flightgear/FDM/LaRCsim.cxx

// LaRCsim.cxx -- interface to the LaRCsim flight model
//
// Written by Curtis Olson, started October 1998.
//
// Copyright (C) 1998  Curtis L. Olson  - curt@me.umn.edu
//
// 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)


#include "LaRCsim.hxx"

#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
#include <Flight/flight.hxx>
#include <Flight/LaRCsim/ls_cockpit.h>
#include <Flight/LaRCsim/ls_generic.h>
#include <Flight/LaRCsim/ls_interface.h>


// Initialize the LaRCsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
int fgLaRCsimInit(double dt) {
    ls_toplevel_init(dt);

    return(1);
}


// Run an iteration of the EOM (equations of motion)
int fgLaRCsimUpdate(fgFLIGHT& f, int multiloop) {
    double save_alt = 0.0;

    // lets try to avoid really screwing up the LaRCsim model
    if ( f.get_Altitude() < -9000 ) {
	save_alt = f.get_Altitude();
	f.set_Altitude( 0.0 );
    }

    // translate FG to LaRCsim structure
    fgFlight_2_LaRCsim(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);

    ls_update(multiloop);

    // printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
    // printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
    
    // translate LaRCsim back to FG structure so that the
    // autopilot (and the rest of the sim can use the updated
    // values
    fgLaRCsim_2_Flight(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 fgFLIGHT struct to the LaRCsim generic_ struct
int fgFlight_2_LaRCsim (fgFLIGHT& f) {

    Lat_control = controls.get_aileron();
    Long_control = controls.get_elevator();
    Long_trim = controls.get_elevator_trim();
    Rudder_pedal = controls.get_rudder();
    Throttle_pct = controls.get_throttle( 0 );
    Brake_pct = controls.get_brake( 0 );

