Hitch/aertow updates fro D-NXKT
-fix a severe bug which led to unintended hitch releases; -include the new JSBSim external force location variables; -improvements for function closeHitch
This commit is contained in:
James Turner
parent
0060cdc24f
commit
da1316a74c
1 changed files with 616 additions and 439 deletions
|
|
@ -1,22 +1,22 @@
|
|||
#
|
||||
# Version: 10. March 2014
|
||||
# Version: 30. December 2014
|
||||
#
|
||||
# Purpose of this routine:
|
||||
# ------------------------
|
||||
#
|
||||
# - Create visible winch- and towropes for gliders and towplanes
|
||||
# - Support of aerotowing and winch for JSBSim-aircrafts (glider and towplanes)
|
||||
# - Support of aerotowing and winch for JSBSim-aircraft (glider and towplanes)
|
||||
#
|
||||
# This routine is very similar to /FDM/YASim/Hitch.cpp
|
||||
# Aerotowing is fully compatible to the YASim functionality.
|
||||
# This means that YASim-gliders could be towed by JSBSim-aircrafts and vice versa.
|
||||
# This means that YASim-gliders could be towed by JSBSim-aircraft and vice versa.
|
||||
# Setup-instructions with copy and paste examples are given below:
|
||||
#
|
||||
#
|
||||
# Setup of visible winch/towropes for Yasim-aircrafts:
|
||||
# Setup of visible winch/towropes for Yasim-aircraft:
|
||||
# ----------------------------------------------------
|
||||
#
|
||||
# YASim-aircrafts with winch/aerotowing functionality should work out of the box.
|
||||
# YASim-aircraft with winch/aerotowing functionality should work out of the box.
|
||||
# Optional you can customize the rope-diameter by adding the following to "your_aircraft-set.xml":
|
||||
# </sim>
|
||||
# <hitches>
|
||||
|
|
@ -37,13 +37,11 @@
|
|||
#
|
||||
#
|
||||
#
|
||||
# Support of aerotowing and winch for JSBSim-aircrafts (glider and towplanes):
|
||||
# Support of aerotowing and winch for JSBSim-aircraft (glider and towplanes):
|
||||
# ----------------------------------------------------------------------------
|
||||
#
|
||||
# 1. Define a hitch in the JSBSim-File. Coordinates according to JSBSims structural frame of reference
|
||||
# (x points to the tail, y points to the right wing, z points upwards). Be careful! This
|
||||
# coordinates don't appear in the property tree. You can only check them with test flights!
|
||||
# The visible towrope is NOT an indicator of correct settings!
|
||||
# (x points to the tail, y points to the right wing, z points upwards).
|
||||
# Unit must be "LBS", frame must be "BODY". The force name is arbitrary.
|
||||
#
|
||||
# <external_reactions>
|
||||
|
|
@ -61,6 +59,7 @@
|
|||
# </force>
|
||||
# </external_reactions>
|
||||
|
||||
|
||||
# 2. Define controls for aerotowing and winch.
|
||||
# Add the following key bindings in "yourAircraft-set.xml":
|
||||
# <input>
|
||||
|
|
@ -124,38 +123,49 @@
|
|||
# </input>
|
||||
#
|
||||
# For towplanes only "key n=79" (Open aerotow-hook) is required!
|
||||
#
|
||||
#
|
||||
|
||||
|
||||
# 3. Set mandatory properties:
|
||||
#<sim>
|
||||
# <hitches>
|
||||
# <aerotow>
|
||||
# <force_name_jsbsim type="string">hitch</force_name_jsbsim>
|
||||
# <force-is-calculated-by-other type="bool">false</force-is-calculated-by-other>
|
||||
# <mp-auto-connect-period type="float">0.0</mp-auto-connect-period>
|
||||
# <!-- OPTIONAL
|
||||
# <decoupled-force-and-rope-locations type="bool">true</decoupled-force-and-rope-locations>
|
||||
# <local-pos-x type="float">1.5</local-pos-x>
|
||||
# <local-pos-y type="float"> 0.00</local-pos-y>
|
||||
# <local-pos-z type="float">-0.3</local-pos-z>
|
||||
# <force-is-calculated-by-other type="bool">false</force-is-calculated-by-other>
|
||||
# <mp-auto-connect-period type="float">0.0</mp-auto-connect-period>
|
||||
# -->
|
||||
# </aerotow>
|
||||
# <winch>
|
||||
# <force_name_jsbsim type="string">hitch</force_name_jsbsim>
|
||||
