// Modified by Cdr. VS Renganthan <vsranga@ada.ernet.in>, 12 Oct 2K
#include <simgear/io/iochannel.hxx>
+#include <simgear/constants.h>
#include <Controls/controls.hxx>
-#include <GUI/gui.h>
#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
+#define numberofbytes 472 // from FDM to visuals
+#define nbytes 8 //from visuals to FDM
struct {
double number_of_bytes;
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
// for each subsequent iteration through the EOM
void FGADA::init() {
- // explicitly call the superclass's
- // init() method first.
+ // explicitly call the superclass's
+ // init() method first.
FGInterface::init();
// cout << "FGADA::init()" << endl;
- char Buffer[numberofbytes];
+ char OutBuffer[nbytes];
+ copy_to_FGADA();
printf("\nInitialising UDP sockets\n");
// initialise a "udp" socket
- fdmsock = new SGSocket( "reddy_pc", "5001", "udp" );
+ 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 {
- // Dummy Write FGExternal structure from socket to establish connection
- int result = fdmsock->write(Buffer, numberofbytes);
+ copy_to_FGADA();
+ // Write FGExternal structure from socket to establish connection
+ int result = fdmsock->write(OutBuffer, nbytes);
printf("Connection established.\n");
}
}
// cout << "FGADA::update()" << endl;
char Buffer[numberofbytes];
+ char OutBuffer[nbytes];
// Read FGExternal structure from socket
while (1) {
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;
}
}
- //cout << endl << sixdof_to_visuals.aux18 << endl;
- // Close Visuals through message/flag from Flight model
- if (sixdof_to_visuals.aux18 == 1) {
- fdmsock->close();
- ConfirmExitDialog();
- }
- //cout << endl << sixdof_to_visuals.aux18 << endl;
-
- // Convert from the FGExternal struct to the FGInterface struct (input)
- copy_from_FGADA();
+ copy_to_FGADA();
+ fgGetDouble("/sim/view/offset",view_offset);
+ if ( view_offset == 0.0) {
+ memcpy (&OutBuffer, &visuals_to_sixdof, sizeof (OutBuffer));
+ int result = fdmsock->write(OutBuffer, nbytes);
+ }
return true;
}
// Convert from the FGInterface struct to the FGADA struct (output)
bool FGADA::copy_to_FGADA () {
+ ground_elevation = scenery.cur_elev;
return true;
}
// Convert from the FGADA struct to the FGInterface struct (input)
bool FGADA::copy_from_FGADA() {
- // Velocities
- _set_Velocities_Local( V_north, V_east, V_down );
- _set_V_calibrated_kts( V_calibrated_kts );
-
- // Angular rates
- _set_Omega_Body( P_body, Q_body, R_body );
- _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
-
- // 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 );
-
- // Positions
- _set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
- Radius_to_vehicle );
+ //Positions and attitudes for The Rendering engine
_set_Geodetic_Position( Latitude, Longitude, Altitude );
_set_Euler_Angles( Phi, Theta, Psi );
-
- // Miscellaneous quantities
- _set_Alpha( Alpha );
- _set_Beta( Beta );
- _set_Gamma_vert_rad( Gamma_vert_rad );
+ _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_Runway_altitude( Runway_altitude );
_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 );
- _set_Accels_CG_Body_N( anxg,anyg,anzg);
- _set_Mach_number( Machno);
-
- // printf("sr=%f\n",Sea_level_radius);
- // printf("psi = %f %f\n",Psi,Psi*SGD_RADIANS_TO_DEGREES);
+ _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_rudder(rpedal);
// auxilliary parameters for HUD
- set_iaux1(sixdof_to_visuals.iaux1);
- set_iaux2(sixdof_to_visuals.iaux2);
- set_iaux3(sixdof_to_visuals.iaux3);
- set_iaux4(sixdof_to_visuals.iaux4);
- set_iaux5(sixdof_to_visuals.iaux5);
- set_iaux6(sixdof_to_visuals.iaux6);
- set_iaux7(sixdof_to_visuals.iaux7);
- set_iaux8(sixdof_to_visuals.iaux8);
- set_iaux9(sixdof_to_visuals.iaux9);
- set_iaux10(sixdof_to_visuals.iaux10);
- set_iaux11(sixdof_to_visuals.iaux11);
- set_iaux12(sixdof_to_visuals.iaux12);
- set_aux1(sixdof_to_visuals.aux1);
- set_aux2(sixdof_to_visuals.aux2);
- set_aux3(sixdof_to_visuals.aux3);
- set_aux4(sixdof_to_visuals.aux4);
- set_aux5(sixdof_to_visuals.aux5);
- set_aux6(sixdof_to_visuals.aux6);
- set_aux7(sixdof_to_visuals.aux7);
- set_aux8(sixdof_to_visuals.aux8);
- set_aux9(sixdof_to_visuals.aux9);
- set_aux10(sixdof_to_visuals.aux10);
- set_aux11(sixdof_to_visuals.aux11);
- set_aux12(sixdof_to_visuals.aux12);
- set_aux13(sixdof_to_visuals.aux13);
- set_aux14(sixdof_to_visuals.aux14);
- set_aux15(sixdof_to_visuals.aux15);
- set_aux16(sixdof_to_visuals.aux16);
- set_aux17(sixdof_to_visuals.aux17);
- set_aux18(sixdof_to_visuals.aux18);
-
- cout << endl << sixdof_to_visuals.aux18 << endl;
+ _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;
}
// update position based on inputs, positions, velocities, etc.
