+++ /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.
-//
-// $Id$
-
-#include <math.h>
-#include <string.h> // strcmp()
-
-#include <simgear/constants.h>
-#include <simgear/debug/logstream.hxx>
-#include <simgear/scene/model/location.hxx>
-#include <simgear/scene/model/placement.hxx>
-
-#include <Aircraft/aircraft.hxx>
-#include <Controls/controls.hxx>
-#include <FDM/flight.hxx>
-#include <FDM/LaRCsim/ls_cockpit.h>
-#include <FDM/LaRCsim/ls_generic.h>
-#include <FDM/LaRCsim/ls_interface.h>
-#include <FDM/LaRCsim/ls_constants.h>
-#include <FDM/LaRCsimIC.hxx>
-#include <FDM/UIUCModel/uiuc_aircraft.h>
-#include <Main/fg_props.hxx>
-#include <Model/acmodel.hxx>
-
-#include "IO360.hxx"
-#include "LaRCsim.hxx"
-
-
-FGLaRCsim::FGLaRCsim( double dt ) {
-// set_delta_t( dt );
-
- speed_up = fgGetNode("/sim/speed-up", true);
- aero = fgGetNode("/sim/aero", true);
- uiuc_type = fgGetNode("/sim/uiuc-type", true);
-
- ls_toplevel_init( 0.0, (char *)(aero->getStringValue()) );
-
- lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
- if ( !strcmp(aero->getStringValue(), "c172") ) {
- copy_to_LaRCsim(); // initialize all of LaRCsim's vars
-
- //this should go away someday -- formerly done in fg_init.cxx
- Mass = 8.547270E+01;
- I_xx = 1.048000E+03;
- I_yy = 3.000000E+03;
- I_zz = 3.530000E+03;
- I_xz = 0.000000E+00;
- }
-
- ls_set_model_dt(dt);
-
- // Initialize our little engine that hopefully might
- eng.init(dt);
- // dcl - in passing dt to init rather than update I am assuming
- // that the LaRCsim dt is fixed at one value (yes it is 120hz CLO)
-}
-
-FGLaRCsim::~FGLaRCsim(void) {
- if ( lsic != NULL ) {
- delete lsic;
- lsic = NULL;
- }
-}
-
-// Initialize the LaRCsim flight model, dt is the time increment for
-// each subsequent iteration through the EOM
-void FGLaRCsim::init() {
- //do init common to all FDM's
- common_init();
-}
-
-
-// Run an iteration of the EOM (equations of motion)
-void FGLaRCsim::update( double dt ) {
-
- if (is_suspended())
- return;
-
- int multiloop = _calc_multiloop(dt);
-
- // if flying c172-larcsim, do the following
- if ( !strcmp(aero->getStringValue(), "c172") ) {
- // set control inputs
- // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
- eng.set_IAS( V_calibrated_kts );
- eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
- * 100.0 );
- eng.set_Propeller_Lever_Pos( 100 );
- eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
- * 100.0 );
- eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
- eng.setStarterFlag( globals->get_controls()->get_starter(0) );
- eng.set_p_amb( Static_pressure );
- eng.set_T_amb( Static_temperature );
-
- // update engine model
- eng.update();
-
- // Fake control-surface positions
- fgSetDouble("/surface-positions/flap-pos-norm",
- fgGetDouble("/controls/flight/flaps"));
- // FIXME: ignoring trim
- fgSetDouble("/surface-positions/elevator-pos-norm",
- fgGetDouble("/controls/flight/elevator"));
- // FIXME: ignoring trim
- fgSetDouble("/surface-positions/left-aileron-pos-norm",
- fgGetDouble("/controls/flight/aileron"));
- // FIXME: ignoring trim
- fgSetDouble("/surface-positions/right-aileron-pos-norm",
- -1 * fgGetDouble("/controls/flight/aileron"));
- // FIXME: ignoring trim
- fgSetDouble("/surface-positions/rudder-pos-norm",
- fgGetDouble("/controls/flight/rudder"));
-
- // copy engine state values onto "bus"
- fgSetDouble("/engines/engine/rpm", eng.get_RPM());
- fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
- fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
- fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
- fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
- fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
- fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
- fgSetDouble("/engines/engine/fuel-flow-gph",
- eng.get_fuel_flow_gals_hr());
- fgSetDouble("/engines/engine/oil-temperature-degf",
- eng.get_oil_temp());
- fgSetDouble("/engines/engine/running", eng.getRunningFlag());
- fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
-
- static const SGPropertyNode *fuel_freeze
- = fgGetNode("/sim/freeze/fuel");
-
- if ( ! fuel_freeze->getBoolValue() ) {
- //Assume we are using both tanks equally for now
- fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
- fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
- - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
- * dt);
- fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
- fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
- - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
- * dt);
- }
-
- F_X_engine = eng.get_prop_thrust_lbs();
- // cout << "F_X_engine = " << F_X_engine << '\n';
- // end c172 if block
-
- Flap_handle = 30.0 * globals->get_controls()->get_flaps();
- }
- // done with c172-larcsim if-block
-
- double save_alt = 0.0;
-
- // lets try to avoid really screwing up the LaRCsim model
- if ( get_Altitude() < -9000.0 ) {
- save_alt = get_Altitude();
- set_Altitude( 0.0 );
- }
-
- // copy control positions into the LaRCsim structure
- Lat_control = globals->get_controls()->get_aileron() / speed_up->getIntValue();
- Long_control = globals->get_controls()->get_elevator();
- Long_trim = globals->get_controls()->get_elevator_trim();
- Rudder_pedal = globals->get_controls()->get_rudder() / speed_up->getIntValue();
-
- if ( !strcmp(aero->getStringValue(), "c172") ) {
- Use_External_Engine = 1;
- } else {
- Use_External_Engine = 0;
- }
-
- Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
-
- Brake_pct[0] = globals->get_controls()->get_brake( 1 );
- Brake_pct[1] = globals->get_controls()->get_brake( 0 );
-
- // Inform LaRCsim of the local terrain altitude
- // Runway_altitude = get_Runway_altitude();
- Runway_altitude = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m() * SG_METER_TO_FEET;
- // Weather
- /* V_north_airmass = get_V_north_airmass();
- V_east_airmass = get_V_east_airmass();
- V_down_airmass = get_V_down_airmass(); */
-
-
- // old -- FGInterface_2_LaRCsim() not needed except for Init()
- // translate FG to LaRCsim structure
- // FGInterface_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);
-
- // for engine functions (sounds and instruments)
- // drive the rpm gauge
- fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
- // manifold air pressure, which drives the sound (see *sound.xml file)
- fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
- // make the engine cranking and running sounds when fgfs starts up
- fgSetDouble("/engines/engine/cranking", 1);
- fgSetDouble("/engines/engine/running", 1);
-
- // if flying uiuc, set some properties and over-ride some previous ones
- if ( !strcmp(aero->getStringValue(), "uiuc")) {
-
- // surface positions
- fgSetDouble("/surface-positions/rudder-pos-norm", fgGetDouble("/controls/flight/rudder"));
- fgSetDouble("/surface-positions/elevator-pos-norm", fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
- fgSetDouble("/surface-positions/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
- fgSetDouble("/surface-positions/left-aileron-pos-norm", fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
-
- Flap_handle = flap_max * globals->get_controls()->get_flaps();
-
- // flaps with transition occuring in uiuc_aerodeflections.cpp
- if (use_flaps) {
- fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_pct);