# <!-- OPTIONAL
|
||||
# <decoupled-force-and-rope-locations type="bool">true</decoupled-force-and-rope-locations>
|
||||
# <local-pos-x type="float">0.0</local-pos-x>
|
||||
# <local-pos-y type="float">0.0</local-pos-y>
|
||||
# <local-pos-z type="float">0.0</local-pos-z>
|
||||
# -->
|
||||
# </winch>
|
||||
# </hitches>
|
||||
#</sim>
|
||||
#
|
||||
# "force_name_jsbsim" must be the external force name in JSBSim.
|
||||
#
|
||||
# IMPORTANT:
|
||||
# JSBSim doesn't provide the hitch coordinates in the property tree. Hence you must set them again to get a
|
||||
# visible towrope (local-pos-x/y/z). Unfortunately the coordinate systems are different. Here the coordinates
|
||||
# for the "YASim-System" are needed (x points to the nose, y points to the left wing, z points upwards).
|
||||
# If you see the rope at the expected position "local-pos-x/y/z" are correct.
|
||||
#
|
||||
# "force-is-calculated-by-other" should be "false" for gliders and "true" for tow planes.
|
||||
# "mp-auto-connect-period" is only needed for tow planes and should be "1".
|
||||
#
|
||||
# IMPORTANT:
|
||||
# The hitch location is stored twice in the property tree (for tow force and for rope animation).
|
||||
# This is necessary to keep the towrope animation compatible to YASim-aircraft.
|
||||
# The hitch location for the tow force is stored in "fdm/jsbsim/external_reactions/hitch/location-x(yz)-in" and for the
|
||||
# animated towrope in "sim/hitches/aerotow(winch)/local-pos-x(yz)".
|
||||
# By default only values for the tow force location have to be defined. The values for the towrope location are set
|
||||
# automatically (decoupled-force-and-rope-locations is "false" by default).
|
||||
# It is feasible to use different locations for the force and rope. In order to do this, you have to set
|
||||
# "decoupled-force-and-rope-locations" to "true" and provide values for "sim/hitches/aerotow(winch)/local-pos-x(yz)".
|
||||
# Note that the frame of reference is different. Here the coordinates for the "YASim-System" are needed
|
||||
# (x points to the nose, y points to the left wing, z points upwards).
|
||||
|
||||
|
||||
# 4. Set optional properties:
|
||||
|
|
@ -193,7 +203,8 @@
|
|||
# </winch>
|
||||
# </hitches>
|
||||
#<sim>
|
||||
#
|
||||
|
||||
|
||||
# That's it!
|
||||
|
||||
|
||||
|
|
@ -243,7 +254,7 @@
|
|||
|
||||
# set defaults for properties that are NOT already defined
|
||||
|
||||
# yasim properties for aerotow (should be already defined for yasim aircrafts but not for JSBSim aircrafts
|
||||
# yasim properties for aerotow (should be already defined for yasim aircraft but not for JSBSim aircraft
|
||||
if (props.globals.getNode("sim/hitches/aerotow/broken") == nil )
|
||||
props.globals.getNode("sim/hitches/aerotow/broken", 1).setBoolValue(0);
|
||||
if (props.globals.getNode("sim/hitches/aerotow/force") == nil )
|
||||
|
|
@ -319,7 +330,7 @@
|
|||
props.globals.getNode("sim/hitches/aerotow/tow/mp_last_reported_dist", 1).setValue(0.);
|
||||
}
|
||||
|
||||
# yasim properties for winch (should be already defined for yasim aircrafts but not for JSBSim aircrafts
|
||||
# yasim properties for winch (should already be defined for yasim aircraft but not for JSBSim aircraft
|
||||
#if (props.globals.getNode("sim/hitches/winch/open") == nil )
|
||||
props.globals.getNode("sim/hitches/winch/open", 1).setBoolValue(1);
|
||||
if (props.globals.getNode("sim/hitches/winch/broken") == nil )
|
||||
|
|
@ -388,7 +399,20 @@
|
|||
props.globals.getNode("sim/hitches/winch/winch/magic-constant", 1).setValue(500.);
|
||||
}
|
||||
|
||||
|
||||
# new properties for JSBSim aerotow and winch
|
||||
if ( getprop("sim/flight-model") == "jsb" ) {
|
||||
if (props.globals.getNode("sim/hitches/aerotow/decoupled-force-and-rope-locations") == nil )
|
||||
props.globals.getNode("sim/hitches/aerotow/decoupled-force-and-rope-locations", 1).setBoolValue(0);
