1998-10-17 00:43:58 +00:00
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// LaRCsim.cxx -- interface to the LaRCsim flight model
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//
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// Written by Curtis Olson, started October 1998.
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//
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// Copyright (C) 1998 Curtis L. Olson - curt@me.umn.edu
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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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// (Log is kept at end of this file)
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#include "LaRCsim.hxx"
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#include <Aircraft/aircraft.hxx>
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1998-10-17 01:33:52 +00:00
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#include <Controls/controls.hxx>
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1998-10-17 00:43:58 +00:00
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#include <Flight/flight.hxx>
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#include <Flight/LaRCsim/ls_cockpit.h>
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#include <Flight/LaRCsim/ls_generic.h>
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#include <Flight/LaRCsim/ls_interface.h>
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// Initialize the LaRCsim flight model, dt is the time increment for
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// each subsequent iteration through the EOM
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int fgLaRCsimInit(double dt) {
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ls_toplevel_init(dt);
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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 fgLaRCsimUpdate(fgFLIGHT *f, int multiloop) {
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double save_alt = 0.0;
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// lets try to avoid really screwing up the LaRCsim model
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if ( FG_Altitude < -9000 ) {
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save_alt = FG_Altitude;
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FG_Altitude = 0;
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}
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// translate FG to LaRCsim structure
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fgFlight_2_LaRCsim(f);
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// printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
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// printf("Altitude = %.2f\n", Altitude * 0.3048);
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// printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
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ls_update(multiloop);
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// printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
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// printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
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// translate LaRCsim back to FG structure so that the
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// autopilot (and the rest of the sim can use the updated
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// values
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fgLaRCsim_2_Flight(f);
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// but lets restore our original bogus altitude when we are done
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if ( save_alt < -9000 ) {
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FG_Altitude = save_alt;
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}
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return 1;
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}
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// Convert from the fgFLIGHT struct to the LaRCsim generic_ struct
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int fgFlight_2_LaRCsim (fgFLIGHT *f) {
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1998-10-17 01:33:52 +00:00
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fgCONTROLS *c;
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c = current_aircraft.controls;
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Lat_control = FG_Aileron;
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Long_control = FG_Elevator;
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Long_trim = FG_Elev_Trim;
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Rudder_pedal = FG_Rudder;
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Throttle_pct = FG_Throttle[0];
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Brake_pct = FG_Brake_Amt;
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1998-10-17 00:43:58 +00:00
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Mass = FG_Mass;
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I_xx = FG_I_xx;
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I_yy = FG_I_yy;
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I_zz = FG_I_zz;
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I_xz = FG_I_xz;
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Dx_pilot = FG_Dx_pilot;
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Dy_pilot = FG_Dy_pilot;
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Dz_pilot = FG_Dz_pilot;
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Dx_cg = FG_Dx_cg;
