From: curt Date: Tue, 20 May 2003 02:08:31 +0000 (+0000) Subject: Moved FDM/LaRCsim.[ch]xx to FDM/LaRCsim/LaRCsim.[ch]xx X-Git-Url: https://git.mxchange.org/?a=commitdiff_plain;h=b07b7c8ad0de8db12c12242ee7c69322ceb0eb0a;p=flightgear.git Moved FDM/LaRCsim.[ch]xx to FDM/LaRCsim/LaRCsim.[ch]xx --- diff --git a/src/FDM/LaRCsim.cxx b/src/FDM/LaRCsim.cxx deleted file mode 100644 index ea8959ec0..000000000 --- a/src/FDM/LaRCsim.cxx +++ /dev/null @@ -1,857 +0,0 @@ -// 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 -#include // strcmp() - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include
-#include - -#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" ); - -} - diff --git a/src/FDM/LaRCsim.hxx b/src/FDM/LaRCsim.hxx deleted file mode 100644 index d772ec0b5..000000000 --- a/src/FDM/LaRCsim.hxx +++ /dev/null @@ -1,98 +0,0 @@ -//************************************************************************* -// 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 - -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 - - diff --git a/src/FDM/LaRCsim/LaRCsim.cxx b/src/FDM/LaRCsim/LaRCsim.cxx new file mode 100644 index 000000000..4235db3a0 --- /dev/null +++ b/src/FDM/LaRCsim/LaRCsim.cxx @@ -0,0 +1,858 @@ +// 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 +#include // strcmp() + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include
+#include + +#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" ); + +} + diff --git a/src/FDM/LaRCsim/LaRCsim.hxx b/src/FDM/LaRCsim/LaRCsim.hxx new file mode 100644 index 000000000..1e0e6d948 --- /dev/null +++ b/src/FDM/LaRCsim/LaRCsim.hxx @@ -0,0 +1,98 @@ +//************************************************************************* +// 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 +#include +#include + +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 + + diff --git a/src/FDM/LaRCsim/Makefile.am b/src/FDM/LaRCsim/Makefile.am index a26c6445e..b8f7b68de 100644 --- a/src/FDM/LaRCsim/Makefile.am +++ b/src/FDM/LaRCsim/Makefile.am @@ -16,6 +16,7 @@ AIRCRAFT_MODEL = c172_aero.c c172_engine.c c172_gear.c c172_init.c \ 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 \ diff --git a/src/FDM/Makefile.am b/src/FDM/Makefile.am index f5d346fd1..3458725c4 100644 --- a/src/FDM/Makefile.am +++ b/src/FDM/Makefile.am @@ -7,7 +7,6 @@ libFlight_a_SOURCES = \ 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 \ diff --git a/src/Main/fg_init.cxx b/src/Main/fg_init.cxx index 9949478d4..fb20adbb8 100644 --- a/src/Main/fg_init.cxx +++ b/src/Main/fg_init.cxx @@ -89,7 +89,7 @@ #include #include #include -#include +#include #include #include #include