|
||||
if (props.globals.getNode("sim/hitches/winch/decoupled-force-and-rope-locations") == nil )
|
||||
props.globals.getNode("sim/hitches/winch/decoupled-force-and-rope-locations", 1).setBoolValue(0);
|
||||
# consider older JSBSim-versions which do NOT provide the locations of external_reactions in the property tree
|
||||
var hitchname_aerotow = getprop("sim/hitches/aerotow/force_name_jsbsim");
|
||||
var hitchname_winch = getprop("sim/hitches/winch/force_name_jsbsim");
|
||||
if (props.globals.getNode("fdm/jsbsim/external_reactions/" ~ hitchname_aerotow ~ "/location-x-in") == nil )
|
||||
props.globals.getNode("sim/hitches/aerotow/decoupled-force-and-rope-locations").setBoolValue(1);
|
||||
if (props.globals.getNode("fdm/jsbsim/external_reactions/" ~ hitchname_winch ~ "/location-x-in") == nil )
|
||||
props.globals.getNode("sim/hitches/winch/decoupled-force-and-rope-locations").setBoolValue(1);
|
||||
}
|
||||
|
||||
# ######################################################################################################################
|
||||
# main function
|
||||
|
|
@ -429,7 +453,7 @@ var towing = func {
|
|||
# setup ai-towrope
|
||||
createTowrope("aerotow");
|
||||
|
||||
# set default hitch coordinates (needed for Ai- and non-interactive MP aircrafts)
|
||||
# set default hitch coordinates (needed for Ai- and non-interactive MP aircraft)
|
||||
setAIObjectDefaults() ;
|
||||
}
|
||||
} # end hitch is closed
|
||||
|
|
@ -497,7 +521,7 @@ var towing = func {
|
|||
# setup ai-towrope
|
||||
createTowrope("winch");
|
||||
|
||||
# set default hitch coordinates (needed for Ai- and non-interactive MP aircrafts)
|
||||
# set default hitch coordinates (needed for Ai- and non-interactive MP aircraft)
|
||||
setAIObjectDefaults() ;
|
||||
}
|
||||
} # end hitch is closed
|
||||
|
|
@ -536,12 +560,7 @@ var findBestAIObject = func (){
|
|||
|
||||
# local variables
|
||||
var aiobjects = []; # keeps the ai-planes from the property tree
|
||||
var AI_id = 0; # id of towplane
|
||||
var callsign = 0; # callsign of towplane
|
||||
var aiPosition = geo.Coord.new(); # current processed ai-plane
|
||||
var lat_deg = 0; # latitude of current processed aiobject
|
||||
var lon_deg = 0; # longitude of current processed aiobject
|
||||
var alt_m = 0; # altitude of current processed aiobject
|
||||
var myPosition = geo.Coord.new(); # coordinates of glider
|
||||
var distance_m = 0; # distance to ai-plane
|
||||
|
||||
|
|
@ -553,7 +572,7 @@ var findBestAIObject = func (){
|
|||
var mp_open_last_state = 0;
|
||||
var isSlave = 0;
|
||||
|
||||
if ( getprop("sim/flight-model") == "yasim" ) return; # bypass this routine for Yasim-aircrafts
|
||||
if ( getprop("sim/flight-model") == "yasim" ) return; # bypass this routine for Yasim-aircraft
|
||||
|
||||
#print("findBestAIObject");
|
||||
|
||||
|
|
@ -583,13 +602,17 @@ var findBestAIObject = func (){
|
|||
if ( sprintf("%8s",node) == "aircraft" ) nodeIsAiAircraft = 1;
|
||||
if ( sprintf("%11s",node) == "multiplayer" ) nodeIsMpAircraft = 1;
|
||||
#print("found NodeName=",node," nodeIsAiAircraft=",nodeIsAiAircraft," nodeIsMpAircraft=",nodeIsMpAircraft );
|
||||
|
||||
if ( !nodeIsAiAircraft and !nodeIsMpAircraft ) continue;
|
||||
if ( !aimember.getNode("valid").getValue() ) continue; # node is invalid
|
||||
|
||||
if( running_as_autoconnect ) {
|
||||
if ( !nodeIsMpAircraft ) continue;
|
||||
if ( aimember.getValue("sim/hitches/aerotow/open") == 1 ) continue; # if mp hook open, auto-connect isn't possible
|
||||
if (mycallsign != aimember.getValue("sim/hitches/aerotow/tow/connected-to-ai-or-mp-callsign") ) continue ; # I'm the wrong one
|
||||
#if ( aimember.getValue("sim/hitches/aerotow/open") == nil ) continue; # this node MUST exist for mp-aircraft which want to be towed
|
||||