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Dy_cg = FG_Dy_cg;
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Dz_cg = FG_Dz_cg;
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F_X = FG_F_X;
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F_Y = FG_F_Y;
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F_Z = FG_F_Z;
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F_north = FG_F_north;
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F_east = FG_F_east;
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F_down = FG_F_down;
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F_X_aero = FG_F_X_aero;
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F_Y_aero = FG_F_Y_aero;
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F_Z_aero = FG_F_Z_aero;
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F_X_engine = FG_F_X_engine;
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F_Y_engine = FG_F_Y_engine;
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F_Z_engine = FG_F_Z_engine;
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F_X_gear = FG_F_X_gear;
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F_Y_gear = FG_F_Y_gear;
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F_Z_gear = FG_F_Z_gear;
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M_l_rp = FG_M_l_rp;
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M_m_rp = FG_M_m_rp;
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M_n_rp = FG_M_n_rp;
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M_l_cg = FG_M_l_cg;
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M_m_cg = FG_M_m_cg;
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M_n_cg = FG_M_n_cg;
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M_l_aero = FG_M_l_aero;
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M_m_aero = FG_M_m_aero;
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M_n_aero = FG_M_n_aero;
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M_l_engine = FG_M_l_engine;
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M_m_engine = FG_M_m_engine;
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M_n_engine = FG_M_n_engine;
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M_l_gear = FG_M_l_gear;
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M_m_gear = FG_M_m_gear;
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M_n_gear = FG_M_n_gear;
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V_dot_north = FG_V_dot_north;
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V_dot_east = FG_V_dot_east;
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V_dot_down = FG_V_dot_down;
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U_dot_body = FG_U_dot_body;
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V_dot_body = FG_V_dot_body;
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W_dot_body = FG_W_dot_body;
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A_X_cg = FG_A_X_cg;
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A_Y_cg = FG_A_Y_cg;
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A_Z_cg = FG_A_Z_cg;
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A_X_pilot = FG_A_X_pilot;
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A_Y_pilot = FG_A_Y_pilot;
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A_Z_pilot = FG_A_Z_pilot;
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N_X_cg = FG_N_X_cg;
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N_Y_cg = FG_N_Y_cg;
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N_Z_cg = FG_N_Z_cg;
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N_X_pilot = FG_N_X_pilot;
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N_Y_pilot = FG_N_Y_pilot;
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N_Z_pilot = FG_N_Z_pilot;
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P_dot_body = FG_P_dot_body;
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Q_dot_body = FG_Q_dot_body;
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R_dot_body = FG_R_dot_body;
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V_north = FG_V_north;
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V_east = FG_V_east;
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V_down = FG_V_down;
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V_north_rel_ground = FG_V_north_rel_ground;
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V_east_rel_ground = FG_V_east_rel_ground;
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V_down_rel_ground = FG_V_down_rel_ground;
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V_north_airmass = FG_V_north_airmass;
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V_east_airmass = FG_V_east_airmass;
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V_down_airmass = FG_V_down_airmass;
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V_north_rel_airmass = FG_V_north_rel_airmass;
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V_east_rel_airmass = FG_V_east_rel_airmass;
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V_down_rel_airmass = FG_V_down_rel_airmass;
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U_gust = FG_U_gust;
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V_gust = FG_V_gust;
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W_gust = FG_W_gust;
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U_body = FG_U_body;
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V_body = FG_V_body;
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W_body = FG_W_body;
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V_rel_wind = FG_V_rel_wind;
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V_true_kts = FG_V_true_kts;
