85 lines
2.7 KiB
C++
85 lines
2.7 KiB
C++
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// MagicCarpet.cxx -- interface to the "Magic Carpet" flight model
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//
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// Written by Curtis Olson, started October 1999.
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//
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// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#include <Controls/controls.hxx>
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#include <Main/options.hxx>
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#include <Math/fg_geodesy.hxx>
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#include <Math/point3d.hxx>
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#include <Math/polar3d.hxx>
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#include "MagicCarpet.hxx"
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// Initialize the Magic Carpet flight model, dt is the time increment
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// for each subsequent iteration through the EOM
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int FGMagicCarpet::init( double dt ) {
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// set valid time for this record
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stamp_time();
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return 1;
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}
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// Run an iteration of the EOM (equations of motion)
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int FGMagicCarpet::update( int multiloop ) {
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// cout << "FGLaRCsim::update()" << endl;
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double time_step = (1.0 / current_options.get_model_hz()) * multiloop;
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// speed and distance traveled
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double speed = controls.get_throttle( 0 ) * 2000; // meters/sec
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double dist = speed * time_step;
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double kts = speed * METER_TO_NM * 3600.0;
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set_V_equiv_kts( kts );
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set_V_ground_speed( kts );
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// angle of turn
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double turn_rate = controls.get_aileron() * FG_PI_4; // radians/sec
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double turn = turn_rate * time_step;
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// update euler angles
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set_Euler_Angles( get_Phi(), get_Theta(), fmod(get_Psi() + turn, FG_2PI) );
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// update (lon/lat) position
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Point3D start( get_Longitude(), get_Latitude(), 0.0 );
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Point3D end = calc_lon_lat( start, -get_Psi(), dist );
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set_Longitude( end.x() );
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set_Latitude( end.y() );
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double sl_radius, lat_geoc;
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fgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc );
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// update altitude
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double real_climb_rate = -controls.get_elevator() * 5000; // feet/sec
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set_Climb_Rate( real_climb_rate / 500.0 );
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double climb = real_climb_rate * time_step;
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set_Geocentric_Position( lat_geoc, get_Longitude(),
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sl_radius + get_Altitude() + climb );
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set_Geodetic_Position( end.y(), end.x(),
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get_Altitude() + climb );
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return 1;
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}
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