#if ( aimember.getValue("sim/hitches/aerotow/open") == 1 ) continue; # if mp hook open, auto-connect is NOT possible
|
||||
if ( aimember.getValue("sim/hitches/aerotow/open") != 0 ) continue;
|
||||
if (mycallsign != aimember.getValue("sim/hitches/aerotow/tow/connected-to-ai-or-mp-callsign") ) continue ; # I am the wrong one
|
||||
if ( !getprop("sim/hitches/aerotow/mp_oldOpen") ) continue; # this prevents an unwanted immediate auto-connect after the dragger
|
||||
# released its hitch. Firstly wait for a reported "open" hitch from glider
|
||||
}
|
||||
|
||||
var lat_deg = aimember.getNode("position/latitude-deg").getValue();
|
||||
|
|
@ -626,9 +649,9 @@ var findBestAIObject = func (){
|
|||
aimember.getNode("sim/hitches/aerotow/tow/dist",1).setValue(-1.);
|
||||
|
||||
found = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
} # end distance_m < bestdist_m
|
||||
} # end node != nil
|
||||
} # end loop aiobjects
|
||||
if (found) {
|
||||
if ( !running_as_autoconnect) {
|
||||
setprop("sim/messages/pilot", sprintf("%s, I am on your hook, distance %4.3f meter.",aicallsign,bestdist_m));
|
||||
|
|
@ -640,8 +663,7 @@ var findBestAIObject = func (){
|
|||
isSlave = 1;
|
||||
props.globals.getNode("sim/hitches/aerotow/is-slave").setBoolValue(isSlave);
|
||||
}
|
||||
# set the dist value to some value below the tow length (if not, the hitch would open the next calc force run
|
||||
distance_m = towlength_m * 0.5;
|
||||
|
||||
props.globals.getNode("sim/hitches/aerotow/mp_oldOpen").setBoolValue(1);
|
||||
|
||||
} # end: if found
|
||||
|
|
@ -649,6 +671,10 @@ var findBestAIObject = func (){
|
|||
if (!running_as_autoconnect) {
|
||||
setprop("sim/messages/atc", sprintf("Sorry, no aircraft for aerotow!"));
|
||||
}
|
||||
else{
|
||||
#print("auto-connect: found=0");
|
||||
props.globals.getNode("sim/hitches/aerotow/mp_oldOpen").setBoolValue(1);
|
||||
}
|
||||
}
|
||||
|
||||
} # End function findBestAIObject
|
||||
|
|
@ -680,6 +706,7 @@ var aerotow = func (open){
|
|||
var my_pitch_deg = getprop("orientation/pitch-deg");
|
||||
|
||||
# hook coordinates in Yasim-system (x-> nose / y -> left wing / z -> up)
|
||||
assignHitchLocations("aerotow");
|
||||
var x = getprop("sim/hitches/aerotow/local-pos-x");
|
||||
var y = getprop("sim/hitches/aerotow/local-pos-y");
|
||||
var z = getprop("sim/hitches/aerotow/local-pos-z");
|
||||
|
|
@ -700,28 +727,29 @@ var aerotow = func (open){
|
|||
|
||||
########################################### ai hitch position ############################################
|
||||
|
||||
var aiNodeID = getprop("sim/hitches/aerotow/tow/connected-to-ai-or-mp-id"); # id of former found ai/mp aircraft
|
||||
#var aiNodeID = getprop("sim/hitches/aerotow/tow/connected-to-ai-or-mp-id"); # id of former found ai/mp aircraft
|
||||
#print("aiNodeID=",aiNodeID);
|
||||
var aiCallsign = getprop("sim/hitches/aerotow/tow/connected-to-ai-or-mp-callsign"); # callsign of former found ai/mp aircraft
|
||||
|
||||
var found = 0;
|
||||
|
||||
aiobjects = props.globals.getNode("ai/models").getChildren();
|
||||
foreach (var aimember; aiobjects) {
|
||||
if ( (var c = aimember.getNode("id") ) != nil ) {
|
||||
var testprop = c.getValue();
|
||||
if ( testprop == aiNodeID) {
|
||||
# get coordinates
|
||||
var ai_lat = aimember.getNode("position/latitude-deg").getValue();
|
||||
var ai_lon = aimember.getNode("position/longitude-deg").getValue();
|
||||
var ai_alt = (aimember.getNode("position/altitude-ft").getValue()) * FT2M;
|
||||
#print("ai_lat,lon,alt",ai_lat,ai_lon,ai_alt);
|
||||
if ( !aimember.getNode("valid").getValue() ) continue; # node is invalid
|
||||
|
||||
var ai_pitch_deg = aimember.getNode("orientation/pitch-deg").getValue();
|
||||
var ai_roll_deg = aimember.getNode("orientation/roll-deg").getValue();
|
||||
var ai_head_deg = aimember.getNode("orientation/true-heading-deg").getValue();