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V_rel_ground = FG_V_rel_ground;
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V_inertial = FG_V_inertial;
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V_ground_speed = FG_V_ground_speed;
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V_equiv = FG_V_equiv;
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V_equiv_kts = FG_V_equiv_kts;
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V_calibrated = FG_V_calibrated;
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V_calibrated_kts = FG_V_calibrated_kts;
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P_body = FG_P_body;
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Q_body = FG_Q_body;
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R_body = FG_R_body;
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P_local = FG_P_local;
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Q_local = FG_Q_local;
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R_local = FG_R_local;
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P_total = FG_P_total;
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Q_total = FG_Q_total;
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R_total = FG_R_total;
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Phi_dot = FG_Phi_dot;
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Theta_dot = FG_Theta_dot;
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Psi_dot = FG_Psi_dot;
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Latitude_dot = FG_Latitude_dot;
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Longitude_dot = FG_Longitude_dot;
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Radius_dot = FG_Radius_dot;
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Lat_geocentric = FG_Lat_geocentric;
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Lon_geocentric = FG_Lon_geocentric;
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Radius_to_vehicle = FG_Radius_to_vehicle;
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Latitude = FG_Latitude;
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Longitude = FG_Longitude;
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Altitude = FG_Altitude;
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Phi = FG_Phi;
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Theta = FG_Theta;
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Psi = FG_Psi;
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T_local_to_body_11 = FG_T_local_to_body_11;
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T_local_to_body_12 = FG_T_local_to_body_12;
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T_local_to_body_13 = FG_T_local_to_body_13;
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T_local_to_body_21 = FG_T_local_to_body_21;
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T_local_to_body_22 = FG_T_local_to_body_22;
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T_local_to_body_23 = FG_T_local_to_body_23;
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T_local_to_body_31 = FG_T_local_to_body_31;
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T_local_to_body_32 = FG_T_local_to_body_32;
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T_local_to_body_33 = FG_T_local_to_body_33;
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Gravity = FG_Gravity;
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Centrifugal_relief = FG_Centrifugal_relief;
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Alpha = FG_Alpha;
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Beta = FG_Beta;
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Alpha_dot = FG_Alpha_dot;
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Beta_dot = FG_Beta_dot;
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Cos_alpha = FG_Cos_alpha;
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Sin_alpha = FG_Sin_alpha;
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Cos_beta = FG_Cos_beta;
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Sin_beta = FG_Sin_beta;
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Cos_phi = FG_Cos_phi;
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Sin_phi = FG_Sin_phi;
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Cos_theta = FG_Cos_theta;
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Sin_theta = FG_Sin_theta;
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Cos_psi = FG_Cos_psi;
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Sin_psi = FG_Sin_psi;
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Gamma_vert_rad = FG_Gamma_vert_rad;
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Gamma_horiz_rad = FG_Gamma_horiz_rad;
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Sigma = FG_Sigma;
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Density = FG_Density;
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V_sound = FG_V_sound;
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Mach_number = FG_Mach_number;
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Static_pressure = FG_Static_pressure;
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Total_pressure = FG_Total_pressure;
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Impact_pressure = FG_Impact_pressure;
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Dynamic_pressure = FG_Dynamic_pressure;
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Static_temperature = FG_Static_temperature;
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Total_temperature = FG_Total_temperature;
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Sea_level_radius = FG_Sea_level_radius;