    Mass =      f.get_Mass();
    I_xx =      f.get_I_xx();
    I_yy =      f.get_I_yy();
    I_zz =      f.get_I_zz();
    I_xz =      f.get_I_xz();
    Dx_pilot =  f.get_Dx_pilot();
    Dy_pilot =  f.get_Dy_pilot();
    Dz_pilot =  f.get_Dz_pilot();
    Dx_cg =     f.get_Dx_cg();
    Dy_cg =     f.get_Dy_cg();
    Dz_cg =     f.get_Dz_cg();
    F_X =       f.get_F_X();
    F_Y =       f.get_F_Y();
    F_Z =       f.get_F_Z();
    F_north =   f.get_F_north();
    F_east =    f.get_F_east();
    F_down =    f.get_F_down();
    F_X_aero =  f.get_F_X_aero();
    F_Y_aero =  f.get_F_Y_aero();
    F_Z_aero =  f.get_F_Z_aero();
    F_X_engine =        f.get_F_X_engine();
    F_Y_engine =        f.get_F_Y_engine();
    F_Z_engine =        f.get_F_Z_engine();
    F_X_gear =  f.get_F_X_gear();
    F_Y_gear =  f.get_F_Y_gear();
    F_Z_gear =  f.get_F_Z_gear();
    M_l_rp =    f.get_M_l_rp();
    M_m_rp =    f.get_M_m_rp();
    M_n_rp =    f.get_M_n_rp();
    M_l_cg =    f.get_M_l_cg();
    M_m_cg =    f.get_M_m_cg();
    M_n_cg =    f.get_M_n_cg();
    M_l_aero =  f.get_M_l_aero();
    M_m_aero =  f.get_M_m_aero();
    M_n_aero =  f.get_M_n_aero();
    M_l_engine =        f.get_M_l_engine();
    M_m_engine =        f.get_M_m_engine();
    M_n_engine =        f.get_M_n_engine();
    M_l_gear =  f.get_M_l_gear();
    M_m_gear =  f.get_M_m_gear();
    M_n_gear =  f.get_M_n_gear();
    V_dot_north =       f.get_V_dot_north();
    V_dot_east =        f.get_V_dot_east();
    V_dot_down =        f.get_V_dot_down();
    U_dot_body =        f.get_U_dot_body();
    V_dot_body =        f.get_V_dot_body();
    W_dot_body =        f.get_W_dot_body();
    A_X_cg =    f.get_A_X_cg();
    A_Y_cg =    f.get_A_Y_cg();
    A_Z_cg =    f.get_A_Z_cg();
    A_X_pilot = f.get_A_X_pilot();
    A_Y_pilot = f.get_A_Y_pilot();
    A_Z_pilot = f.get_A_Z_pilot();
    N_X_cg =    f.get_N_X_cg();
    N_Y_cg =    f.get_N_Y_cg();
    N_Z_cg =    f.get_N_Z_cg();
    N_X_pilot = f.get_N_X_pilot();
    N_Y_pilot = f.get_N_Y_pilot();
    N_Z_pilot = f.get_N_Z_pilot();
    P_dot_body =        f.get_P_dot_body();
    Q_dot_body =        f.get_Q_dot_body();
    R_dot_body =        f.get_R_dot_body();
    V_north =   f.get_V_north();
    V_east =    f.get_V_east();
    V_down =    f.get_V_down();
    V_north_rel_ground =        f.get_V_north_rel_ground();
    V_east_rel_ground = f.get_V_east_rel_ground();
    V_down_rel_ground = f.get_V_down_rel_ground();
    V_north_airmass =   f.get_V_north_airmass();
    V_east_airmass =    f.get_V_east_airmass();
    V_down_airmass =    f.get_V_down_airmass();
    V_north_rel_airmass =       f.get_V_north_rel_airmass();
    V_east_rel_airmass =        f.get_V_east_rel_airmass();
    V_down_rel_airmass =        f.get_V_down_rel_airmass();
    U_gust =    f.get_U_gust();
    V_gust =    f.get_V_gust();
    W_gust =    f.get_W_gust();
    U_body =    f.get_U_body();
    V_body =    f.get_V_body();
    W_body =    f.get_W_body();
    V_rel_wind =        f.get_V_rel_wind();
    V_true_kts =        f.get_V_true_kts();
    V_rel_ground =      f.get_V_rel_ground();
    V_inertial =        f.get_V_inertial();
    V_ground_speed =    f.get_V_ground_speed();
    V_equiv =   f.get_V_equiv();
    V_equiv_kts =       f.get_V_equiv_kts();
    V_calibrated =      f.get_V_calibrated();
    V_calibrated_kts =  f.get_V_calibrated_kts();
    P_body =    f.get_P_body();