|
||||
# Identifying the MP-aircraft by its node-id works fine with JSBSim-aircraft but NOT with YASim.
|
||||
# In YASim the node-id is not updated which could lead to complications (e.g. node-id changes after "Pause" or "Exit").
|
||||
#var testprop = c.getValue();
|
||||
#if ( testprop == aiNodeID) {
|
||||
|
||||
var aiHitchX = aimember.getNode("sim/hitches/aerotow/local-pos-x").getValue();
|
||||
var aiHitchY = aimember.getNode("sim/hitches/aerotow/local-pos-y").getValue();
|
||||
var aiHitchZ = aimember.getNode("sim/hitches/aerotow/local-pos-z").getValue();
|
||||
# Identifying the MP-aircraft by its callsign works fine with JSBSim AND YASim-aircraft
|
||||
var testprop = aimember.getNode("callsign").getValue();
|
||||
if ( testprop == aiCallsign ) {
|
||||
|
||||
found = found + 1;
|
||||
|
||||
###################### check status of ai hitch ######################
|
||||
if ( getprop("sim/flight-model") == "jsb" ) {
|
||||
# check if the multiplayer hitch state has changed
|
||||
# this trick avoids immediate opening after locking because MP-aircraft has not yet reported a locked hitch
|
||||
|
|
@ -738,6 +766,21 @@ var aerotow = func (open){
|
|||
} # end: state has changed
|
||||
} # end: node is available
|
||||
} #end : JSBSim
|
||||
########################################################################
|
||||
|
||||
# get coordinates
|
||||
var ai_lat = aimember.getNode("position/latitude-deg").getValue();
|
||||
var ai_lon = aimember.getNode("position/longitude-deg").getValue();
|
||||
var ai_alt = (aimember.getNode("position/altitude-ft").getValue()) * FT2M;
|
||||
#print("ai_lat,lon,alt",ai_lat,ai_lon,ai_alt);
|
||||
|
||||
var ai_pitch_deg = aimember.getNode("orientation/pitch-deg").getValue();
|
||||
var ai_roll_deg = aimember.getNode("orientation/roll-deg").getValue();
|
||||
var ai_head_deg = aimember.getNode("orientation/true-heading-deg").getValue();
|
||||
|
||||
var aiHitchX = aimember.getNode("sim/hitches/aerotow/local-pos-x").getValue();
|
||||
var aiHitchY = aimember.getNode("sim/hitches/aerotow/local-pos-y").getValue();
|
||||
var aiHitchZ = aimember.getNode("sim/hitches/aerotow/local-pos-z").getValue();
|
||||
|
||||
var aiPosition = geo.Coord.set_latlon( ai_lat, ai_lon, ai_alt );
|
||||
|
||||
|
|
@ -781,9 +824,9 @@ var aerotow = func (open){
|
|||
|
||||
############################################# calc forces ##################################################
