_Z_engine = FG_F_Z_engine;
+ F_X_gear = FG_F_X_gear;
+ F_Y_gear = FG_F_Y_gear;
+ F_Z_gear = FG_F_Z_gear;
+ M_l_rp = FG_M_l_rp;
+ M_m_rp = FG_M_m_rp;
+ M_n_rp = FG_M_n_rp;
+ M_l_cg = FG_M_l_cg;
+ M_m_cg = FG_M_m_cg;
+ M_n_cg = FG_M_n_cg;
+ M_l_aero = FG_M_l_aero;
+ M_m_aero = FG_M_m_aero;
+ M_n_aero = FG_M_n_aero;
+ M_l_engine = FG_M_l_engine;
+ M_m_engine = FG_M_m_engine;
+ M_n_engine = FG_M_n_engine;
+ M_l_gear = FG_M_l_gear;
+ M_m_gear = FG_M_m_gear;
+ M_n_gear = FG_M_n_gear;
+ V_dot_north = FG_V_dot_north;
+ V_dot_east = FG_V_dot_east;
+ V_dot_down = FG_V_dot_down;
+ U_dot_body = FG_U_dot_body;
+ V_dot_body = FG_V_dot_body;
+ W_dot_body = FG_W_dot_body;
+ A_X_cg = FG_A_X_cg;
+ A_Y_cg = FG_A_Y_cg;
+ A_Z_cg = FG_A_Z_cg;
+ A_X_pilot = FG_A_X_pilot;
+ A_Y_pilot = FG_A_Y_pilot;
+ A_Z_pilot = FG_A_Z_pilot;
+ N_X_cg = FG_N_X_cg;
+ N_Y_cg = FG_N_Y_cg;
+ N_Z_cg = FG_N_Z_cg;
+ N_X_pilot = FG_N_X_pilot;
+ N_Y_pilot = FG_N_Y_pilot;
+ N_Z_pilot = FG_N_Z_pilot;
+ P_dot_body = FG_P_dot_body;
+ Q_dot_body = FG_Q_dot_body;
+ R_dot_body = FG_R_dot_body;
+ V_north = FG_V_north;
+ V_east = FG_V_east;
+ V_down = FG_V_down;
+ V_north_rel_ground = FG_V_north_rel_ground;
+ V_east_rel_ground = FG_V_east_rel_ground;
+ V_down_rel_ground = FG_V_down_rel_ground;
+ V_north_airmass = FG_V_north_airmass;
+ V_east_airmass = FG_V_east_airmass;
+ V_down_airmass = FG_V_down_airmass;
+ V_north_rel_airmass = FG_V_north_rel_airmass;
+ V_east_rel_airmass = FG_V_east_rel_airmass;
+ V_down_rel_airmass = FG_V_down_rel_airmass;
+ U_gust = FG_U_gust;
+ V_gust = FG_V_gust;
+ W_gust = FG_W_gust;
+ U_body = FG_U_body;
+ V_body = FG_V_body;
+ W_body = FG_W_body;
+ V_rel_wind = FG_V_rel_wind;
+ V_true_kts = FG_V_true_kts;
+ V_rel_ground = FG_V_rel_ground;
+ V_inertial = FG_V_inertial;
+ V_ground_speed = FG_V_ground_speed;
+ V_equiv = FG_V_equiv;
+ V_equiv_kts = FG_V_equiv_kts;
+ V_calibrated = FG_V_calibrated;
+ V_calibrated_kts = FG_V_calibrated_kts;
+ P_body = FG_P_body;
+ Q_body = FG_Q_body;
+ R_body = FG_R_body;
+ P_local = FG_P_local;
+ Q_local = FG_Q_local;
+ R_local = FG_R_local;
+ P_total = FG_P_total;
+ Q_total = FG_Q_total;
+ R_total = FG_R_total;
+ Phi_dot = FG_Phi_dot;
+ Theta_dot = FG_Theta_dot;
+ Psi_dot = FG_Psi_dot;
+ Latitude_dot = FG_Latitude_dot;
+ Longitude_dot = FG_Longitude_dot;
+ Radius_dot = FG_Radius_dot;
+ Lat_geocentric = FG_Lat_geocentric;
+ Lon_geocentric = FG_Lon_geocentric;
+ Radius_to_vehicle = FG_Radius_to_vehicle;
+ Latitude = FG_Latitude;
+ Longitude = FG_Longitude;
+ Altitude = FG_Altitude;