- }
-
- // spoilers with transition occurring in uiuc_aerodeflections.cpp
- if(use_spoilers) {
- Spoiler_handle = spoiler_max * fgGetDouble("/controls/spoilers");
- }
- // gear with transition occurring here in LaRCsim.cxx
- if (use_gear) {
- if(fgGetBool("/controls/gear-down")) {
- Gear_handle = 1.0;
- }
- else {
- Gear_handle = 0.;
- }
- // commanded gear is 0 or 1
- gear_cmd_norm = Gear_handle;
- // amount gear moves per time step [relative to 1]
- gear_increment_per_timestep = gear_rate * dt;
- // determine gear position with respect to gear command
- if (gear_pos_norm < gear_cmd_norm) {
- gear_pos_norm += gear_increment_per_timestep;
- if (gear_pos_norm > gear_cmd_norm)
- gear_pos_norm = gear_cmd_norm;
- } else if (gear_pos_norm > gear_cmd_norm) {
- gear_pos_norm -= gear_increment_per_timestep;
- if (gear_pos_norm < gear_cmd_norm)
- gear_pos_norm = gear_cmd_norm;
- }
- // set the gear position
- fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
- fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
- fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
- }
-
-
- // engine functions (sounds and instruments)
- // drive the rpm gauge
- fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
- // manifold air pressure
- fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
- // make the engine cranking and running sounds when fgfs starts up
- fgSetDouble("/engines/engine/cranking", 1);
- fgSetDouble("/engines/engine/running", 1);
- if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
- // uiuc prop driven airplane, e.g. Wright Flyer
- }
- else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
- // uiuc jet aircraft, e.g. a4d
- fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
- fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
- }
- else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
- // uiuc sailplane, e.g. asw20
- fgSetDouble("/engines/engine/cranking", 0);
- // set the wind speed for use in setting wind sound level
- fgSetDouble("/velocities/V_rel_wind_kts", (V_rel_wind * 1.274));
- }
- else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
- // uiuc sailplane, e.g. asw20
- fgSetDouble("/engines/engine/cranking", 0);
- }
- else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
- // mechanical flapping wings
- // flapping wings (using seahawk for now)
- fgSetDouble("/canopy/position-norm", 0);
- fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
- // fgSetDouble("/wing-phase/position-norm", fgGetDouble("/controls/rudder"));
- fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
- fgSetDouble("/wing-phase/position-one", 1);
- fgSetDouble("/thorax/volume", 0);
- fgSetDouble("/thorax/rpm", 0);
- // fgSetDouble("/wing-phase/position-norm", ((1+cos(flapper_phi - LS_PI/2))/2 -.36 ));
- // fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
- // fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
- }
- }
-
-
- // add Gamma_horiz_deg to properties, mss 021213
- if (use_gamma_horiz_on_speed) {
- if (V_rel_wind > gamma_horiz_on_speed) {
- fgSetDouble("/orientation/Gamma_horiz_deg", (Gamma_horiz_rad * RAD_TO_DEG));
- }
- else {
- fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
- }
- }
- else {
- fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
- }
- 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
- copy_from_LaRCsim();
-
- // but lets restore our original bogus altitude when we are done
- if ( save_alt < -9000.0 ) {
- set_Altitude( save_alt );
- }
-}
-
-
-// Convert from the FGInterface struct to the LaRCsim generic_ struct
-bool FGLaRCsim::copy_to_LaRCsim () {
- Mass = get_Mass();
- I_xx = get_I_xx();
- I_yy = get_I_yy();
- I_zz = get_I_zz();
- I_xz = get_I_xz();
- // Dx_pilot = get_Dx_pilot();
- // Dy_pilot = get_Dy_pilot();
- // Dz_pilot = get_Dz_pilot();
- Dx_cg = get_Dx_cg();
- Dy_cg = get_Dy_cg();
- Dz_cg = get_Dz_cg();
- // F_X = get_F_X();
- // F_Y = get_F_Y();
- // F_Z = get_F_Z();
- // F_north = get_F_north();
- // F_east = get_F_east();
- // F_down = get_F_down();
- // F_X_aero = get_F_X_aero();
- // F_Y_aero = get_F_Y_aero();
- // F_Z_aero = get_F_Z_aero();
- // F_X_engine = get_F_X_engine();
- // F_Y_engine = get_F_Y_engine();
- // F_Z_engine = get_F_Z_engine();
- // F_X_gear = get_F_X_gear();
- // F_Y_gear = get_F_Y_gear();
- // F_Z_gear = get_F_Z_gear();
- // M_l_rp = get_M_l_rp();
- // M_m_rp = get_M_m_rp();
- // M_n_rp = get_M_n_rp();
- // M_l_cg = get_M_l_cg();
- // M_m_cg = get_M_m_cg();
- // M_n_cg = get_M_n_cg();
- // M_l_aero = get_M_l_aero();
- // M_m_aero = get_M_m_aero();
- // M_n_aero = get_M_n_aero();
- // M_l_engine = get_M_l_engine();
- // M_m_engine = get_M_m_engine();
- // M_n_engine = get_M_n_engine();
- // M_l_gear = get_M_l_gear();
- // M_m_gear = get_M_m_gear();
- // M_n_gear = get_M_n_gear();
- // V_dot_north = get_V_dot_north();
- // V_dot_east = get_V_dot_east();
- // V_dot_down = get_V_dot_down();
- // U_dot_body = get_U_dot_body();
- // V_dot_body = get_V_dot_body();
- // W_dot_body = get_W_dot_body();
- // A_X_cg = get_A_X_cg();
- // A_Y_cg = get_A_Y_cg();
- // A_Z_cg = get_A_Z_cg();
- // A_X_pilot = get_A_X_pilot();
- // A_Y_pilot = get_A_Y_pilot();
- // A_Z_pilot = get_A_Z_pilot();
- // N_X_cg = get_N_X_cg();
- // N_Y_cg = get_N_Y_cg();
- // N_Z_cg = get_N_Z_cg();
- // N_X_pilot = get_N_X_pilot();
- // N_Y_pilot = get_N_Y_pilot();
- // N_Z_pilot = get_N_Z_pilot();
- // P_dot_body = get_P_dot_body();
- // Q_dot_body = get_Q_dot_body();
- // R_dot_body = get_R_dot_body();
- // V_north = get_V_north();
- // V_east = get_V_east();
- // V_down = get_V_down();
- // V_north_rel_ground = get_V_north_rel_ground();
- // V_east_rel_ground = get_V_east_rel_ground();
- // V_down_rel_ground = get_V_down_rel_ground();
- // V_north_airmass = get_V_north_airmass();
- // V_east_airmass = get_V_east_airmass();
- // V_down_airmass = get_V_down_airmass();
- // V_north_rel_airmass = get_V_north_rel_airmass();
- // V_east_rel_airmass = get_V_east_rel_airmass();
- // V_down_rel_airmass = get_V_down_rel_airmass();
- // U_gust = get_U_gust();
- // V_gust = get_V_gust();
- // W_gust = get_W_gust();
- // U_body = get_U_body();
- // V_body = get_V_body();
- // W_body = get_W_body();
- // V_rel_wind = get_V_rel_wind();
- // V_true_kts = get_V_true_kts();
- // V_rel_ground = get_V_rel_ground();
- // V_inertial = get_V_inertial();
- // V_ground_speed = get_V_ground_speed();
- // V_equiv = get_V_equiv();
- // V_equiv_kts = get_V_equiv_kts();
- // V_calibrated = get_V_calibrated();
- // V_calibrated_kts = get_V_calibrated_kts();
- // P_body = get_P_body();
- // Q_body = get_Q_body();
- // R_body = get_R_body();
- // P_local = get_P_local();
- // Q_local = get_Q_local();
- // R_local = get_R_local();
- // P_total = get_P_total();
- // Q_total = get_Q_total();
- // R_total = get_R_total();
- // Phi_dot = get_Phi_dot();
- // Theta_dot = get_Theta_dot();
- // Psi_dot = get_Psi_dot();
- // Latitude_dot = get_Latitude_dot();
- // Longitude_dot = get_Longitude_dot();
- // Radius_dot = get_Radius_dot();
- // Lat_geocentric = get_Lat_geocentric();
- // Lon_geocentric = get_Lon_geocentric();
- // Radius_to_vehicle = get_Radius_to_vehicle();
- // Latitude = get_Latitude();
- // Longitude = get_Longitude();
- // Altitude = get_Altitude();
- // Phi = get_Phi();
- // Theta = get_Theta();
- // Psi = get_Psi();