|
||||
|
||||
# calc forces only for JSBSim-aircrafts
|
||||
# calc forces only for JSBSim-aircraft
|
||||
|
||||
# tow-end-forces must be reported in N to be consiststent to Yasim-aircrafts
|
||||
# tow-end-forces must be reported in N to be consiststent to Yasim-aircraft
|
||||
# hitch-forces must be LBS to be consistent to the JSBSim "external_forces/.../magnitude" definition
|
||||
|
||||
if ( getprop("sim/flight-model") == "jsb" ) {
|
||||
|
|
@ -799,7 +842,7 @@ var aerotow = func (open){
|
|||
# or the MP-aircraft is a non-interactive mp plane (mp_reported_dist = -1)
|
||||
# => update forces else use the old forces!
|
||||
|
||||
var breakforce_N = getprop("sim/hitches/aerotow/tow/brake-force"); # could be different in both aircrafts
|
||||
var breakforce_N = getprop("sim/hitches/aerotow/tow/brake-force"); # could be different in both aircraft
|
||||
|
||||
var isSlave = getprop("sim/hitches/aerotow/is-slave");
|
||||
if ( !isSlave ){ # if we are master, we have to calculate the forces
|
||||
|
|
@ -896,7 +939,7 @@ var aerotow = func (open){
|
|||
|
||||
############################################# report forces ##############################################
|
||||
|
||||
# if we are connected to an MP aircraft and master
|
||||
# if we are connected to a MP-aircraft and master
|
||||
var nodeIsMpAircraft = getprop("sim/hitches/aerotow/tow/connected-to-mp-node");
|
||||
if ( nodeIsMpAircraft and !isSlave ){
|
||||
#print("report Forces");
|
||||
|
|
@ -938,16 +981,21 @@ var aerotow = func (open){
|
|||
|
||||
|
||||
} # end: aiNodeID
|
||||
else{
|
||||
if ( !aimember.getNode("valid").getValue() ) { # MP-aircraft is accessable (node is valid)
|
||||
#print("MP-aircraft isn't valid!");
|
||||
props.globals.getNode("sim/hitches/aerotow/open").setBoolValue(1); # open my hitch
|
||||
setprop("sim/messages/atc", sprintf("MP-aircraft disappeared!" ));
|
||||
}
|
||||
}
|
||||
} # end: check id != nil
|
||||
} # end: loop over aiobjects
|
||||
|
||||
if ( found == 0 ) {
|
||||
if ( getprop("sim/flight-model") == "jsb" ) {
|
||||
setprop("sim/messages/atc", sprintf("MP-aircraft disappeared!" ));
|
||||
props.globals.getNode("sim/hitches/aerotow/open").setBoolValue(1); # open my hitch
|
||||
props.globals.getNode("sim/hitches/aerotow/tow/connected-to-ai-or-mp-id").setIntValue(0);
|
||||
props.globals.getNode("sim/hitches/aerotow/tow/connected-to-ai-or-mp-callsign").setValue("");
|
||||
props.globals.getNode("sim/hitches/aerotow/tow/connected-to-ai-node").setBoolValue(0);
|
||||
props.globals.getNode("sim/hitches/aerotow/tow/connected-to-mp-node").setBoolValue(0);
|
||||
props.globals.getNode("sim/hitches/aerotow/tow/connected-to-property-node").setBoolValue(0);
|
||||
}
|
||||
#if ( getprop("sim/flight-model") == "yasim" ) removeTowrope("aerotow"); # remove towrope model
|
||||
} # end found=0
|
||||
|
||||
} # end function aerotow
|
||||
|
||||
|
|
@ -974,6 +1022,7 @@ var winch = func (open){
|
|||
var my_pitch_deg = getprop("orientation/pitch-deg");
|
||||
|
||||
# hitch coordinates in YASim-system (x-> nose / y -> left wing / z -> up)
|
||||
assignHitchLocations("winch");
|
||||
var x = getprop("sim/hitches/winch/local-pos-x");
|
||||
var y = getprop("sim/hitches/winch/local-pos-y");
|
||||
var z = getprop("sim/hitches/winch/local-pos-z");
|
||||
|
|
@ -1036,9 +1085,9 @@ var winch = func (open){
|
|||
|
||||
############################################# calc forces ##################################################
|
||||
|
||||
# calc forces only for JSBSim-aircrafts
|
||||
# calc forces only for JSBSim-aircraft
|
||||
|
||||
# tow-end-forces must be reported in N to be consiststent to Yasim-aircrafts
|
||||
# tow-end-forces must be reported in N to be consiststent to Yasim-aircraft
|
||||
# hitch-forces must be LBS to be consistent to the JSBSim "external_forces/.../magnitude" definition
|
||||
|
||||
if ( getprop("sim/flight-model") == "jsb" ) {