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Earth_position_angle = FG_Earth_position_angle;
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Runway_altitude = FG_Runway_altitude;
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Runway_latitude = FG_Runway_latitude;
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Runway_longitude = FG_Runway_longitude;
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Runway_heading = FG_Runway_heading;
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Radius_to_rwy = FG_Radius_to_rwy;
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D_cg_north_of_rwy = FG_D_cg_north_of_rwy;
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D_cg_east_of_rwy = FG_D_cg_east_of_rwy;
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D_cg_above_rwy = FG_D_cg_above_rwy;
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X_cg_rwy = FG_X_cg_rwy;
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Y_cg_rwy = FG_Y_cg_rwy;
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H_cg_rwy = FG_H_cg_rwy;
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D_pilot_north_of_rwy = FG_D_pilot_north_of_rwy;
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D_pilot_east_of_rwy = FG_D_pilot_east_of_rwy;
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D_pilot_above_rwy = FG_D_pilot_above_rwy;
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X_pilot_rwy = FG_X_pilot_rwy;
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Y_pilot_rwy = FG_Y_pilot_rwy;
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H_pilot_rwy = FG_H_pilot_rwy;
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return( 0 );
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}
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// Convert from the LaRCsim generic_ struct to the fgFLIGHT struct
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int fgLaRCsim_2_Flight (fgFLIGHT *f) {
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FG_Mass = Mass;
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FG_I_xx = I_xx;
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FG_I_yy = I_yy;
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FG_I_zz = I_zz;
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FG_I_xz = I_xz;
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FG_Dx_pilot = Dx_pilot;
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FG_Dy_pilot = Dy_pilot;
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FG_Dz_pilot = Dz_pilot;
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FG_Dx_cg = Dx_cg;
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FG_Dy_cg = Dy_cg;
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FG_Dz_cg = Dz_cg;
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|
FG_F_X = F_X;
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|
FG_F_Y = F_Y;
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|
FG_F_Z = F_Z;
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FG_F_north = F_north;
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FG_F_east = F_east;
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FG_F_down = F_down;
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|
FG_F_X_aero = F_X_aero;
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|
FG_F_Y_aero = F_Y_aero;
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|
FG_F_Z_aero = F_Z_aero;
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|
FG_F_X_engine = F_X_engine;
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|
FG_F_Y_engine = F_Y_engine;
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FG_F_Z_engine = F_Z_engine;
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FG_F_X_gear = F_X_gear;
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FG_F_Y_gear = F_Y_gear;
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FG_F_Z_gear = F_Z_gear;
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FG_M_l_rp = M_l_rp;
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FG_M_m_rp = M_m_rp;
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FG_M_n_rp = M_n_rp;
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FG_M_l_cg = M_l_cg;
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FG_M_m_cg = M_m_cg;
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FG_M_n_cg = M_n_cg;
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FG_M_l_aero = M_l_aero;
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FG_M_m_aero = M_m_aero;
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FG_M_n_aero = M_n_aero;
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FG_M_l_engine = M_l_engine;
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FG_M_m_engine = M_m_engine;
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FG_M_n_engine = M_n_engine;
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FG_M_l_gear = M_l_gear;
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FG_M_m_gear = M_m_gear;
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FG_M_n_gear = M_n_gear;
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FG_V_dot_north = V_dot_north;
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FG_V_dot_east = V_dot_east;
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FG_V_dot_down = V_dot_down;
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FG_U_dot_body = U_dot_body;
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|
FG_V_dot_body = V_dot_body;
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|
FG_W_dot_body = W_dot_body;
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|
FG_A_X_cg = A_X_cg;
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FG_A_Y_cg = A_Y_cg;