- // T_local_to_body_11 = get_T_local_to_body_11();
- // T_local_to_body_12 = get_T_local_to_body_12();
- // T_local_to_body_13 = get_T_local_to_body_13();
- // T_local_to_body_21 = get_T_local_to_body_21();
- // T_local_to_body_22 = get_T_local_to_body_22();
- // T_local_to_body_23 = get_T_local_to_body_23();
- // T_local_to_body_31 = get_T_local_to_body_31();
- // T_local_to_body_32 = get_T_local_to_body_32();
- // T_local_to_body_33 = get_T_local_to_body_33();
- // Gravity = get_Gravity();
- // Centrifugal_relief = get_Centrifugal_relief();
- // Alpha = get_Alpha();
- // Beta = get_Beta();
- // Alpha_dot = get_Alpha_dot();
- // Beta_dot = get_Beta_dot();
- // Cos_alpha = get_Cos_alpha();
- // Sin_alpha = get_Sin_alpha();
- // Cos_beta = get_Cos_beta();
- // Sin_beta = get_Sin_beta();
- // Cos_phi = get_Cos_phi();
- // Sin_phi = get_Sin_phi();
- // Cos_theta = get_Cos_theta();
- // Sin_theta = get_Sin_theta();
- // Cos_psi = get_Cos_psi();
- // Sin_psi = get_Sin_psi();
- // Gamma_vert_rad = get_Gamma_vert_rad();
- // Gamma_horiz_rad = get_Gamma_horiz_rad();
- // Sigma = get_Sigma();
- // Density = get_Density();
- // V_sound = get_V_sound();
- // Mach_number = get_Mach_number();
- // Static_pressure = get_Static_pressure();
- // Total_pressure = get_Total_pressure();
- // Impact_pressure = get_Impact_pressure();
- // Dynamic_pressure = get_Dynamic_pressure();
- // Static_temperature = get_Static_temperature();
- // Total_temperature = get_Total_temperature();
- // Sea_level_radius = get_Sea_level_radius();
- // Earth_position_angle = get_Earth_position_angle();
- // Runway_altitude = get_Runway_altitude();
- // Runway_latitude = get_Runway_latitude();
- // Runway_longitude = get_Runway_longitude();
- // Runway_heading = get_Runway_heading();
- // Radius_to_rwy = get_Radius_to_rwy();
- // D_cg_north_of_rwy = get_D_cg_north_of_rwy();
- // D_cg_east_of_rwy = get_D_cg_east_of_rwy();
- // D_cg_above_rwy = get_D_cg_above_rwy();
- // X_cg_rwy = get_X_cg_rwy();
- // Y_cg_rwy = get_Y_cg_rwy();
- // H_cg_rwy = get_H_cg_rwy();
- // D_pilot_north_of_rwy = get_D_pilot_north_of_rwy();
- // D_pilot_east_of_rwy = get_D_pilot_east_of_rwy();
- // D_pilot_above_rwy = get_D_pilot_above_rwy();
- // X_pilot_rwy = get_X_pilot_rwy();
- // Y_pilot_rwy = get_Y_pilot_rwy();
- // H_pilot_rwy = get_H_pilot_rwy();
-
- return true;
-}
-
-
-// Convert from the LaRCsim generic_ struct to the FGInterface struct
-bool FGLaRCsim::copy_from_LaRCsim() {
-
- // Mass properties and geometry values
- _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
- // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
- _set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
-
- // Forces
- // set_Forces_Body_Total( F_X, F_Y, F_Z );
- // set_Forces_Local_Total( F_north, F_east, F_down );
- // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
- // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
- // set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
-
- // Moments
- // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
- // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
- // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
- // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
- // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
-
- // Accelerations
- _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
- _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
- _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
- _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
- _set_Accels_CG_Body_N( N_X_cg, N_Y_cg, -N_Z_cg );
- // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
- // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
-
- // Velocities
- _set_Velocities_Local( V_north, V_east, V_down );
- // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
- // V_down_rel_ground );
- _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
- V_down_airmass );
- // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
- // V_east_rel_airmass, V_down_rel_airmass );
- // set_Velocities_Gust( U_gust, V_gust, W_gust );
- _set_Velocities_Wind_Body( U_body, V_body, W_body );
-
- _set_V_rel_wind( V_rel_wind );
- // set_V_true_kts( V_true_kts );
- // set_V_rel_ground( V_rel_ground );
- // set_V_inertial( V_inertial );
- _set_V_ground_speed( V_ground_speed );
- // set_V_equiv( V_equiv );
- _set_V_equiv_kts( V_equiv_kts );
- // set_V_calibrated( V_calibrated );
- _set_V_calibrated_kts( V_calibrated_kts );
-
- _set_Omega_Body( P_body, Q_body, R_body );
- // set_Omega_Local( P_local, Q_local, R_local );
- // set_Omega_Total( P_total, Q_total, R_total );
-
- _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
- _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
-
- _set_Mach_number( Mach_number );
-
- 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 );
-
- double tmp_lon_geoc = Lon_geocentric;
- while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
- while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
-
- double tmp_lon = Longitude;
- while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
- while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
-
- // Positions
- _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
- Radius_to_vehicle );
- _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
- _set_Euler_Angles( Phi, Theta, Psi );
-
- _set_Altitude_AGL( Altitude - Runway_altitude );
-
- // Miscellaneous quantities
- _set_T_Local_to_Body(T_local_to_body_m);
- // set_Gravity( Gravity );
- // set_Centrifugal_relief( Centrifugal_relief );
-
- _set_Alpha( Alpha );
- _set_Beta( Beta );
- // set_Alpha_dot( Alpha_dot );
- // set_Beta_dot( Beta_dot );
-
- // set_Cos_alpha( Cos_alpha );
- // set_Sin_alpha( Sin_alpha );
- // set_Cos_beta( Cos_beta );
- // set_Sin_beta( Sin_beta );
-
- _set_Cos_phi( Cos_phi );
- // set_Sin_phi( Sin_phi );
- _set_Cos_theta( Cos_theta );
- // set_Sin_theta( Sin_theta );
- // set_Cos_psi( Cos_psi );
- // set_Sin_psi( Sin_psi );
-
- _set_Gamma_vert_rad( Gamma_vert_rad );
- // set_Gamma_horiz_rad( Gamma_horiz_rad );
-
- // set_Sigma( Sigma );
- _set_Density( Density );
- // set_V_sound( V_sound );
- // set_Mach_number( Mach_number );
-
- _set_Static_pressure( Static_pressure );
- // set_Total_pressure( Total_pressure );
- // set_Impact_pressure( Impact_pressure );
- // set_Dynamic_pressure( Dynamic_pressure );
-
- _set_Static_temperature( Static_temperature );
- // set_Total_temperature( Total_temperature );
-
- _set_Sea_level_radius( Sea_level_radius );
- _set_Earth_position_angle( Earth_position_angle );
-
- _set_Runway_altitude( Runway_altitude );
- // set_Runway_latitude( Runway_latitude );
- // set_Runway_longitude( Runway_longitude );
- // set_Runway_heading( Runway_heading );
- // set_Radius_to_rwy( Radius_to_rwy );
-
- // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
- // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
- // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
- // D_pilot_above_rwy );
- // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
-
- _set_sin_lat_geocentric(Lat_geocentric);
- _set_cos_lat_geocentric(Lat_geocentric);
- _set_sin_cos_longitude(Longitude);
- _set_sin_cos_latitude(Latitude);
-
- // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
- // printf("sin_lat %f cos_lat %f\n",