|
||||
|
|
@ -1261,13 +1310,112 @@ var getFreeModelID = func {
|
|||
|
||||
|
||||
# ######################################################################################################################
|
||||
# close hitch
|
||||
# close aerotow hitch
|
||||
# ######################################################################################################################
|
||||
|
||||
var closeHitch = func {
|
||||
|
||||
#print("closeHitch");
|
||||
|
||||
# close only, if
|
||||
# - not yet closed
|
||||
# - connected to property-node
|
||||
# - distance < towrope length
|
||||
|
||||
var open = getprop("sim/hitches/aerotow/open");
|
||||
if ( !open ) return;
|
||||
|
||||
var aiNodeID = getprop("sim/hitches/aerotow/tow/connected-to-ai-or-mp-id"); # id of former found ai/mp aircraft
|
||||
if ( aiNodeID < 1 ) {
|
||||
setprop("sim/messages/atc", sprintf("No aircraft selected!"));
|
||||
return;
|
||||
}
|
||||
|
||||
##################################### calc distance between hitches ######################
|
||||
|
||||
###################### my hitch position #######################
|
||||
|
||||
myPosition = geo.aircraft_position();
|
||||
var my_head_deg = getprop("orientation/heading-deg");
|
||||
var my_roll_deg = getprop("orientation/roll-deg");
|
||||
var my_pitch_deg = getprop("orientation/pitch-deg");
|
||||
|
||||
# hook coordinates in Yasim-system (x-> nose / y -> left wing / z -> up)
|
||||
assignHitchLocations("aerotow");
|
||||
var x = getprop("sim/hitches/aerotow/local-pos-x");
|
||||
var y = getprop("sim/hitches/aerotow/local-pos-y");
|
||||
var z = getprop("sim/hitches/aerotow/local-pos-z");
|
||||
|
||||
var alpha_deg = my_roll_deg * (1.); # roll clockwise (looking in x-direction) := +
|
||||
var beta_deg = my_pitch_deg * (-1.); # pitch clockwise (looking in y-direction) := -
|
||||
|
||||
# transform hook coordinates
|
||||
var Xn = PointRotate3D(x:x,y:y,z:z,xr:0.,yr:0.,zr:0.,alpha_deg:alpha_deg,beta_deg:beta_deg,gamma_deg:0.);
|
||||
|
||||
var install_distance_m = Xn[0]; # in front of ref-point of glider
|
||||
var install_side_m = Xn[1];
|
||||
var install_alt_m = Xn[2];
|
||||
|
||||
var myHitch_pos = myPosition.apply_course_distance( my_head_deg , install_distance_m );
|
||||
var myHitch_pos = myPosition.apply_course_distance( my_head_deg - 90. , install_side_m );
|
||||
myHitch_pos.set_alt(myPosition.alt() + install_alt_m);
|
||||
|
||||
###################### ai hitch position #######################
|
||||
|
||||
var found = 0;
|
||||
|
||||
aiobjects = props.globals.getNode("ai/models").getChildren();
|
||||
foreach (var aimember; aiobjects) {
|
||||
if ( (var c = aimember.getNode("id") ) != nil ) {
|
||||
var testprop = c.getValue();
|
||||
if ( testprop == aiNodeID) {
|
||||
found = found + 1;
|
||||
|
||||
# get coordinates
|
||||
var ai_lat = aimember.getNode("position/latitude-deg").getValue();
|
||||
var ai_lon = aimember.getNode("position/longitude-deg").getValue();
|
||||
var ai_alt = (aimember.getNode("position/altitude-ft").getValue()) * FT2M;
|
||||
|
||||
var ai_pitch_deg = aimember.getNode("orientation/pitch-deg").getValue();
|
||||
var ai_roll_deg = aimember.getNode("orientation/roll-deg").getValue();
|
||||
var ai_head_deg = aimember.getNode("orientation/true-heading-deg").getValue();
|
||||
|
||||
var aiHitchX = aimember.getNode("sim/hitches/aerotow/local-pos-x").getValue();
|
||||
var aiHitchY = aimember.getNode("sim/hitches/aerotow/local-pos-y").getValue();
|
||||
var aiHitchZ = aimember.getNode("sim/hitches/aerotow/local-pos-z").getValue();
|
||||
|
||||
var aiPosition = geo.Coord.set_latlon( ai_lat, ai_lon, ai_alt );
|
||||
|
||||
var alpha_deg = ai_roll_deg * (1.);
|
||||
var beta_deg = ai_pitch_deg * (-1.);
|
||||
|
||||
# transform hook coordinates
|
||||
var Xn = PointRotate3D(x:aiHitchX,y:aiHitchY,z:aiHitchZ,xr:0.,yr:0.,zr:0.,alpha_deg:alpha_deg,beta_deg:beta_deg,gamma_deg:0.);
|