+ Phi = FG_Phi;
+ Theta = FG_Theta;
+ Psi = FG_Psi;
+ T_local_to_body_11 = FG_T_local_to_body_11;
+ T_local_to_body_12 = FG_T_local_to_body_12;
+ T_local_to_body_13 = FG_T_local_to_body_13;
+ T_local_to_body_21 = FG_T_local_to_body_21;
+ T_local_to_body_22 = FG_T_local_to_body_22;
+ T_local_to_body_23 = FG_T_local_to_body_23;
+ T_local_to_body_31 = FG_T_local_to_body_31;
+ T_local_to_body_32 = FG_T_local_to_body_32;
+ T_local_to_body_33 = FG_T_local_to_body_33;
+ Gravity = FG_Gravity;
+ Centrifugal_relief = FG_Centrifugal_relief;
+ Alpha = FG_Alpha;
+ Beta = FG_Beta;
+ Alpha_dot = FG_Alpha_dot;
+ Beta_dot = FG_Beta_dot;
+ Cos_alpha = FG_Cos_alpha;
+ Sin_alpha = FG_Sin_alpha;
+ Cos_beta = FG_Cos_beta;
+ Sin_beta = FG_Sin_beta;
+ Cos_phi = FG_Cos_phi;
+ Sin_phi = FG_Sin_phi;
+ Cos_theta = FG_Cos_theta;
+ Sin_theta = FG_Sin_theta;
+ Cos_psi = FG_Cos_psi;
+ Sin_psi = FG_Sin_psi;
+ Gamma_vert_rad = FG_Gamma_vert_rad;
+ Gamma_horiz_rad = FG_Gamma_horiz_rad;
+ Sigma = FG_Sigma;
+ Density = FG_Density;
+ V_sound = FG_V_sound;
+ Mach_number = FG_Mach_number;
+ Static_pressure = FG_Static_pressure;
+ Total_pressure = FG_Total_pressure;
+ Impact_pressure = FG_Impact_pressure;
+ Dynamic_pressure = FG_Dynamic_pressure;
+ Static_temperature = FG_Static_temperature;
+ Total_temperature = FG_Total_temperature;
+ Sea_level_radius = FG_Sea_level_radius;
+ Earth_position_angle = FG_Earth_position_angle;
+ Runway_altitude = FG_Runway_altitude;
+ Runway_latitude = FG_Runway_latitude;
+ Runway_longitude = FG_Runway_longitude;
+ Runway_heading = FG_Runway_heading;
+ Radius_to_rwy = FG_Radius_to_rwy;
+ D_cg_north_of_rwy = FG_D_cg_north_of_rwy;
+ D_cg_east_of_rwy = FG_D_cg_east_of_rwy;
+ D_cg_above_rwy = FG_D_cg_above_rwy;
+ X_cg_rwy = FG_X_cg_rwy;
+ Y_cg_rwy = FG_Y_cg_rwy;
+ H_cg_rwy = FG_H_cg_rwy;
+ D_pilot_north_of_rwy = FG_D_pilot_north_of_rwy;
+ D_pilot_east_of_rwy = FG_D_pilot_east_of_rwy;
+ D_pilot_above_rwy = FG_D_pilot_above_rwy;
+ X_pilot_rwy = FG_X_pilot_rwy;
+ Y_pilot_rwy = FG_Y_pilot_rwy;
+ H_pilot_rwy = FG_H_pilot_rwy;
+
+ return( 0 );
+}
+
+
+// Convert from the LaRCsim generic_ struct to the fgFLIGHT struct
+int fgLaRCsim_2_Flight (fgFLIGHT *f) {
+ fgCONTROLS *c;
+
+ c = current_aircraft.controls;
+
+ Lat_control = FG_Aileron;
+ Long_control = FG_Elevator;
+ Long_trim = FG_Elev_Trim;
+ Rudder_pedal = FG_Rudder;
+ Throttle_pct = FG_Throttle[0];
+
+ FG_Mass = Mass;
+ FG_I_xx = I_xx;
+ FG_I_yy = I_yy;
+ FG_I_zz = I_zz;
+ FG_I_xz = I_xz;
+ FG_Dx_pilot = Dx_pilot;
+ FG_Dy_pilot = Dy_pilot;