- // get_sin_latitude(), get_cos_latitude());
- // printf("sin_lon %f cos_lon %f\n",
- // get_sin_longitude(), get_cos_longitude());
-
- _set_Climb_Rate( -1 * V_down );
- // cout << "climb rate = " << -V_down * 60 << endl;
-
- if ( !strcmp(aero->getStringValue(), "uiuc") ) {
- if (pilot_elev_no) {
- globals->get_controls()->set_elevator(Long_control);
- globals->get_controls()->set_elevator_trim(Long_trim);
- // controls.set_elevator(Long_control);
- // controls.set_elevator_trim(Long_trim);
- }
- if (pilot_ail_no) {
- globals->get_controls()->set_aileron(Lat_control);
- // controls.set_aileron(Lat_control);
- }
- if (pilot_rud_no) {
- globals->get_controls()->set_rudder(Rudder_pedal);
- // controls.set_rudder(Rudder_pedal);
- }
- if (pilot_throttle_no) {
- globals->get_controls()->set_throttle(0,Throttle_pct);
- // controls.set_throttle(0,Throttle_pct);
- }
- }
-
- return true;
-}
-
-
-void FGLaRCsim::set_ls(void) {
- Phi=lsic->GetRollAngleRadIC();
- Theta=lsic->GetPitchAngleRadIC();
- Psi=lsic->GetHeadingRadIC();
- V_north=lsic->GetVnorthFpsIC();
- V_east=lsic->GetVeastFpsIC();
- V_down=lsic->GetVdownFpsIC();
- Altitude=lsic->GetAltitudeFtIC();
- Latitude=lsic->GetLatitudeGDRadIC();
- Longitude=lsic->GetLongitudeRadIC();
- Runway_altitude=lsic->GetRunwayAltitudeFtIC();
- V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1;
- V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1;
- V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1;
- ls_loop(0.0,-1);
- copy_from_LaRCsim();
-}
-
-void FGLaRCsim::snap_shot(void) {
- lsic->SetLatitudeGDRadIC( get_Latitude() );
- lsic->SetLongitudeRadIC( get_Longitude() );
- lsic->SetAltitudeFtIC( get_Altitude() );
- lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
- lsic->SetVtrueFpsIC( get_V_rel_wind() );
- lsic->SetPitchAngleRadIC( get_Theta() );
- lsic->SetRollAngleRadIC( get_Phi() );
- lsic->SetHeadingRadIC( get_Psi() );
- lsic->SetClimbRateFpsIC( get_Climb_Rate() );
- lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
- get_V_east_airmass(),
- get_V_down_airmass() );
-}
-
-//Positions
-void FGLaRCsim::set_Latitude(double lat) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
- snap_shot();
- lsic->SetLatitudeGDRadIC(lat);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-void FGLaRCsim::set_Longitude(double lon) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon );
- snap_shot();
- lsic->SetLongitudeRadIC(lon);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-void FGLaRCsim::set_Altitude(double alt) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
- snap_shot();
- lsic->SetAltitudeFtIC(alt);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-void FGLaRCsim::set_V_calibrated_kts(double vc) {
- SG_LOG( SG_FLIGHT, SG_INFO,
- "FGLaRCsim::set_V_calibrated_kts: " << vc );
- snap_shot();
- lsic->SetVcalibratedKtsIC(vc);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-void FGLaRCsim::set_Mach_number(double mach) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
- snap_shot();
- lsic->SetMachIC(mach);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
- << north << " " << east << " " << down );
- snap_shot();
- lsic->SetVNEDFpsIC(north, east, down);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
- << u << " " << v << " " << w );
- snap_shot();
- lsic->SetUVWFpsIC(u,v,w);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-//Euler angles
-void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
- << phi << " " << theta << " " << psi );
-
- snap_shot();
- lsic->SetPitchAngleRadIC(theta);
- lsic->SetRollAngleRadIC(phi);
- lsic->SetHeadingRadIC(psi);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-//Flight Path
-void FGLaRCsim::set_Climb_Rate( double roc) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
- snap_shot();
- lsic->SetClimbRateFpsIC(roc);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
- snap_shot();
- lsic->SetFlightPathAngleRadIC(gamma);
- set_ls();
- copy_from_LaRCsim(); //update the bus
-}
-
-void FGLaRCsim::set_AltitudeAGL(double altagl) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
- snap_shot();
- lsic->SetAltitudeAGLFtIC(altagl);
- set_ls();
- copy_from_LaRCsim();
-}
-
-/* getting a namespace conflict...
-void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
- double weast,
- double wdown ) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
- << wnorth << " " << weast << " " << wdown );
- snap_shot();
- lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
- set_ls();
- copy_from_LaRCsim();
-}
-*/
-
-void FGLaRCsim::set_Static_pressure(double p) {
- SG_LOG( SG_FLIGHT, SG_INFO,
- "FGLaRCsim::set_Static_pressure: " << p );
- SG_LOG( SG_FLIGHT, SG_INFO,
- "LaRCsim does not support externally supplied atmospheric data" );
-}
-
-void FGLaRCsim::set_Static_temperature(double T) {
- SG_LOG( SG_FLIGHT, SG_INFO,
- "FGLaRCsim::set_Static_temperature: " << T );
- SG_LOG( SG_FLIGHT, SG_INFO,
- "LaRCsim does not support externally supplied atmospheric data" );
-
-}
-
-void FGLaRCsim::set_Density(double rho) {
- SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
- SG_LOG( SG_FLIGHT, SG_INFO,
- "LaRCsim does not support externally supplied atmospheric data" );
-
-}
-
+++ /dev/null
-//*************************************************************************
-// LaRCsim.hxx -- interface to the "LaRCsim" flight model
-//
-// Written by Curtis Olson, started May 1997.
-//
-// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.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.
-//
-// $Id$
-//*************************************************************************/
-
-
-#ifndef _LARCSIM_HXX
-#define _LARCSIM_HXX
-
-
-#include "IO360.hxx"
-#include "flight.hxx"
-#include <FDM/LaRCsimIC.hxx>
-
-class FGLaRCsim: public FGInterface {
-
-private:
-
- FGNewEngine eng;
- LaRCsimIC* lsic;
- void set_ls(void);
- void snap_shot(void);
- double time_step;
- SGPropertyNode *speed_up;
- SGPropertyNode *aero;
- SGPropertyNode *uiuc_type;
-
-public:
-
- FGLaRCsim( double dt );
- ~FGLaRCsim(void);
-
- // copy FDM state to LaRCsim structures
- bool copy_to_LaRCsim();
-
- // copy FDM state from LaRCsim structures
- bool copy_from_LaRCsim();
-
- // reset flight params to a specific position
- void init();
-
- // update position based on inputs, positions, velocities, etc.
- void update( double dt );
-
- // Positions
- void set_Latitude(double lat); //geocentric
- void set_Longitude(double lon);
- void set_Altitude(double alt); // triggers re-calc of AGL altitude
- void set_AltitudeAGL(double altagl); // and vice-versa
-
- // Speeds -- setting any of these will trigger a re-calc of the rest
- void set_V_calibrated_kts(double vc);
- void set_Mach_number(double mach);
- void set_Velocities_Local( double north, double east, double down );
- void set_Velocities_Wind_Body( double u, double v, double w);
-
- // Euler angles
- void set_Euler_Angles( double phi, double theta, double psi );
-
- // Flight Path
- void set_Climb_Rate( double roc);
- void set_Gamma_vert_rad( double gamma);
-
- // Earth
- void set_Static_pressure(double p);
- void set_Static_temperature(double T);
- void set_Density(double rho);
-
-/*
- void set_Velocities_Local_Airmass (double wnorth,
- double weast,
- double wdown );
-*/
-};
-
-
-#endif // _LARCSIM_HXX
-
-
--- /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.
