96 lines
3 KiB
C++
96 lines
3 KiB
C++
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// ACMS.cxx -- interface to the ACMS FDM
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//
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// Written by Erik Hofman, started October 2004
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//
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// Copyright (C) 2004 Erik Hofman <erik@ehofman.com>
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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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#include <simgear/math/sg_geodesy.hxx>
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#include <Main/fg_props.hxx>
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#include "ACMS.hxx"
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FGACMS::FGACMS( double dt )
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{
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// set_delta_t( dt );
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}
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FGACMS::~FGACMS() {
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}
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// Initialize the ACMSFDM flight model, dt is the time increment
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// for each subsequent iteration through the EOM
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void FGACMS::init() {
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common_init();
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}
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// Run an iteration of the EOM (equations of motion)
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void FGACMS::update( double dt ) {
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double pitch = get_Theta();
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double roll = get_Phi();
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double heading = get_Psi() * SG_DEGREES_TO_RADIANS;
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double alt = get_Altitude();
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double sl_radius, lat_geoc;
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sgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc );
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double lon_acc = get_V_north();
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double lat_acc = get_V_east();
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double vert_acc = get_V_down();
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double accel_heading = atan( lon_acc/lat_acc );
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double accel_pitch = atan( vert_acc/accel_heading );
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double accel = sqrt(sqrt(lon_acc*lon_acc + lat_acc*lat_acc)
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+ vert_acc*vert_acc);
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double velocity = get_V_true_kts() * accel / (SG_METER_TO_NM * 3600.0);
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double speed = cos (pitch) * velocity; // meters/sec
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double dist = speed * dt;
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double kts = velocity * 6076.11549 * 3600.0;
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double climb_rate = fgGetDouble("/velocities/climb-rate", 0);
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double climb = climb_rate * dt;
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_set_Alpha( pitch - accel_pitch);
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_set_Beta( heading - accel_heading);
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_set_Climb_Rate( climb_rate );
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_set_V_equiv_kts( kts );
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_set_V_calibrated_kts( kts );
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_set_V_ground_speed( kts );
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_set_Altitude( get_Altitude() + climb );
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// update (lon/lat) position
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double lat2, lon2, az2;
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geo_direct_wgs_84 ( get_Altitude(),
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get_Latitude() * SGD_RADIANS_TO_DEGREES,
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get_Longitude() * SGD_RADIANS_TO_DEGREES,
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get_Psi() * SGD_RADIANS_TO_DEGREES,
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dist, &lat2, &lon2, &az2 );
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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_Sea_level_radius( sl_radius * SG_METER_TO_FEET);
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_set_Longitude( lon2 * SGD_DEGREES_TO_RADIANS );
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_set_Latitude( lat2 * SGD_DEGREES_TO_RADIANS );
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}
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