    Q_body =    f.get_Q_body();
    R_body =    f.get_R_body();
    P_local =   f.get_P_local();
    Q_local =   f.get_Q_local();
    R_local =   f.get_R_local();
    P_total =   f.get_P_total();
    Q_total =   f.get_Q_total();
    R_total =   f.get_R_total();
    Phi_dot =   f.get_Phi_dot();
    Theta_dot = f.get_Theta_dot();
    Psi_dot =   f.get_Psi_dot();
    Latitude_dot =      f.get_Latitude_dot();
    Longitude_dot =     f.get_Longitude_dot();
    Radius_dot =        f.get_Radius_dot();
    Lat_geocentric =    f.get_Lat_geocentric();
    Lon_geocentric =    f.get_Lon_geocentric();
    Radius_to_vehicle = f.get_Radius_to_vehicle();
    Latitude =  f.get_Latitude();
    Longitude = f.get_Longitude();
    Altitude =  f.get_Altitude();
    Phi =       f.get_Phi();
    Theta =     f.get_Theta();
    Psi =       f.get_Psi();
    T_local_to_body_11 =        f.get_T_local_to_body_11();
    T_local_to_body_12 =        f.get_T_local_to_body_12();
    T_local_to_body_13 =        f.get_T_local_to_body_13();
    T_local_to_body_21 =        f.get_T_local_to_body_21();
    T_local_to_body_22 =        f.get_T_local_to_body_22();
    T_local_to_body_23 =        f.get_T_local_to_body_23();
    T_local_to_body_31 =        f.get_T_local_to_body_31();
    T_local_to_body_32 =        f.get_T_local_to_body_32();
    T_local_to_body_33 =        f.get_T_local_to_body_33();
    Gravity =   f.get_Gravity();
    Centrifugal_relief =        f.get_Centrifugal_relief();
    Alpha =     f.get_Alpha();
    Beta =      f.get_Beta();
    Alpha_dot = f.get_Alpha_dot();
    Beta_dot =  f.get_Beta_dot();
    Cos_alpha = f.get_Cos_alpha();
    Sin_alpha = f.get_Sin_alpha();
    Cos_beta =  f.get_Cos_beta();
    Sin_beta =  f.get_Sin_beta();
    Cos_phi =   f.get_Cos_phi();
    Sin_phi =   f.get_Sin_phi();
    Cos_theta = f.get_Cos_theta();
    Sin_theta = f.get_Sin_theta();
    Cos_psi =   f.get_Cos_psi();
    Sin_psi =   f.get_Sin_psi();
    Gamma_vert_rad =    f.get_Gamma_vert_rad();
    Gamma_horiz_rad =   f.get_Gamma_horiz_rad();
    Sigma =     f.get_Sigma();
    Density =   f.get_Density();
    V_sound =   f.get_V_sound();
    Mach_number =       f.get_Mach_number();
    Static_pressure =   f.get_Static_pressure();
    Total_pressure =    f.get_Total_pressure();
    Impact_pressure =   f.get_Impact_pressure();
    Dynamic_pressure =  f.get_Dynamic_pressure();
    Static_temperature =        f.get_Static_temperature();
    Total_temperature = f.get_Total_temperature();
    Sea_level_radius =  f.get_Sea_level_radius();
    Earth_position_angle =      f.get_Earth_position_angle();
    Runway_altitude =   f.get_Runway_altitude();
    Runway_latitude =   f.get_Runway_latitude();
    Runway_longitude =  f.get_Runway_longitude();
    Runway_heading =    f.get_Runway_heading();
    Radius_to_rwy =     f.get_Radius_to_rwy();
    D_cg_north_of_rwy = f.get_D_cg_north_of_rwy();
    D_cg_east_of_rwy =  f.get_D_cg_east_of_rwy();
    D_cg_above_rwy =    f.get_D_cg_above_rwy();
    X_cg_rwy =  f.get_X_cg_rwy();
    Y_cg_rwy =  f.get_Y_cg_rwy();
    H_cg_rwy =  f.get_H_cg_rwy();
    D_pilot_north_of_rwy =      f.get_D_pilot_north_of_rwy();
    D_pilot_east_of_rwy =       f.get_D_pilot_east_of_rwy();
    D_pilot_above_rwy = f.get_D_pilot_above_rwy();
    X_pilot_rwy =       f.get_X_pilot_rwy();
    Y_pilot_rwy =       f.get_Y_pilot_rwy();
    H_pilot_rwy =       f.get_H_pilot_rwy();