+//
+// $Id$
+
+#include <math.h>
+#include <string.h> // strcmp()
+
+#include <simgear/constants.h>
+#include <simgear/debug/logstream.hxx>
+#include <simgear/scene/model/location.hxx>
+#include <simgear/scene/model/placement.hxx>
+
+#include <Aircraft/aircraft.hxx>
+#include <Controls/controls.hxx>
+#include <FDM/flight.hxx>
+#include <FDM/IO360.hxx>
+#include <FDM/LaRCsimIC.hxx>
+#include <FDM/UIUCModel/uiuc_aircraft.h>
+#include <Main/fg_props.hxx>
+#include <Model/acmodel.hxx>
+
+#include "ls_cockpit.h"
+#include "ls_generic.h"
+#include "ls_interface.h"
+#include "ls_constants.h"
+
+#include "LaRCsim.hxx"
+
+
+FGLaRCsim::FGLaRCsim( double dt ) {
+// set_delta_t( dt );
+
+ speed_up = fgGetNode("/sim/speed-up", true);
+ aero = fgGetNode("/sim/aero", true);
+ uiuc_type = fgGetNode("/sim/uiuc-type", true);
+
+ ls_toplevel_init( 0.0, (char *)(aero->getStringValue()) );
+
+ lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
+ if ( !strcmp(aero->getStringValue(), "c172") ) {
+ copy_to_LaRCsim(); // initialize all of LaRCsim's vars
+
+ //this should go away someday -- formerly done in fg_init.cxx
+ Mass = 8.547270E+01;
+ I_xx = 1.048000E+03;
+ I_yy = 3.000000E+03;
+ I_zz = 3.530000E+03;
+ I_xz = 0.000000E+00;
+ }
+
+ ls_set_model_dt(dt);
+
+ // Initialize our little engine that hopefully might
+ eng.init(dt);
+ // dcl - in passing dt to init rather than update I am assuming
+ // that the LaRCsim dt is fixed at one value (yes it is 120hz CLO)
+}
+
+FGLaRCsim::~FGLaRCsim(void) {
+ if ( lsic != NULL ) {
+ delete lsic;
+ lsic = NULL;
+ }
+}
+
+// Initialize the LaRCsim flight model, dt is the time increment for
+// each subsequent iteration through the EOM
+void FGLaRCsim::init() {
+ //do init common to all FDM's
+ common_init();
+}
+
+
+// Run an iteration of the EOM (equations of motion)
+void FGLaRCsim::update( double dt ) {
+
+ if (is_suspended())
+ return;
+
+ int multiloop = _calc_multiloop(dt);
+
+ // if flying c172-larcsim, do the following
+ if ( !strcmp(aero->getStringValue(), "c172") ) {
+ // set control inputs
+ // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
+ eng.set_IAS( V_calibrated_kts );
+ eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
+ * 100.0 );
+ eng.set_Propeller_Lever_Pos( 100 );
+ eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
+ * 100.0 );
+ eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
+ eng.setStarterFlag( globals->get_controls()->get_starter(0) );
+ eng.set_p_amb( Static_pressure );
+ eng.set_T_amb( Static_temperature );
+
+ // update engine model
+ eng.update();
+
+ // Fake control-surface positions
+ fgSetDouble("/surface-positions/flap-pos-norm",
+ fgGetDouble("/controls/flight/flaps"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/elevator-pos-norm",
+ fgGetDouble("/controls/flight/elevator"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/left-aileron-pos-norm",
+ fgGetDouble("/controls/flight/aileron"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/right-aileron-pos-norm",
+ -1 * fgGetDouble("/controls/flight/aileron"));
+ // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/rudder-pos-norm",
+ fgGetDouble("/controls/flight/rudder"));
+
+ // copy engine state values onto "bus"
+ fgSetDouble("/engines/engine/rpm", eng.get_RPM());
+ fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
+ fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
+ fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
+ fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
+ fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
+ fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
+ fgSetDouble("/engines/engine/fuel-flow-gph",
+ eng.get_fuel_flow_gals_hr());
+ fgSetDouble("/engines/engine/oil-temperature-degf",
+ eng.get_oil_temp());
+ fgSetDouble("/engines/engine/running", eng.getRunningFlag());
+ fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
+
+ static const SGPropertyNode *fuel_freeze
+ = fgGetNode("/sim/freeze/fuel");
+
+ if ( ! fuel_freeze->getBoolValue() ) {
+ //Assume we are using both tanks equally for now
+ fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
+ fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
+ - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
+ * dt);
+ fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
+ fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
+ - (eng.get_fuel_flow_gals_hr() / (2 * 3600))
+ * dt);
+ }
+
+ F_X_engine = eng.get_prop_thrust_lbs();
+ // cout << "F_X_engine = " << F_X_engine << '\n';
+ // end c172 if block
+
+ Flap_handle = 30.0 * globals->get_controls()->get_flaps();
+ }
+ // done with c172-larcsim if-block
+
+ double save_alt = 0.0;
+
+ // lets try to avoid really screwing up the LaRCsim model
+ if ( get_Altitude() < -9000.0 ) {
+ save_alt = get_Altitude();
+ set_Altitude( 0.0 );
+ }
+
+ // copy control positions into the LaRCsim structure
+ Lat_control = globals->get_controls()->get_aileron() / speed_up->getIntValue();
+ Long_control = globals->get_controls()->get_elevator();
+ Long_trim = globals->get_controls()->get_elevator_trim();
+ Rudder_pedal = globals->get_controls()->get_rudder() / speed_up->getIntValue();
+
+ if ( !strcmp(aero->getStringValue(), "c172") ) {
+ Use_External_Engine = 1;
+ } else {
+ Use_External_Engine = 0;
+ }
+
+ Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
+
+ Brake_pct[0] = globals->get_controls()->get_brake( 1 );
+ Brake_pct[1] = globals->get_controls()->get_brake( 0 );
+
+ // Inform LaRCsim of the local terrain altitude
+ // Runway_altitude = get_Runway_altitude();
+ Runway_altitude = getACModel()->get3DModel()->getSGLocation()->get_cur_elev_m() * SG_METER_TO_FEET;
+ // Weather
+ /* V_north_airmass = get_V_north_airmass();
+ V_east_airmass = get_V_east_airmass();
+ V_down_airmass = get_V_down_airmass(); */
+
+
+ // old -- FGInterface_2_LaRCsim() not needed except for Init()
+ // translate FG to LaRCsim structure
+ // FGInterface_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);
+
+ // for engine functions (sounds and instruments)
+ // drive the rpm gauge
+ fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
+ // manifold air pressure, which drives the sound (see *sound.xml file)
+ fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
+ // make the engine cranking and running sounds when fgfs starts up
+ fgSetDouble("/engines/engine/cranking", 1);
+ fgSetDouble("/engines/engine/running", 1);
+
+ // if flying uiuc, set some properties and over-ride some previous ones
+ if ( !strcmp(aero->getStringValue(), "uiuc")) {
+
+ // surface positions
+ fgSetDouble("/surface-positions/rudder-pos-norm", fgGetDouble("/controls/flight/rudder"));
+ fgSetDouble("/surface-positions/elevator-pos-norm", fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
+ fgSetDouble("/surface-positions/left-aileron-pos-norm", fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
+
+ Flap_handle = flap_max * globals->get_controls()->get_flaps();
+
+ // flaps with transition occuring in uiuc_aerodeflections.cpp
+ if (use_flaps) {
+ fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_pct);
+ }
+
+ // spoilers with transition occurring in uiuc_aerodeflections.cpp
+ if(use_spoilers) {
+ Spoiler_handle = spoiler_max * fgGetDouble("/controls/spoilers");
+ }
+ // gear with transition occurring here in LaRCsim.cxx
+ if (use_gear) {
+ if(fgGetBool("/controls/gear-down")) {
+ Gear_handle = 1.0;
+ }
+ else {
+ Gear_handle = 0.;
+ }
+ // commanded gear is 0 or 1