+ FG_Dz_pilot = Dz_pilot;
+ FG_Dx_cg = Dx_cg;
+ FG_Dy_cg = Dy_cg;
+ FG_Dz_cg = Dz_cg;
+ FG_F_X = F_X;
+ FG_F_Y = F_Y;
+ FG_F_Z = F_Z;
+ FG_F_north = F_north;
+ FG_F_east = F_east;
+ FG_F_down = F_down;
+ FG_F_X_aero = F_X_aero;
+ FG_F_Y_aero = F_Y_aero;
+ FG_F_Z_aero = F_Z_aero;
+ FG_F_X_engine = F_X_engine;
+ FG_F_Y_engine = F_Y_engine;
+ FG_F_Z_engine = F_Z_engine;
+ FG_F_X_gear = F_X_gear;
+ FG_F_Y_gear = F_Y_gear;
+ FG_F_Z_gear = F_Z_gear;
+ FG_M_l_rp = M_l_rp;
+ FG_M_m_rp = M_m_rp;
+ FG_M_n_rp = M_n_rp;
+ FG_M_l_cg = M_l_cg;
+ FG_M_m_cg = M_m_cg;
+ FG_M_n_cg = M_n_cg;
+ FG_M_l_aero = M_l_aero;
+ FG_M_m_aero = M_m_aero;
+ FG_M_n_aero = M_n_aero;
+ FG_M_l_engine = M_l_engine;
+ FG_M_m_engine = M_m_engine;
+ FG_M_n_engine = M_n_engine;
+ FG_M_l_gear = M_l_gear;
+ FG_M_m_gear = M_m_gear;
+ FG_M_n_gear = M_n_gear;
+ FG_V_dot_north = V_dot_north;
+ FG_V_dot_east = V_dot_east;
+ FG_V_dot_down = V_dot_down;
+ FG_U_dot_body = U_dot_body;
+ FG_V_dot_body = V_dot_body;
+ FG_W_dot_body = W_dot_body;
+ FG_A_X_cg = A_X_cg;
+ FG_A_Y_cg = A_Y_cg;
+ FG_A_Z_cg = A_Z_cg;
+ FG_A_X_pilot = A_X_pilot;
+ FG_A_Y_pilot = A_Y_pilot;
+ FG_A_Z_pilot = A_Z_pilot;
+ FG_N_X_cg = N_X_cg;
+ FG_N_Y_cg = N_Y_cg;
+ FG_N_Z_cg = N_Z_cg;
+ FG_N_X_pilot = N_X_pilot;
+ FG_N_Y_pilot = N_Y_pilot;
+ FG_N_Z_pilot = N_Z_pilot;
+ FG_P_dot_body = P_dot_body;
+ FG_Q_dot_body = Q_dot_body;
+ FG_R_dot_body = R_dot_body;
+ FG_V_north = V_north;
+ FG_V_east = V_east;
+ FG_V_down = V_down;
+ FG_V_north_rel_ground = V_north_rel_ground;
+ FG_V_east_rel_ground = V_east_rel_ground;
+ FG_V_down_rel_ground = V_down_rel_ground;
+ FG_V_north_airmass = V_north_airmass;
+ FG_V_east_airmass = V_east_airmass;
+ FG_V_down_airmass = V_down_airmass;
+ FG_V_north_rel_airmass = V_north_rel_airmass;
+ FG_V_east_rel_airmass = V_east_rel_airmass;
+ FG_V_down_rel_airmass = V_down_rel_airmass;
+ FG_U_gust = U_gust;
+ FG_V_gust = V_gust;
+ FG_W_gust = W_gust;
+ FG_U_body = U_body;
+ FG_V_body = V_body;
+ FG_W_body = W_body;
+ FG_V_rel_wind = V_rel_wind;
+ FG_V_true_kts = V_true_kts;
+ FG_V_rel_ground = V_rel_ground;
+ FG_V_inertial = V_inertial;
+ FG_V_ground_speed = V_ground_speed;
+ FG_V_equiv = V_equiv;
+ FG_V_equiv_kts = V_equiv_kts;
+ FG_V_calibrated = V_calibrated;
+ FG_V_calibrated_kts = V_calibrated_kts;
+ FG_P_body = P_body;
+ FG_Q_body = Q_body;
+ FG_R_body = R_body;
+ FG_P_local = P_local;
+ FG_Q_local = Q_local;
+ FG_R_local = R_local;
+ FG_P_total = P_total;
+ FG_Q_total = Q_total;
+ FG_R_total = R_total;
+ FG_Phi_dot = Phi_dot;
+ FG_Theta_dot = Theta_dot;