    return( 0 );
}


// Convert from the LaRCsim generic_ struct to the fgFLIGHT struct
int fgLaRCsim_2_Flight (fgFLIGHT& f) {
    f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );

    /*
    f.get_Dx_pilot() =       Dx_pilot;
    f.get_Dy_pilot() =       Dy_pilot;
    f.get_Dz_pilot() =       Dz_pilot;
    f.get_Dx_cg() =  Dx_cg;
    f.get_Dy_cg() =  Dy_cg;
    f.get_Dz_cg() =  Dz_cg;
    f.get_F_X() =    F_X;
    f.get_F_Y() =    F_Y;
    f.get_F_Z() =    F_Z;
    f.get_F_north() =        F_north;
    f.get_F_east() = F_east;
    f.get_F_down() = F_down;
    f.get_F_X_aero() =       F_X_aero;
    f.get_F_Y_aero() =       F_Y_aero;
    f.get_F_Z_aero() =       F_Z_aero;
    f.get_F_X_engine() =     F_X_engine;
    f.get_F_Y_engine() =     F_Y_engine;
    f.get_F_Z_engine() =     F_Z_engine;
    f.get_F_X_gear() =       F_X_gear;
    f.get_F_Y_gear() =       F_Y_gear;
    f.get_F_Z_gear() =       F_Z_gear;
    f.get_M_l_rp() = M_l_rp;
    f.get_M_m_rp() = M_m_rp;
    f.get_M_n_rp() = M_n_rp;
    f.get_M_l_cg() = M_l_cg;
    f.get_M_m_cg() = M_m_cg;
    f.get_M_n_cg() = M_n_cg;
    f.get_M_l_aero() =       M_l_aero;
    f.get_M_m_aero() =       M_m_aero;
    f.get_M_n_aero() =       M_n_aero;
    f.get_M_l_engine() =     M_l_engine;
    f.get_M_m_engine() =     M_m_engine;
    f.get_M_n_engine() =     M_n_engine;
    f.get_M_l_gear() =       M_l_gear;
    f.get_M_m_gear() =       M_m_gear;
    f.get_M_n_gear() =       M_n_gear;
    f.get_V_dot_north() =    V_dot_north;
    f.get_V_dot_east() =     V_dot_east;
    f.get_V_dot_down() =     V_dot_down;
    f.get_U_dot_body() =     U_dot_body;
    f.get_V_dot_body() =     V_dot_body;
    f.get_W_dot_body() =     W_dot_body;
    f.get_A_X_cg() = A_X_cg;
    f.get_A_Y_cg() = A_Y_cg;
    f.get_A_Z_cg() = A_Z_cg;
    f.get_A_X_pilot() =      A_X_pilot;
    f.get_A_Y_pilot() =      A_Y_pilot;
    f.get_A_Z_pilot() =      A_Z_pilot;
    f.get_N_X_cg() = N_X_cg;
    f.get_N_Y_cg() = N_Y_cg;
    f.get_N_Z_cg() = N_Z_cg;
    f.get_N_X_pilot() =      N_X_pilot;
    f.get_N_Y_pilot() =      N_Y_pilot;
    f.get_N_Z_pilot() =      N_Z_pilot;
    f.get_P_dot_body() =     P_dot_body;
    f.get_Q_dot_body() =     Q_dot_body;
    f.get_R_dot_body() =     R_dot_body;
    f.get_V_north() =        V_north;
    f.get_V_east() = V_east;
    f.get_V_down() = V_down;
    f.get_V_north_rel_ground() =     V_north_rel_ground;
    f.get_V_east_rel_ground() =      V_east_rel_ground;
    f.get_V_down_rel_ground() =      V_down_rel_ground;
    f.get_V_north_airmass() =        V_north_airmass;
    f.get_V_east_airmass() = V_east_airmass;
    f.get_V_down_airmass() = V_down_airmass;
    f.get_V_north_rel_airmass() =    V_north_rel_airmass;
    f.get_V_east_rel_airmass() =     V_east_rel_airmass;
    f.get_V_down_rel_airmass() =     V_down_rel_airmass;
    f.get_U_gust() = U_gust;
    f.get_V_gust() = V_gust;
    f.get_W_gust() = W_gust;
    f.get_U_body() = U_body;
    f.get_V_body() = V_body;
    f.get_W_body() = W_body;
    f.get_V_rel_wind() =     V_rel_wind;
    f.get_V_true_kts() =     V_true_kts;
    f.get_V_rel_ground() =   V_rel_ground;
    f.get_V_inertial() =     V_inertial;
    f.get_V_ground_speed() = V_ground_speed;
    f.get_V_equiv() =        V_equiv;
    f.get_V_equiv_kts() =    V_equiv_kts;
    f.get_V_calibrated() =   V_calibrated;
    f.get_V_calibrated_kts() =       V_calibrated_kts;
    f.get_P_body() = P_body;
    f.get_Q_body() = Q_body;
    f.get_R_body() = R_body;
    f.get_P_local() =        P_local;
    f.get_Q_local() =        Q_local;
    f.get_R_local() =        R_local;
    f.get_P_total() =        P_total;
    f.get_Q_total() =        Q_total;