+ gear_cmd_norm = Gear_handle;
+ // amount gear moves per time step [relative to 1]
+ gear_increment_per_timestep = gear_rate * dt;
+ // determine gear position with respect to gear command
+ if (gear_pos_norm < gear_cmd_norm) {
+ gear_pos_norm += gear_increment_per_timestep;
+ if (gear_pos_norm > gear_cmd_norm)
+ gear_pos_norm = gear_cmd_norm;
+ } else if (gear_pos_norm > gear_cmd_norm) {
+ gear_pos_norm -= gear_increment_per_timestep;
+ if (gear_pos_norm < gear_cmd_norm)
+ gear_pos_norm = gear_cmd_norm;
+ }
+ // set the gear position
+ fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
+ fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
+ fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
+ }
+
+
+ // engine functions (sounds and instruments)
+ // drive the rpm gauge
+ fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
+ // manifold air pressure
+ fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
+ // make the engine cranking and running sounds when fgfs starts up
+ fgSetDouble("/engines/engine/cranking", 1);
+ fgSetDouble("/engines/engine/running", 1);
+ if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
+ // uiuc prop driven airplane, e.g. Wright Flyer
+ }
+ else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
+ // uiuc jet aircraft, e.g. a4d
+ fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
+ fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
+ }
+ else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
+ // uiuc sailplane, e.g. asw20
+ fgSetDouble("/engines/engine/cranking", 0);
+ // set the wind speed for use in setting wind sound level
+ fgSetDouble("/velocities/V_rel_wind_kts", (V_rel_wind * 1.274));
+ }
+ else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
+ // uiuc sailplane, e.g. asw20
+ fgSetDouble("/engines/engine/cranking", 0);
+ }
+ else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
+ // mechanical flapping wings
+ // flapping wings (using seahawk for now)
+ fgSetDouble("/canopy/position-norm", 0);
+ fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
+ // fgSetDouble("/wing-phase/position-norm", fgGetDouble("/controls/rudder"));
+ fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
+ fgSetDouble("/wing-phase/position-one", 1);
+ fgSetDouble("/thorax/volume", 0);
+ fgSetDouble("/thorax/rpm", 0);
+ // fgSetDouble("/wing-phase/position-norm", ((1+cos(flapper_phi - LS_PI/2))/2 -.36 ));
+ // fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
+ // fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
+ }
+ }
+
+
+ // add Gamma_horiz_deg to properties, mss 021213
+ if (use_gamma_horiz_on_speed) {
+ if (V_rel_wind > gamma_horiz_on_speed) {
+ fgSetDouble("/orientation/Gamma_horiz_deg", (Gamma_horiz_rad * RAD_TO_DEG));
+ }
+ else {
+ fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
+ }
+ }
+ else {
+ fgSetDouble("/orientation/Gamma_horiz_deg", fgGetDouble("/orientation/heading-deg"));
+ }
+ 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
+ copy_from_LaRCsim();
+
+ // but lets restore our original bogus altitude when we are done
+ if ( save_alt < -9000.0 ) {
+ set_Altitude( save_alt );
+ }
+}
+
+
+// Convert from the FGInterface struct to the LaRCsim generic_ struct
+bool FGLaRCsim::copy_to_LaRCsim () {
+ Mass = get_Mass();
+ I_xx = get_I_xx();
+ I_yy = get_I_yy();
+ I_zz = get_I_zz();
+ I_xz = get_I_xz();
+ // Dx_pilot = get_Dx_pilot();
+ // Dy_pilot = get_Dy_pilot();
+ // Dz_pilot = get_Dz_pilot();
+ Dx_cg = get_Dx_cg();
+ Dy_cg = get_Dy_cg();
+ Dz_cg = get_Dz_cg();
+ // F_X = get_F_X();
+ // F_Y = get_F_Y();
+ // F_Z = get_F_Z();
+ // F_north = get_F_north();
+ // F_east = get_F_east();
+ // F_down = get_F_down();
+ // F_X_aero = get_F_X_aero();
+ // F_Y_aero = get_F_Y_aero();
+ // F_Z_aero = get_F_Z_aero();
+ // F_X_engine = get_F_X_engine();
+ // F_Y_engine = get_F_Y_engine();
+ // F_Z_engine = get_F_Z_engine();
+ // F_X_gear = get_F_X_gear();
+ // F_Y_gear = get_F_Y_gear();
+ // F_Z_gear = get_F_Z_gear();
+ // M_l_rp = get_M_l_rp();
+ // M_m_rp = get_M_m_rp();
+ // M_n_rp = get_M_n_rp();
+ // M_l_cg = get_M_l_cg();
+ // M_m_cg = get_M_m_cg();
+ // M_n_cg = get_M_n_cg();
+ // M_l_aero = get_M_l_aero();
+ // M_m_aero = get_M_m_aero();
+ // M_n_aero = get_M_n_aero();
+ // M_l_engine = get_M_l_engine();
+ // M_m_engine = get_M_m_engine();
+ // M_n_engine = get_M_n_engine();
+ // M_l_gear = get_M_l_gear();
+ // M_m_gear = get_M_m_gear();
+ // M_n_gear = get_M_n_gear();
+ // V_dot_north = get_V_dot_north();
+ // V_dot_east = get_V_dot_east();
+ // V_dot_down = get_V_dot_down();
+ // U_dot_body = get_U_dot_body();
+ // V_dot_body = get_V_dot_body();
+ // W_dot_body = get_W_dot_body();
+ // A_X_cg = get_A_X_cg();
+ // A_Y_cg = get_A_Y_cg();
+ // A_Z_cg = get_A_Z_cg();
+ // A_X_pilot = get_A_X_pilot();
+ // A_Y_pilot = get_A_Y_pilot();
+ // A_Z_pilot = get_A_Z_pilot();
+ // N_X_cg = get_N_X_cg();
+ // N_Y_cg = get_N_Y_cg();
+ // N_Z_cg = get_N_Z_cg();
+ // N_X_pilot = get_N_X_pilot();
+ // N_Y_pilot = get_N_Y_pilot();
+ // N_Z_pilot = get_N_Z_pilot();
+ // P_dot_body = get_P_dot_body();
+ // Q_dot_body = get_Q_dot_body();
+ // R_dot_body = get_R_dot_body();
+ // V_north = get_V_north();
+ // V_east = get_V_east();
+ // V_down = get_V_down();
+ // V_north_rel_ground = get_V_north_rel_ground();
+ // V_east_rel_ground = get_V_east_rel_ground();
+ // V_down_rel_ground = get_V_down_rel_ground();
+ // V_north_airmass = get_V_north_airmass();
+ // V_east_airmass = get_V_east_airmass();
+ // V_down_airmass = get_V_down_airmass();
+ // V_north_rel_airmass = get_V_north_rel_airmass();
+ // V_east_rel_airmass = get_V_east_rel_airmass();
+ // V_down_rel_airmass = get_V_down_rel_airmass();
+ // U_gust = get_U_gust();
+ // V_gust = get_V_gust();
+ // W_gust = get_W_gust();
+ // U_body = get_U_body();
+ // V_body = get_V_body();
+ // W_body = get_W_body();
+ // V_rel_wind = get_V_rel_wind();
+ // V_true_kts = get_V_true_kts();
+ // V_rel_ground = get_V_rel_ground();
+ // V_inertial = get_V_inertial();
+ // V_ground_speed = get_V_ground_speed();
+ // V_equiv = get_V_equiv();
+ // V_equiv_kts = get_V_equiv_kts();
+ // V_calibrated = get_V_calibrated();
+ // V_calibrated_kts = get_V_calibrated_kts();
+ // P_body = get_P_body();
+ // Q_body = get_Q_body();
+ // R_body = get_R_body();
+ // P_local = get_P_local();
+ // Q_local = get_Q_local();
+ // R_local = get_R_local();
+ // P_total = get_P_total();
+ // Q_total = get_Q_total();
+ // R_total = get_R_total();
+ // Phi_dot = get_Phi_dot();
+ // Theta_dot = get_Theta_dot();
+ // Psi_dot = get_Psi_dot();
+ // Latitude_dot = get_Latitude_dot();
+ // Longitude_dot = get_Longitude_dot();
+ // Radius_dot = get_Radius_dot();
+ // Lat_geocentric = get_Lat_geocentric();
+ // Lon_geocentric = get_Lon_geocentric();
+ // Radius_to_vehicle = get_Radius_to_vehicle();
+ // Latitude = get_Latitude();
+ // Longitude = get_Longitude();
+ // Altitude = get_Altitude();
+ // Phi = get_Phi();
+ // Theta = get_Theta();
+ // Psi = get_Psi();
+ // T_local_to_body_11 = get_T_local_to_body_11();
+ // T_local_to_body_12 = get_T_local_to_body_12();
+ // T_local_to_body_13 = get_T_local_to_body_13();
+ // T_local_to_body_21 = get_T_local_to_body_21();
+ // T_local_to_body_22 = get_T_local_to_body_22();
+ // T_local_to_body_23 = get_T_local_to_body_23();
+ // T_local_to_body_31 = get_T_local_to_body_31();
+ // T_local_to_body_32 = get_T_local_to_body_32();
+ // T_local_to_body_33 = get_T_local_to_body_33();
