From 397ca564b30035380b5ff6a8fd209cd625c619c6 Mon Sep 17 00:00:00 2001 From: curt Date: Thu, 11 Feb 1999 21:09:40 +0000 Subject: [PATCH] Interface with Jon's submitted JSBsim changes. --- FDM/JSBsim.cxx | 65 ++++++++++++++++++++++++++++++++------------------ FDM/JSBsim.hxx | 4 ++++ 2 files changed, 46 insertions(+), 23 deletions(-) diff --git a/FDM/JSBsim.cxx b/FDM/JSBsim.cxx index 9ae6d66a2..d1b5d001f 100644 --- a/FDM/JSBsim.cxx +++ b/FDM/JSBsim.cxx @@ -22,9 +22,13 @@ // (Log is kept at end of this file) -#define FDM_MAIN #include -#undef FDM_MAIN +#include +#include +#include +#include +#include +#include #include "JSBsim.hxx" @@ -35,21 +39,24 @@ #include +// The default aircraft +FGFDMExec FDMExec; + + // Initialize the JSBsim flight model, dt is the time increment for // each subsequent iteration through the EOM int fgJSBsimInit(double dt) { FG_LOG( FG_FLIGHT, FG_INFO, "Starting initializing JSBsim" ); - FDMExec = new FGFDMExec(); FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" ); - Aircraft->LoadAircraft("X15"); + FDMExec.GetAircraft()->LoadAircraft("X15"); FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" ); - State->Reset("reset00"); + FDMExec.GetState()->Reset("reset00"); FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" ); - State->Setdt(dt); + FDMExec.GetState()->Setdt(dt); FG_LOG( FG_FLIGHT, FG_INFO, " set dt" ); FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" ); @@ -69,12 +76,14 @@ int fgJSBsimUpdate(FGInterface& f, int multiloop) { } // copy control positions into the JSBsim structure - FCS->SetDa( controls.get_aileron() ); - FCS->SetDe( controls.get_elevator() + controls.get_elevator_trim() ); - FCS->SetDr( controls.get_rudder() ); - FCS->SetDf( 0.0 ); - FCS->SetDs( 0.0 ); - FCS->SetThrottle( controls.get_throttle( 0 ) ); + FDMExec.GetFCS()->SetDa( controls.get_aileron() ); + FDMExec.GetFCS()->SetDe( controls.get_elevator() + + controls.get_elevator_trim() ); + FDMExec.GetFCS()->SetDr( controls.get_rudder() ); + FDMExec.GetFCS()->SetDf( 0.0 ); + FDMExec.GetFCS()->SetDs( 0.0 ); + FDMExec.GetFCS()->SetThrottle( FGControls::ALL_ENGINES, + controls.get_throttle( 0 ) ); // FCS->SetBrake( controls.get_brake( 0 ) ); // Inform JSBsim of the local terrain altitude @@ -87,8 +96,9 @@ int fgJSBsimUpdate(FGInterface& f, int multiloop) { // printf("Altitude = %.2f\n", Altitude * 0.3048); // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048); - State->Setsim_time(State->Getsim_time() + State->Getdt() * multiloop); - FDMExec->Run(); + /* FDMExec.GetState()->Setsim_time(State->Getsim_time() + + State->Getdt() * multiloop); */ + FDMExec.Run(); // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048); // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048); @@ -119,7 +129,9 @@ int FGInterface_2_JSBsim (FGInterface& f) { int fgJSBsim_2_FGInterface (FGInterface& f) { // Velocities - f.set_Velocities_Local( State->GetVn(), State->GetVe(), State->GetVd() ); + f.set_Velocities_Local( FDMExec.GetPosition()->GetVn(), + FDMExec.GetPosition()->GetVe(), + FDMExec.GetPosition()->GetVd() ); // f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground, // V_down_rel_ground ); // f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass, @@ -136,11 +148,13 @@ int fgJSBsim_2_FGInterface (FGInterface& f) { // f.set_V_ground_speed( V_ground_speed ); // f.set_V_equiv( V_equiv ); - /* ***FIXME*** */ f.set_V_equiv_kts( State->GetVt() ); + /* ***FIXME*** */ f.set_V_equiv_kts( FDMExec.GetState()->GetVt() ); // f.set_V_calibrated( V_calibrated ); // f.set_V_calibrated_kts( V_calibrated_kts ); - f.set_Omega_Body( State->GetP(), State->GetQ(), State->GetR() ); + f.set_Omega_Body( FDMExec.GetRotation()->GetP(), + FDMExec.GetRotation()->GetQ(), + FDMExec.GetRotation()->GetR() ); // f.set_Omega_Local( P_local, Q_local, R_local ); // f.set_Omega_Total( P_total, Q_total, R_total ); @@ -148,9 +162,9 @@ int fgJSBsim_2_FGInterface (FGInterface& f) { // ***FIXME*** f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot ); // Positions - double lat = State->Getlatitude(); - double lon = State->Getlongitude(); - double alt = State->Geth(); + double lat = FDMExec.GetState()->Getlatitude(); + double lon = FDMExec.GetState()->Getlongitude(); + double alt = FDMExec.GetState()->Geth(); double lat_geoc, sl_radius; fgGeodToGeoc( lat, alt * FEET_TO_METER, &sl_radius, &lat_geoc ); @@ -161,15 +175,17 @@ int fgJSBsim_2_FGInterface (FGInterface& f) { f.set_Geocentric_Position( lat_geoc, lon, sl_radius * METER_TO_FEET + alt ); f.set_Geodetic_Position( lat, lon, alt ); - f.set_Euler_Angles( State->Getphi(), State->Gettht(), State->Getpsi() ); + f.set_Euler_Angles( FDMExec.GetRotation()->Getphi(), + FDMExec.GetRotation()->Gettht(), + FDMExec.GetRotation()->Getpsi() ); // Miscellaneous quantities // f.set_T_Local_to_Body(T_local_to_body_m); // f.set_Gravity( Gravity ); // f.set_Centrifugal_relief( Centrifugal_relief ); - f.set_Alpha( State->Getalpha() ); - f.set_Beta( State->Getbeta() ); + f.set_Alpha( FDMExec.GetTranslation()->Getalpha() ); + f.set_Beta( FDMExec.GetTranslation()->Getbeta() ); // f.set_Alpha_dot( Alpha_dot ); // f.set_Beta_dot( Beta_dot ); @@ -222,6 +238,9 @@ int fgJSBsim_2_FGInterface (FGInterface& f) { // $Log$ +// Revision 1.2 1999/02/11 21:09:40 curt +// Interface with Jon's submitted JSBsim changes. +// // Revision 1.1 1999/02/05 21:29:38 curt // Incorporating Jon S. Berndt's flight model code. // diff --git a/FDM/JSBsim.hxx b/FDM/JSBsim.hxx index 0e9bdb110..1901b2f6f 100644 --- a/FDM/JSBsim.hxx +++ b/FDM/JSBsim.hxx @@ -26,6 +26,7 @@ #define _JSBSIM_HXX #include +#undef MAX_ENGINES #include @@ -47,6 +48,9 @@ int fgJSBsim_2_FGInterface (FGInterface& f); // $Log$ +// Revision 1.2 1999/02/11 21:09:41 curt +// Interface with Jon's submitted JSBsim changes. +// // Revision 1.1 1999/02/05 21:29:38 curt // Incorporating Jon S. Berndt's flight model code. // -- 2.39.2