    f.get_R_total() =        R_total;
    f.get_Phi_dot() =        Phi_dot;
    f.get_Theta_dot() =      Theta_dot;
    f.get_Psi_dot() =        Psi_dot;
    f.get_Latitude_dot() =   Latitude_dot;
    f.get_Longitude_dot() =  Longitude_dot;
    f.get_Radius_dot() =     Radius_dot;
    f.get_Lat_geocentric() = Lat_geocentric;
    f.get_Lon_geocentric() = Lon_geocentric;
    f.get_Radius_to_vehicle() =      Radius_to_vehicle;
    f.get_Latitude() =       Latitude;
    f.get_Longitude() =      Longitude;
    f.get_Altitude() =       Altitude;
    f.get_Phi() =    Phi;
    f.get_Theta() =  Theta;
    f.get_Psi() =    Psi;
    f.get_T_local_to_body_11() =     T_local_to_body_11;
    f.get_T_local_to_body_12() =     T_local_to_body_12;
    f.get_T_local_to_body_13() =     T_local_to_body_13;
    f.get_T_local_to_body_21() =     T_local_to_body_21;
    f.get_T_local_to_body_22() =     T_local_to_body_22;
    f.get_T_local_to_body_23() =     T_local_to_body_23;
    f.get_T_local_to_body_31() =     T_local_to_body_31;
    f.get_T_local_to_body_32() =     T_local_to_body_32;
    f.get_T_local_to_body_33() =     T_local_to_body_33;
    f.get_Gravity() =        Gravity;
    f.get_Centrifugal_relief() =     Centrifugal_relief;
    f.get_Alpha() =  Alpha;
    f.get_Beta() =   Beta;
    f.get_Alpha_dot() =      Alpha_dot;
    f.get_Beta_dot() =       Beta_dot;
    f.get_Cos_alpha() =      Cos_alpha;
    f.get_Sin_alpha() =      Sin_alpha;
    f.get_Cos_beta() =       Cos_beta;
    f.get_Sin_beta() =       Sin_beta;
    f.get_Cos_phi() =        Cos_phi;
    f.get_Sin_phi() =        Sin_phi;
    f.get_Cos_theta() =      Cos_theta;
    f.get_Sin_theta() =      Sin_theta;
    f.get_Cos_psi() =        Cos_psi;
    f.get_Sin_psi() =        Sin_psi;
    f.get_Gamma_vert_rad() = Gamma_vert_rad;
    f.get_Gamma_horiz_rad() =        Gamma_horiz_rad;
    f.get_Sigma() =  Sigma;
    f.get_Density() =        Density;
    f.get_V_sound() =        V_sound;
    f.get_Mach_number() =    Mach_number;
    f.get_Static_pressure() =        Static_pressure;
    f.get_Total_pressure() = Total_pressure;
    f.get_Impact_pressure() =        Impact_pressure;
    f.get_Dynamic_pressure() =       Dynamic_pressure;
    f.get_Static_temperature() =     Static_temperature;
    f.get_Total_temperature() =      Total_temperature;
    f.get_Sea_level_radius() =       Sea_level_radius;
    f.get_Earth_position_angle() =   Earth_position_angle;
    f.get_Runway_altitude() =        Runway_altitude;
    f.get_Runway_latitude() =        Runway_latitude;
    f.get_Runway_longitude() =       Runway_longitude;
    f.get_Runway_heading() = Runway_heading;
    f.get_Radius_to_rwy() =  Radius_to_rwy;
    f.get_D_cg_north_of_rwy() =      D_cg_north_of_rwy;
    f.get_D_cg_east_of_rwy() =       D_cg_east_of_rwy;
    f.get_D_cg_above_rwy() = D_cg_above_rwy;
    f.get_X_cg_rwy() =       X_cg_rwy;
    f.get_Y_cg_rwy() =       Y_cg_rwy;
    f.get_H_cg_rwy() =       H_cg_rwy;
    f.get_D_pilot_north_of_rwy() =   D_pilot_north_of_rwy;
    f.get_D_pilot_east_of_rwy() =    D_pilot_east_of_rwy;
    f.get_D_pilot_above_rwy() =      D_pilot_above_rwy;
    f.get_X_pilot_rwy() =    X_pilot_rwy;
    f.get_Y_pilot_rwy() =    Y_pilot_rwy;
    f.get_H_pilot_rwy() =    H_pilot_rwy;
    */
    return ( 0 );
}


// $Log$
// Revision 1.4  1998/12/03 01:16:37  curt
// Converted fgFLIGHT to a class.
//
// Revision 1.3  1998/10/25 14:08:43  curt
// Turned "struct fgCONTROLS" into a class, with inlined accessor functions.
//
// Revision 1.2  1998/10/17 01:34:11  curt
// C++ ifying ...
//
// Revision 1.1  1998/10/17 00:43:58  curt
// Initial revision.
//
//