+ // Gravity = get_Gravity();
+ // Centrifugal_relief = get_Centrifugal_relief();
+ // Alpha = get_Alpha();
+ // Beta = get_Beta();
+ // Alpha_dot = get_Alpha_dot();
+ // Beta_dot = get_Beta_dot();
+ // Cos_alpha = get_Cos_alpha();
+ // Sin_alpha = get_Sin_alpha();
+ // Cos_beta = get_Cos_beta();
+ // Sin_beta = get_Sin_beta();
+ // Cos_phi = get_Cos_phi();
+ // Sin_phi = get_Sin_phi();
+ // Cos_theta = get_Cos_theta();
+ // Sin_theta = get_Sin_theta();
+ // Cos_psi = get_Cos_psi();
+ // Sin_psi = get_Sin_psi();
+ // Gamma_vert_rad = get_Gamma_vert_rad();
+ // Gamma_horiz_rad = get_Gamma_horiz_rad();
+ // Sigma = get_Sigma();
+ // Density = get_Density();
+ // V_sound = get_V_sound();
+ // Mach_number = get_Mach_number();
+ // Static_pressure = get_Static_pressure();
+ // Total_pressure = get_Total_pressure();
+ // Impact_pressure = get_Impact_pressure();
+ // Dynamic_pressure = get_Dynamic_pressure();
+ // Static_temperature = get_Static_temperature();
+ // Total_temperature = get_Total_temperature();
+ // Sea_level_radius = get_Sea_level_radius();
+ // Earth_position_angle = get_Earth_position_angle();
+ // Runway_altitude = get_Runway_altitude();
+ // Runway_latitude = get_Runway_latitude();
+ // Runway_longitude = get_Runway_longitude();
+ // Runway_heading = get_Runway_heading();
+ // Radius_to_rwy = get_Radius_to_rwy();
+ // D_cg_north_of_rwy = get_D_cg_north_of_rwy();
+ // D_cg_east_of_rwy = get_D_cg_east_of_rwy();
+ // D_cg_above_rwy = get_D_cg_above_rwy();
+ // X_cg_rwy = get_X_cg_rwy();
+ // Y_cg_rwy = get_Y_cg_rwy();
+ // H_cg_rwy = get_H_cg_rwy();
+ // D_pilot_north_of_rwy = get_D_pilot_north_of_rwy();
+ // D_pilot_east_of_rwy = get_D_pilot_east_of_rwy();
+ // D_pilot_above_rwy = get_D_pilot_above_rwy();
+ // X_pilot_rwy = get_X_pilot_rwy();
+ // Y_pilot_rwy = get_Y_pilot_rwy();
+ // H_pilot_rwy = get_H_pilot_rwy();
+
+ return true;
+}
+
+
+// Convert from the LaRCsim generic_ struct to the FGInterface struct
+bool FGLaRCsim::copy_from_LaRCsim() {
+
+ // Mass properties and geometry values
+ _set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
+ // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
+ _set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
+
+ // Forces
+ // set_Forces_Body_Total( F_X, F_Y, F_Z );
+ // set_Forces_Local_Total( F_north, F_east, F_down );
+ // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
+ // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
+ // set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
+
+ // Moments
+ // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
+ // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
+ // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
+ // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
+ // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
+
+ // Accelerations
+ _set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
+ _set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
+ _set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
+ _set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
+ _set_Accels_CG_Body_N( N_X_cg, N_Y_cg, -N_Z_cg );
+ // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
+ // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
+
+ // Velocities
+ _set_Velocities_Local( V_north, V_east, V_down );
+ // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
+ // V_down_rel_ground );
+ _set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
+ V_down_airmass );
+ // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
+ // V_east_rel_airmass, V_down_rel_airmass );
+ // set_Velocities_Gust( U_gust, V_gust, W_gust );
+ _set_Velocities_Wind_Body( U_body, V_body, W_body );
+
+ _set_V_rel_wind( V_rel_wind );
+ // set_V_true_kts( V_true_kts );
+ // set_V_rel_ground( V_rel_ground );
+ // set_V_inertial( V_inertial );
+ _set_V_ground_speed( V_ground_speed );
+ // set_V_equiv( V_equiv );
+ _set_V_equiv_kts( V_equiv_kts );
+ // set_V_calibrated( V_calibrated );
+ _set_V_calibrated_kts( V_calibrated_kts );
+
+ _set_Omega_Body( P_body, Q_body, R_body );
+ // set_Omega_Local( P_local, Q_local, R_local );
+ // set_Omega_Total( P_total, Q_total, R_total );
+
+ _set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
+ _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
+
+ _set_Mach_number( Mach_number );
+
+ 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 );
+
+ double tmp_lon_geoc = Lon_geocentric;
+ while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
+ while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
+
+ double tmp_lon = Longitude;
+ while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
+ while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
+
+ // Positions
+ _set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
+ Radius_to_vehicle );
+ _set_Geodetic_Position( Latitude, tmp_lon, Altitude );
+ _set_Euler_Angles( Phi, Theta, Psi );
+
+ _set_Altitude_AGL( Altitude - Runway_altitude );
+
+ // Miscellaneous quantities
+ _set_T_Local_to_Body(T_local_to_body_m);
+ // set_Gravity( Gravity );
+ // set_Centrifugal_relief( Centrifugal_relief );
+
+ _set_Alpha( Alpha );
+ _set_Beta( Beta );
+ // set_Alpha_dot( Alpha_dot );
+ // set_Beta_dot( Beta_dot );
+
+ // set_Cos_alpha( Cos_alpha );
+ // set_Sin_alpha( Sin_alpha );
+ // set_Cos_beta( Cos_beta );
+ // set_Sin_beta( Sin_beta );
+
+ _set_Cos_phi( Cos_phi );
+ // set_Sin_phi( Sin_phi );
+ _set_Cos_theta( Cos_theta );
+ // set_Sin_theta( Sin_theta );
+ // set_Cos_psi( Cos_psi );
+ // set_Sin_psi( Sin_psi );
+
+ _set_Gamma_vert_rad( Gamma_vert_rad );
+ // set_Gamma_horiz_rad( Gamma_horiz_rad );
+
+ // set_Sigma( Sigma );
+ _set_Density( Density );
+ // set_V_sound( V_sound );
+ // set_Mach_number( Mach_number );
+
+ _set_Static_pressure( Static_pressure );
+ // set_Total_pressure( Total_pressure );
+ // set_Impact_pressure( Impact_pressure );
+ // set_Dynamic_pressure( Dynamic_pressure );
+
+ _set_Static_temperature( Static_temperature );
+ // set_Total_temperature( Total_temperature );
+
+ _set_Sea_level_radius( Sea_level_radius );
+ _set_Earth_position_angle( Earth_position_angle );
+
+ _set_Runway_altitude( Runway_altitude );
+ // set_Runway_latitude( Runway_latitude );
+ // set_Runway_longitude( Runway_longitude );
+ // set_Runway_heading( Runway_heading );
+ // set_Radius_to_rwy( Radius_to_rwy );
+
+ // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
+ // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
+ // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
+ // D_pilot_above_rwy );
+ // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
+
+ _set_sin_lat_geocentric(Lat_geocentric);
+ _set_cos_lat_geocentric(Lat_geocentric);
+ _set_sin_cos_longitude(Longitude);
+ _set_sin_cos_latitude(Latitude);
+
+ // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
+ // printf("sin_lat %f cos_lat %f\n",
+ // get_sin_latitude(), get_cos_latitude());
+ // printf("sin_lon %f cos_lon %f\n",
+ // get_sin_longitude(), get_cos_longitude());
+
+ _set_Climb_Rate( -1 * V_down );
+ // cout << "climb rate = " << -V_down * 60 << endl;
+
+ if ( !strcmp(aero->getStringValue(), "uiuc") ) {
+ if (pilot_elev_no) {
+ globals->get_controls()->set_elevator(Long_control);
+ globals->get_controls()->set_elevator_trim(Long_trim);
+ // controls.set_elevator(Long_control);
+ // controls.set_elevator_trim(Long_trim);
+ }
+ if (pilot_ail_no) {
+ globals->get_controls()->set_aileron(Lat_control);
+ // controls.set_aileron(Lat_control);