||||
|
||||
var install_distance_m = Xn[0]; # in front of ref-point of glider
|
||||
var install_side_m = Xn[1];
|
||||
var install_alt_m = Xn[2];
|
||||
|
||||
var aiHitch_pos = aiPosition.apply_course_distance( ai_head_deg , install_distance_m );
|
||||
var aiHitch_pos = aiPosition.apply_course_distance( ai_head_deg - 90. , install_side_m );
|
||||
aiHitch_pos.set_alt(aiPosition.alt() + install_alt_m);
|
||||
|
||||
var distance = (myHitch_pos.direct_distance_to(aiHitch_pos));
|
||||
|
||||
var towlength_m = props.globals.getNode("sim/hitches/aerotow/tow/length").getValue();
|
||||
if ( distance > towlength_m ) {
|
||||
var aicallsign = getprop("sim/hitches/aerotow/tow/connected-to-ai-or-mp-callsign");
|
||||
#setprop("sim/messages/atc", sprintf("Aircraft with callsign %s is too far away (distance is %4.0f meter).",aicallsign, distance));
|
||||
setprop("sim/messages/atc", sprintf("Selected aircraft is too far away (distance to %s is %4.0f meter).",aicallsign, distance));
|
||||
return;
|
||||
}
|
||||
|
||||
setprop("sim/hitches/aerotow/tow/dist", distance);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
setprop("sim/hitches/aerotow/open", "false");
|
||||
setprop("sim/hitches/aerotow/mp_oldOpen", "true");
|
||||
|
||||
|
|
@ -1282,7 +1430,7 @@ var releaseHitch = func (device){
|
|||
|
||||
#print("releaseHitch");
|
||||
|
||||
if ( getprop("sim/flight-model") == "yasim" ) return; # bypass this routine for Yasim-aircrafts
|
||||
if ( getprop("sim/flight-model") == "yasim" ) return; # bypass this routine for Yasim-aircraft
|
||||
|
||||
setprop("sim/hitches/" ~ device ~ "/open", "true");
|
||||
|
||||
|
|
@ -1503,6 +1651,35 @@ var releaseWinch = func {
|
|||
} # End function releaseWinch
|
||||
|
||||
|
||||
# ######################################################################################################################
|
||||
# assignHitchLocations
|
||||
# ######################################################################################################################
|
||||
|
||||
var assignHitchLocations = func (device){
|
||||
|
||||
if ( getprop("sim/flight-model") == "yasim" ) return; # bypass this routine for Yasim-aircraft
|
||||
|
||||
if ( getprop("sim/hitches/" ~ device ~ "/decoupled-force-and-rope-locations") ) return; # bypass this routine
|
||||
|
||||
#print("assignHitchLocations");
|
||||
|
||||
var in2m = 0.0254;
|
||||
|
||||
var hitchname = getprop("sim/hitches/" ~ device ~ "/force_name_jsbsim");
|
||||
|
||||
# location-x(yz)-in: JSBSim Structural Frame: x points to tail, y points to right wing, z points upward
|
||||
# local-pos-x(yz): YaSim frame: x points to nose, y points to left wing, z points upward
|
||||
|
||||
setprop("sim/hitches/" ~ device ~ "/local-pos-x",
|
||||
- getprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/location-x-in") * in2m );
|
||||
setprop("sim/hitches/" ~ device ~ "/local-pos-y",
|
||||
- getprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/location-y-in") * in2m );
|
||||
setprop("sim/hitches/" ~ device ~ "/local-pos-z",
|
||||
getprop("fdm/jsbsim/external_reactions/" ~ hitchname ~ "/location-z-in") * in2m );
|
||||
|
||||
} # End function assignHitchLocations
|
||||
|
||||
|
||||
# ######################################################################################################################
|
||||
# point transformation
|
||||
# ######################################################################################################################
|
||||
|
|
@ -1644,5 +1821,5 @@ var PointRotate3D = func (x,y,z,xr,yr,zr,alpha_deg,beta_deg,gamma_deg){
|
|||
# - pull in towrope: take sink rate of rope into account
|
||||
# - dynamic ID for ai-rope-model
|
||||
#
|
||||
# Please contact D-NXKT at yahoo.de for bug-reports, suggestions, ...
|
||||
# Please contact D_NXKT at yahoo.de for bug-reports, suggestions, ...
|
||||
#
|
||||
Loading…
Reference in a new issue