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|
FG_A_Z_cg = A_Z_cg;
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|
FG_A_X_pilot = A_X_pilot;
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|
FG_A_Y_pilot = A_Y_pilot;
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|
FG_A_Z_pilot = A_Z_pilot;
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|
|
FG_N_X_cg = N_X_cg;
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|
FG_N_Y_cg = N_Y_cg;
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|
FG_N_Z_cg = N_Z_cg;
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|
FG_N_X_pilot = N_X_pilot;
|
|
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|
|
FG_N_Y_pilot = N_Y_pilot;
|
|
|
|
|
FG_N_Z_pilot = N_Z_pilot;
|
|
|
|
|
FG_P_dot_body = P_dot_body;
|
|
|
|
|
FG_Q_dot_body = Q_dot_body;
|
|
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|
|
FG_R_dot_body = R_dot_body;
|
|
|
|
|
FG_V_north = V_north;
|
|
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|
|
FG_V_east = V_east;
|
|
|
|
|
FG_V_down = V_down;
|
|
|
|
|
FG_V_north_rel_ground = V_north_rel_ground;
|
|
|
|
|
FG_V_east_rel_ground = V_east_rel_ground;
|
|
|
|
|
FG_V_down_rel_ground = V_down_rel_ground;
|
|
|
|
|
FG_V_north_airmass = V_north_airmass;
|
|
|
|
|
FG_V_east_airmass = V_east_airmass;
|
|
|
|
|
FG_V_down_airmass = V_down_airmass;
|
|
|
|
|
FG_V_north_rel_airmass = V_north_rel_airmass;
|
|
|
|
|
FG_V_east_rel_airmass = V_east_rel_airmass;
|
|
|
|
|
FG_V_down_rel_airmass = V_down_rel_airmass;
|
|
|
|
|
FG_U_gust = U_gust;
|
|
|
|
|
FG_V_gust = V_gust;
|
|
|
|
|
FG_W_gust = W_gust;
|
|
|
|
|
FG_U_body = U_body;
|
|
|
|
|
FG_V_body = V_body;
|
|
|
|
|
FG_W_body = W_body;
|
|
|
|
|
FG_V_rel_wind = V_rel_wind;
|
|
|
|
|
FG_V_true_kts = V_true_kts;
|
|
|
|
|
FG_V_rel_ground = V_rel_ground;
|
|
|
|
|
FG_V_inertial = V_inertial;
|
|
|
|
|
FG_V_ground_speed = V_ground_speed;
|
|
|
|
|
FG_V_equiv = V_equiv;
|
|
|
|
|
FG_V_equiv_kts = V_equiv_kts;
|
|
|
|
|
FG_V_calibrated = V_calibrated;
|
|
|
|
|
FG_V_calibrated_kts = V_calibrated_kts;
|
|
|
|
|
FG_P_body = P_body;
|
|
|
|
|
FG_Q_body = Q_body;
|
|
|
|
|
FG_R_body = R_body;
|
|
|
|
|
FG_P_local = P_local;
|
|
|
|
|
FG_Q_local = Q_local;
|
|
|
|
|
FG_R_local = R_local;
|
|
|
|
|
FG_P_total = P_total;
|
|
|
|
|
FG_Q_total = Q_total;
|
|
|
|
|
FG_R_total = R_total;
|
|
|
|
|
FG_Phi_dot = Phi_dot;
|
|
|
|
|
FG_Theta_dot = Theta_dot;
|
|
|
|
|
FG_Psi_dot = Psi_dot;
|
|
|
|
|
FG_Latitude_dot = Latitude_dot;
|
|
|
|
|
FG_Longitude_dot = Longitude_dot;
|
|
|
|
|
FG_Radius_dot = Radius_dot;
|
|
|
|
|
FG_Lat_geocentric = Lat_geocentric;
|
|
|
|
|
FG_Lon_geocentric = Lon_geocentric;
|
|
|
|
|
FG_Radius_to_vehicle = Radius_to_vehicle;
|
|
|
|
|
FG_Latitude = Latitude;
|
|
|
|
|
FG_Longitude = Longitude;
|
|
|
|
|
FG_Altitude = Altitude;
|
|
|
|
|
FG_Phi = Phi;
|
|
|
|
|
FG_Theta = Theta;
|
|
|
|
|
FG_Psi = Psi;
|
|
|
|
|
FG_T_local_to_body_11 = T_local_to_body_11;
|
|
|
|
|
FG_T_local_to_body_12 = T_local_to_body_12;
|
|
|
|
|
FG_T_local_to_body_13 = T_local_to_body_13;
|
|
|
|
|
FG_T_local_to_body_21 = T_local_to_body_21;
|
|
|
|
|
FG_T_local_to_body_22 = T_local_to_body_22;
|
|
|
|
|
FG_T_local_to_body_23 = T_local_to_body_23;
|
|
|
|
|
FG_T_local_to_body_31 = T_local_to_body_31;
|
|
|
|
|
FG_T_local_to_body_32 = T_local_to_body_32;
|
|
|
|
|
FG_T_local_to_body_33 = T_local_to_body_33;
|
|
|
|
|
FG_Gravity = Gravity;
|
|
|
|
|
FG_Centrifugal_relief = Centrifugal_relief;
|
|
|
|
|
FG_Alpha = Alpha;
|
|
|
|
|
FG_Beta = Beta;
|
|
|
|
|
FG_Alpha_dot = Alpha_dot;
|
|
|
|
|
FG_Beta_dot = Beta_dot;
|
|
|
|
|
FG_Cos_alpha = Cos_alpha;
|
|
|
|
|
FG_Sin_alpha = Sin_alpha;
|
|
|
|
|
FG_Cos_beta = Cos_beta;
|
|
|
|
|
FG_Sin_beta = Sin_beta;
|
|
|
|
|
FG_Cos_phi = Cos_phi;
|
|
|
|
|
FG_Sin_phi = Sin_phi;
|
|
|
|
|
FG_Cos_theta = Cos_theta;
|
|
|
|
|
FG_Sin_theta = Sin_theta;
|
|
|
|
|
FG_Cos_psi = Cos_psi;
|
|
|
|
|
FG_Sin_psi = Sin_psi;
|
|
|
|
|
FG_Gamma_vert_rad = Gamma_vert_rad;
|
|
|
|
|
FG_Gamma_horiz_rad = Gamma_horiz_rad;
|
|
|
|
|
FG_Sigma = Sigma;
|
|
|
|
|
FG_Density = Density;
|
|
|
|
|
FG_V_sound = V_sound;
|
|
|
|
|
FG_Mach_number = Mach_number;
|
|
|
|
|
FG_Static_pressure = Static_pressure;
|
|
|
|
|
FG_Total_pressure = Total_pressure;
|
|
|
|
|
FG_Impact_pressure = Impact_pressure;
|
|
|
|
|
FG_Dynamic_pressure = Dynamic_pressure;
|
|
|
|
|
FG_Static_temperature = Static_temperature;
|
|
|
|
|
FG_Total_temperature = Total_temperature;
|
|
|
|
|
FG_Sea_level_radius = Sea_level_radius;
|
|
|
|
|
FG_Earth_position_angle = Earth_position_angle;
|
|
|
|
|
FG_Runway_altitude = Runway_altitude;
|
|
|
|
|
FG_Runway_latitude = Runway_latitude;
|
|
|
|
|
FG_Runway_longitude = Runway_longitude;
|
|
|
|
|
FG_Runway_heading = Runway_heading;
|
|
|
|
|
FG_Radius_to_rwy = Radius_to_rwy;
|
|
|
|
|
FG_D_cg_north_of_rwy = D_cg_north_of_rwy;
|
|
|
|
|
FG_D_cg_east_of_rwy = D_cg_east_of_rwy;
|
|
|
|
|
FG_D_cg_above_rwy = D_cg_above_rwy;
|
|
|
|
|
FG_X_cg_rwy = X_cg_rwy;
|
|
|
|
|
FG_Y_cg_rwy = Y_cg_rwy;
|
|
|
|
|
FG_H_cg_rwy = H_cg_rwy;
|
|
|
|
|
FG_D_pilot_north_of_rwy = D_pilot_north_of_rwy;
|
|
|
|
|
FG_D_pilot_east_of_rwy = D_pilot_east_of_rwy;
|
|
|
|
|
FG_D_pilot_above_rwy = D_pilot_above_rwy;
|
|
|
|
|
FG_X_pilot_rwy = X_pilot_rwy;
|
|
|
|
|
FG_Y_pilot_rwy = Y_pilot_rwy;
|
|
|
|
|
FG_H_pilot_rwy = H_pilot_rwy;
|
|
|
|
|
|
|
|
|
|
return ( 0 );
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
// $Log$
|
1998-10-17 01:33:52 +00:00
|
|
|
// Revision 1.2 1998/10/17 01:34:11 curt
|
|
|
|
|
// C++ ifying ...
|
|
|
|
|
//
|
1998-10-17 00:43:58 +00:00
|
|
|
// Revision 1.1 1998/10/17 00:43:58 curt
|
|
|
|
|
// Initial revision.
|
|
|
|
|
//
|
|
|
|
|
//
|