+ FG_Psi_dot = Psi_dot;
+ FG_Latitude_dot = Latitude_dot;
+ FG_Longitude_dot = Longitude_dot;
+ FG_Radius_dot = Radius_dot;
+ FG_Lat_geocentric = Lat_geocentric;
+ FG_Lon_geocentric = Lon_geocentric;
+ FG_Radius_to_vehicle = Radius_to_vehicle;
+ FG_Latitude = Latitude;
+ FG_Longitude = Longitude;
+ FG_Altitude = Altitude;
+ FG_Phi = Phi;
+ FG_Theta = Theta;
+ FG_Psi = Psi;
+ FG_T_local_to_body_11 = T_local_to_body_11;
+ FG_T_local_to_body_12 = T_local_to_body_12;
+ FG_T_local_to_body_13 = T_local_to_body_13;
+ FG_T_local_to_body_21 = T_local_to_body_21;
+ FG_T_local_to_body_22 = T_local_to_body_22;
+ FG_T_local_to_body_23 = T_local_to_body_23;
+ FG_T_local_to_body_31 = T_local_to_body_31;
+ FG_T_local_to_body_32 = T_local_to_body_32;
+ FG_T_local_to_body_33 = T_local_to_body_33;
+ FG_Gravity = Gravity;
+ FG_Centrifugal_relief = Centrifugal_relief;
+ FG_Alpha = Alpha;
+ FG_Beta = Beta;
+ FG_Alpha_dot = Alpha_dot;
+ FG_Beta_dot = Beta_dot;
+ FG_Cos_alpha = Cos_alpha;
+ FG_Sin_alpha = Sin_alpha;
+ FG_Cos_beta = Cos_beta;
+ FG_Sin_beta = Sin_beta;
+ FG_Cos_phi = Cos_phi;
+ FG_Sin_phi = Sin_phi;
+ FG_Cos_theta = Cos_theta;
+ FG_Sin_theta = Sin_theta;
+ FG_Cos_psi = Cos_psi;
+ FG_Sin_psi = Sin_psi;
+ FG_Gamma_vert_rad = Gamma_vert_rad;
+ FG_Gamma_horiz_rad = Gamma_horiz_rad;
+ FG_Sigma = Sigma;
+ FG_Density = Density;
+ FG_V_sound = V_sound;
+ FG_Mach_number = Mach_number;
+ FG_Static_pressure = Static_pressure;
+ FG_Total_pressure = Total_pressure;
+ FG_Impact_pressure = Impact_pressure;
+ FG_Dynamic_pressure = Dynamic_pressure;
+ FG_Static_temperature = Static_temperature;
+ FG_Total_temperature = Total_temperature;
+ FG_Sea_level_radius = Sea_level_radius;
+ FG_Earth_position_angle = Earth_position_angle;
+ FG_Runway_altitude = Runway_altitude;
+ FG_Runway_latitude = Runway_latitude;
+ FG_Runway_longitude = Runway_longitude;
+ FG_Runway_heading = Runway_heading;
+ FG_Radius_to_rwy = Radius_to_rwy;
+ FG_D_cg_north_of_rwy = D_cg_north_of_rwy;
+ FG_D_cg_east_of_rwy = D_cg_east_of_rwy;
+ FG_D_cg_above_rwy = D_cg_above_rwy;
+ FG_X_cg_rwy = X_cg_rwy;
+ FG_Y_cg_rwy = Y_cg_rwy;
+ FG_H_cg_rwy = H_cg_rwy;
+ FG_D_pilot_north_of_rwy = D_pilot_north_of_rwy;
+ FG_D_pilot_east_of_rwy = D_pilot_east_of_rwy;
+ FG_D_pilot_above_rwy = D_pilot_above_rwy;
+ FG_X_pilot_rwy = X_pilot_rwy;
+ FG_Y_pilot_rwy = Y_pilot_rwy;
+ FG_H_pilot_rwy = H_pilot_rwy;
+
+ return ( 0 );
+}
+
+
+// $Log$
+// Revision 1.1 1998/10/17 00:43:58 curt
+// Initial revision.
+//
+//
projects / flightgear.git / commitdiff