+ }
+ if (pilot_rud_no) {
+ globals->get_controls()->set_rudder(Rudder_pedal);
+ // controls.set_rudder(Rudder_pedal);
+ }
+ if (pilot_throttle_no) {
+ globals->get_controls()->set_throttle(0,Throttle_pct);
+ // controls.set_throttle(0,Throttle_pct);
+ }
+ }
+
+ return true;
+}
+
+
+void FGLaRCsim::set_ls(void) {
+ Phi=lsic->GetRollAngleRadIC();
+ Theta=lsic->GetPitchAngleRadIC();
+ Psi=lsic->GetHeadingRadIC();
+ V_north=lsic->GetVnorthFpsIC();
+ V_east=lsic->GetVeastFpsIC();
+ V_down=lsic->GetVdownFpsIC();
+ Altitude=lsic->GetAltitudeFtIC();
+ Latitude=lsic->GetLatitudeGDRadIC();
+ Longitude=lsic->GetLongitudeRadIC();
+ Runway_altitude=lsic->GetRunwayAltitudeFtIC();
+ V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1;
+ V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1;
+ V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1;
+ ls_loop(0.0,-1);
+ copy_from_LaRCsim();
+}
+
+void FGLaRCsim::snap_shot(void) {
+ lsic->SetLatitudeGDRadIC( get_Latitude() );
+ lsic->SetLongitudeRadIC( get_Longitude() );
+ lsic->SetAltitudeFtIC( get_Altitude() );
+ lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
+ lsic->SetVtrueFpsIC( get_V_rel_wind() );
+ lsic->SetPitchAngleRadIC( get_Theta() );
+ lsic->SetRollAngleRadIC( get_Phi() );
+ lsic->SetHeadingRadIC( get_Psi() );
+ lsic->SetClimbRateFpsIC( get_Climb_Rate() );
+ lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
+ get_V_east_airmass(),
+ get_V_down_airmass() );
+}
+
+//Positions
+void FGLaRCsim::set_Latitude(double lat) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
+ snap_shot();
+ lsic->SetLatitudeGDRadIC(lat);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+void FGLaRCsim::set_Longitude(double lon) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon );
+ snap_shot();
+ lsic->SetLongitudeRadIC(lon);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+void FGLaRCsim::set_Altitude(double alt) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
+ snap_shot();
+ lsic->SetAltitudeFtIC(alt);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+void FGLaRCsim::set_V_calibrated_kts(double vc) {
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "FGLaRCsim::set_V_calibrated_kts: " << vc );
+ snap_shot();
+ lsic->SetVcalibratedKtsIC(vc);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+void FGLaRCsim::set_Mach_number(double mach) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
+ snap_shot();
+ lsic->SetMachIC(mach);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
+ << north << " " << east << " " << down );
+ snap_shot();
+ lsic->SetVNEDFpsIC(north, east, down);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
+ << u << " " << v << " " << w );
+ snap_shot();
+ lsic->SetUVWFpsIC(u,v,w);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+//Euler angles
+void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
+ << phi << " " << theta << " " << psi );
+
+ snap_shot();
+ lsic->SetPitchAngleRadIC(theta);
+ lsic->SetRollAngleRadIC(phi);
+ lsic->SetHeadingRadIC(psi);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+//Flight Path
+void FGLaRCsim::set_Climb_Rate( double roc) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
+ snap_shot();
+ lsic->SetClimbRateFpsIC(roc);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
+ snap_shot();
+ lsic->SetFlightPathAngleRadIC(gamma);
+ set_ls();
+ copy_from_LaRCsim(); //update the bus
+}
+
+void FGLaRCsim::set_AltitudeAGL(double altagl) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
+ snap_shot();
+ lsic->SetAltitudeAGLFtIC(altagl);
+ set_ls();
+ copy_from_LaRCsim();
+}
+
+/* getting a namespace conflict...
+void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
+ double weast,
+ double wdown ) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
+ << wnorth << " " << weast << " " << wdown );
+ snap_shot();
+ lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
+ set_ls();
+ copy_from_LaRCsim();
+}
+*/
+
+void FGLaRCsim::set_Static_pressure(double p) {
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "FGLaRCsim::set_Static_pressure: " << p );
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "LaRCsim does not support externally supplied atmospheric data" );
+}
+
+void FGLaRCsim::set_Static_temperature(double T) {
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "FGLaRCsim::set_Static_temperature: " << T );
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "LaRCsim does not support externally supplied atmospheric data" );
+
+}
+
+void FGLaRCsim::set_Density(double rho) {
+ SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
+ SG_LOG( SG_FLIGHT, SG_INFO,
+ "LaRCsim does not support externally supplied atmospheric data" );
+
+}
+
--- /dev/null
+//*************************************************************************
+// LaRCsim.hxx -- interface to the "LaRCsim" flight model
+//
+// Written by Curtis Olson, started May 1997.
+//
+// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.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.
+//
+// $Id$
+//*************************************************************************/
+
+
+#ifndef _LARCSIM_HXX
+#define _LARCSIM_HXX
+
+
+#include <FDM/IO360.hxx>
+#include <FDM/flight.hxx>
+#include <FDM/LaRCsimIC.hxx>
+
+class FGLaRCsim: public FGInterface {
+
+private:
+
+ FGNewEngine eng;
+ LaRCsimIC* lsic;
+ void set_ls(void);
+ void snap_shot(void);
+ double time_step;
+ SGPropertyNode *speed_up;
+ SGPropertyNode *aero;
+ SGPropertyNode *uiuc_type;
+
+public:
+
+ FGLaRCsim( double dt );
+ ~FGLaRCsim(void);
+
+ // copy FDM state to LaRCsim structures
+ bool copy_to_LaRCsim();
+
+ // copy FDM state from LaRCsim structures
+ bool copy_from_LaRCsim();
+
+ // reset flight params to a specific position
+ void init();
+
+ // update position based on inputs, positions, velocities, etc.
+ void update( double dt );
+
+ // Positions
+ void set_Latitude(double lat); //geocentric
+ void set_Longitude(double lon);
+ void set_Altitude(double alt); // triggers re-calc of AGL altitude
+ void set_AltitudeAGL(double altagl); // and vice-versa
+
+ // Speeds -- setting any of these will trigger a re-calc of the rest
+ void set_V_calibrated_kts(double vc);
+ void set_Mach_number(double mach);
+ void set_Velocities_Local( double north, double east, double down );
+ void set_Velocities_Wind_Body( double u, double v, double w);
+
+ // Euler angles
+ void set_Euler_Angles( double phi, double theta, double psi );
+
+ // Flight Path
+ void set_Climb_Rate( double roc);
+ void set_Gamma_vert_rad( double gamma);
+
+ // Earth
+ void set_Static_pressure(double p);
+ void set_Static_temperature(double T);
+ void set_Density(double rho);
+
+/*
+ void set_Velocities_Local_Airmass (double wnorth,
+ double weast,
+ double wdown );
+*/
+};
+
+
+#endif // _LARCSIM_HXX
+
+
noinst_LIBRARIES = libLaRCsim.a
libLaRCsim_a_SOURCES = \
+ LaRCsim.cxx LaRCsim.hxx \
atmos_62.c atmos_62.h \
default_model_routines.c default_model_routines.h \
ls_accel.c ls_accel.h \
Balloon.cxx Balloon.h \
flight.cxx flight.hxx \
IO360.cxx IO360.hxx \
- LaRCsim.cxx LaRCsim.hxx \
LaRCsimIC.cxx LaRCsimIC.hxx \
MagicCarpet.cxx MagicCarpet.hxx \
UFO.cxx UFO.hxx \
#include <FDM/ExternalNet/ExternalNet.hxx>
#include <FDM/ExternalPipe/ExternalPipe.hxx>
#include <FDM/JSBSim/JSBSim.hxx>
-#include <FDM/LaRCsim.hxx>
+#include <FDM/LaRCsim/LaRCsim.hxx>
#include <FDM/MagicCarpet.hxx>
#include <FDM/UFO.hxx>
#include <FDM/NullFDM.hxx>
projects / flightgear.git / commitdiff