bool update( int multiloop );
- // auxiliary data getters and setters
- inline double get_aux1() const { return aux1; }
- inline void set_aux1(double aux) { aux1 = aux; }
-
- inline double get_aux2() const { return aux2; }
- inline void set_aux2(double aux) { aux2 = aux; }
-
- inline double get_aux3() const { return aux3; }
- inline void set_aux3(double aux) { aux3 = aux; }
-
- inline double get_aux4() const { return aux4; }
- inline void set_aux4(double aux) { aux4 = aux; }
-
- inline double get_aux5() const { return aux5; }
- inline void set_aux5(double aux) { aux5 = aux; }
-
- inline double get_aux6() const { return aux6; }
- inline void set_aux6(double aux) { aux6 = aux; }
-
- inline double get_aux7() const { return aux7; }
- inline void set_aux7(double aux) { aux7 = aux; }
-
- inline double get_aux8() const { return aux8; }
- inline void set_aux8(double aux) { aux8 = aux; }
-
- inline float get_aux9() const { return aux9; }
- inline void set_aux9(float aux) { aux9 = aux; }
-
- inline float get_aux10() const { return aux10; }
- inline void set_aux10(float aux) { aux10 = aux; }
-
- inline float get_aux11() const { return aux11; }
- inline void set_aux11(float aux) { aux11 = aux; }
-
- inline float get_aux12() const { return aux12; }
- inline void set_aux12(float aux) { aux12 = aux; }
-
- inline float get_aux13() const { return aux13; }
- inline void set_aux13(float aux) { aux13 = aux; }
-
- inline float get_aux14() const { return aux14; }
- inline void set_aux14(float aux) { aux14 = aux; }
-
- inline float get_aux15() const { return aux15; }
- inline void set_aux15(float aux) { aux15 = aux; }
-
- inline float get_aux16() const { return aux16; }
- inline void set_aux16(float aux) { aux16 = aux; }
-
- inline float get_aux17() const { return aux17; }
- inline void set_aux17(float aux) { aux17 = aux; }
-
- inline float get_aux18() const { return aux18; }
- inline void set_aux18(float aux) { aux18 = aux; }
-
- inline int get_iaux1() const { return iaux1; }
- inline void set_iaux1(int iaux) { iaux1 = iaux; }
-
- inline int get_iaux2() const { return iaux2; }
- inline void set_iaux2(int iaux) { iaux2 = iaux; }
-
- inline int get_iaux3() const { return iaux3; }
- inline void set_iaux3(int iaux) { iaux3 = iaux; }
-
- inline int get_iaux4() const { return iaux4; }
- inline void set_iaux4(int iaux) { iaux4 = iaux; }
-
- inline int get_iaux5() const { return iaux5; }
- inline void set_iaux5(int iaux) { iaux5 = iaux; }
-
- inline int get_iaux6() const { return iaux6; }
- inline void set_iaux6(int iaux) { iaux6 = iaux; }
-
- inline int get_iaux7() const { return iaux7; }
- inline void set_iaux7(int iaux) { iaux7 = iaux; }
-
- inline int get_iaux8() const { return iaux8; }
- inline void set_iaux8(int iaux) { iaux8 = iaux; }
-
- inline int get_iaux9() const { return iaux9; }
- inline void set_iaux9(int iaux) { iaux9 = iaux; }
-
- inline int get_iaux10() const { return iaux10; }
- inline void set_iaux10(int iaux) { iaux10 = iaux; }
-
- inline int get_iaux11() const { return iaux11; }
- inline void set_iaux11(int iaux) { iaux11 = iaux; }
-
- inline int get_iaux12() const { return iaux12; }
- inline void set_iaux12(int iaux) { iaux12 = iaux; }
};
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