From c27844393deb2e88211e2815fc1080956d356924 Mon Sep 17 00:00:00 2001 From: curt Date: Fri, 5 Feb 1999 21:29:38 +0000 Subject: [PATCH] Incorporating Jon S. Berndt's flight model code. --- FDM/JSBsim.cxx | 227 +++++++++++++++++++++++++++++++++++++++++++++++++ FDM/JSBsim.hxx | 52 +++++++++++ 2 files changed, 279 insertions(+) create mode 100644 FDM/JSBsim.cxx create mode 100644 FDM/JSBsim.hxx diff --git a/FDM/JSBsim.cxx b/FDM/JSBsim.cxx new file mode 100644 index 000000000..9ae6d66a2 --- /dev/null +++ b/FDM/JSBsim.cxx @@ -0,0 +1,227 @@ +// JSBsim.cxx -- interface to the JSBsim flight model +// +// Written by Curtis Olson, started February 1999. +// +// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of the +// License, or (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, but +// WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. +// +// $Id$ +// (Log is kept at end of this file) + + +#define FDM_MAIN +#include +#undef FDM_MAIN + +#include "JSBsim.hxx" + +#include +#include +#include +#include +#include + + +// 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"); + FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" ); + + State->Reset("reset00"); + FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" ); + + State->Setdt(dt); + FG_LOG( FG_FLIGHT, FG_INFO, " set dt" ); + + FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" ); + + return 1; +} + + +// Run an iteration of the EOM (equations of motion) +int fgJSBsimUpdate(FGInterface& f, int multiloop) { + double save_alt = 0.0; + + // lets try to avoid really screwing up the JSBsim model + if ( f.get_Altitude() < -9000 ) { + save_alt = f.get_Altitude(); + f.set_Altitude( 0.0 ); + } + + // 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 ) ); + // FCS->SetBrake( controls.get_brake( 0 ) ); + + // Inform JSBsim of the local terrain altitude + // Runway_altitude = f.get_Runway_altitude(); + + // old -- FGInterface_2_JSBsim() not needed except for Init() + // translate FG to JSBsim structure + // FGInterface_2_JSBsim(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); + + State->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); + + // translate JSBsim back to FG structure so that the + // autopilot (and the rest of the sim can use the updated + // values + + fgJSBsim_2_FGInterface(f); + + // but lets restore our original bogus altitude when we are done + if ( save_alt < -9000.0 ) { + f.set_Altitude( save_alt ); + } + + return 1; +} + + +// Convert from the FGInterface struct to the JSBsim generic_ struct +int FGInterface_2_JSBsim (FGInterface& f) { + + return 1; +} + + +// Convert from the JSBsim generic_ struct to the FGInterface struct +int fgJSBsim_2_FGInterface (FGInterface& f) { + + // Velocities + f.set_Velocities_Local( State->GetVn(), State->GetVe(), State->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, + // V_down_airmass ); + // f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass, + // V_east_rel_airmass, V_down_rel_airmass ); + // f.set_Velocities_Gust( U_gust, V_gust, W_gust ); + // f.set_Velocities_Wind_Body( U_body, V_body, W_body ); + + // f.set_V_rel_wind( V_rel_wind ); + // f.set_V_true_kts( V_true_kts ); + // f.set_V_rel_ground( V_rel_ground ); + // f.set_V_inertial( V_inertial ); + // f.set_V_ground_speed( V_ground_speed ); + // f.set_V_equiv( V_equiv ); + + /* ***FIXME*** */ f.set_V_equiv_kts( State->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_Local( P_local, Q_local, R_local ); + // f.set_Omega_Total( P_total, Q_total, R_total ); + + // f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot ); + // ***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_geoc, sl_radius; + fgGeodToGeoc( lat, alt * FEET_TO_METER, &sl_radius, &lat_geoc ); + + FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon << " lat = " << lat + << " lat_geoc = " << lat_geoc + << " alt = " << alt + << " sl_radius = " << sl_radius * METER_TO_FEET); + + 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() ); + + // 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_dot( Alpha_dot ); + // f.set_Beta_dot( Beta_dot ); + + // f.set_Cos_alpha( Cos_alpha ); + // f.set_Sin_alpha( Sin_alpha ); + // f.set_Cos_beta( Cos_beta ); + // f.set_Sin_beta( Sin_beta ); + + // f.set_Cos_phi( Cos_phi ); + // f.set_Sin_phi( Sin_phi ); + // f.set_Cos_theta( Cos_theta ); + // f.set_Sin_theta( Sin_theta ); + // f.set_Cos_psi( Cos_psi ); + // f.set_Sin_psi( Sin_psi ); + + // ***ATTENDTOME*** f.set_Gamma_vert_rad( Gamma_vert_rad ); + // f.set_Gamma_horiz_rad( Gamma_horiz_rad ); + + // f.set_Sigma( Sigma ); + // f.set_Density( Density ); + // f.set_V_sound( V_sound ); + // f.set_Mach_number( Mach_number ); + + // f.set_Static_pressure( Static_pressure ); + // f.set_Total_pressure( Total_pressure ); + // f.set_Impact_pressure( Impact_pressure ); + // f.set_Dynamic_pressure( Dynamic_pressure ); + + // f.set_Static_temperature( Static_temperature ); + // f.set_Total_temperature( Total_temperature ); + + /* **FIXME*** */ f.set_Sea_level_radius( sl_radius * METER_TO_FEET ); + /* **FIXME*** */ f.set_Earth_position_angle( 0.0 ); + + /* ***FIXME*** */ f.set_Runway_altitude( 0.0 ); + // f.set_Runway_latitude( Runway_latitude ); + // f.set_Runway_longitude( Runway_longitude ); + // f.set_Runway_heading( Runway_heading ); + // f.set_Radius_to_rwy( Radius_to_rwy ); + + // f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy); + // f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy ); + // f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy, + // D_pilot_above_rwy ); + // f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy ); + + + return 0; +} + + +// $Log$ +// 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 new file mode 100644 index 000000000..0e9bdb110 --- /dev/null +++ b/FDM/JSBsim.hxx @@ -0,0 +1,52 @@ +// JSBsim.hxx -- interface to the "JSBsim" flight model +// +// Written by Curtis Olson, started February 1999. +// +// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of the +// License, or (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, but +// WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. +// +// $Id$ +// (Log is kept at end of this file) + + +#ifndef _JSBSIM_HXX +#define _JSBSIM_HXX + +#include + +#include + + +// reset flight params to a specific position +int fgJSBsimInit(double dt); + +// update position based on inputs, positions, velocities, etc. +int fgJSBsimUpdate(FGInterface& f, int multiloop); + +// Convert from the FGInterface struct to the JSBsim generic_ struct +int FGInterface_2_JSBsim (FGInterface& f); + +// Convert from the JSBsim generic_ struct to the FGInterface struct +int fgJSBsim_2_FGInterface (FGInterface& f); + + +#endif // _JSBSIM_HXX + + +// $Log$ +// Revision 1.1 1999/02/05 21:29:38 curt +// Incorporating Jon S. Berndt's flight model code. +// -- 2.39.2