Added c172 model from Tony Peden.
This commit is contained in:
curt
parent
b32c928653
commit
11a964d830
5 changed files with 1248 additions and 0 deletions
335
Simulator/FDM/LaRCsim/c172_aero.c
Normal file
335
Simulator/FDM/LaRCsim/c172_aero.c
Normal file
|
|
@ -0,0 +1,335 @@
|
|||
/***************************************************************************
|
||||
|
||||
TITLE: c172_aero
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
FUNCTION: aerodynamics model based on constant stability derivatives
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
MODULE STATUS: developmental
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
GENEALOGY: Based on data from:
|
||||
Part 1 of Roskam's S&C text
|
||||
The FAA type certificate data sheet for the 172
|
||||
Various sources on the net
|
||||
John D. Anderson's Intro to Flight text (NACA 2412 data)
|
||||
UIUC's airfoil data web site
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
DESIGNED BY: Tony Peden
|
||||
|
||||
CODED BY: Tony Peden
|
||||
|
||||
MAINTAINED BY: Tony Peden
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
MODIFICATION HISTORY:
|
||||
|
||||
DATE PURPOSE BY
|
||||
6/10/99 Initial test release
|
||||
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
REFERENCES:
|
||||
|
||||
Aero Coeffs:
|
||||
CL lift
|
||||
Cd drag
|
||||
Cm pitching moment
|
||||
Cy sideforce
|
||||
Cn yawing moment
|
||||
Croll,Cl rolling moment (yeah, I know. Shoot me.)
|
||||
|
||||
Subscripts
|
||||
o constant i.e. not a function of alpha or beta
|
||||
a alpha
|
||||
adot d(alpha)/dt
|
||||
q pitch rate
|
||||
qdot d(q)/dt
|
||||
beta sideslip angle
|
||||
p roll rate
|
||||
r yaw rate
|
||||
da aileron deflection
|
||||
de elevator deflection
|
||||
dr rudder deflection
|
||||
|
||||
s stability axes
|
||||
|
||||
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
CALLED BY:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
CALLS TO:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
INPUTS:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
OUTPUTS:
|
||||
|
||||
--------------------------------------------------------------------------*/
|
||||
|
||||
|
||||
|
||||
#include "ls_generic.h"
|
||||
#include "ls_cockpit.h"
|
||||
#include "ls_constants.h"
|
||||
#include "ls_types.h"
|
||||
#include <math.h>
|
||||
#include <stdio.h>
|
||||
|
||||
|
||||
#define NCL 11
|
||||
#define DYN_ON_SPEED 33 /*20 knots*/
|
||||
|
||||
|
||||
#ifdef USENZ
|
||||
#define NZ generic_.n_cg_body_v[2]
|
||||
#else
|
||||
#define NZ 1
|
||||
#endif
|
||||
|
||||
|
||||
extern COCKPIT cockpit_;
|
||||
FILE *out;
|
||||
|
||||
SCALAR interp(SCALAR *y_table, SCALAR *x_table, int Ntable, SCALAR x)
|
||||
{
|
||||
SCALAR slope;
|
||||
int i=1;
|
||||
float y;
|
||||
|
||||
|
||||
/* if x is outside the table, return value at x[0] or x[Ntable-1]*/
|
||||
if(x <= x_table[0])
|
||||
{
|
||||
y=y_table[0];
|
||||
/* printf("x smaller than x_table[0]: %g %g\n",x,x_table[0]); */
|
||||
}
|
||||
else if(x >= x_table[Ntable-1])
|
||||
{
|
||||
y=y_table[Ntable-1];
|
||||
/* printf("x larger than x_table[N]: %g %g %d\n",x,x_table[NCL-1],Ntable-1); */
|
||||
}
|
||||
else /*x is within the table, interpolate linearly to find y value*/
|
||||
{
|
||||
|
||||
while(x_table[i] <= x) {i++;}
|
||||
slope=(y_table[i]-y_table[i-1])/(x_table[i]-x_table[i-1]);
|
||||
/* printf("x: %g, i: %d, cl[i]: %g, cl[i-1]: %g, slope: %g\n",x,i,y_table[i],y_table[i-1],slope); */
|
||||
y=slope*(x-x_table[i-1]) +y_table[i-1];
|
||||
}
|
||||
return y;
|
||||
}
|
||||
|
||||
void record()
|
||||
{
|
||||
|
||||
fprintf(out,"%g,%g,%g,%g,%g,%g,%g,%g,%g,",Long_control,Lat_control,Rudder_pedal,Aft_trim,Fwd_trim,V_rel_wind,Dynamic_pressure,P_body,R_body);
|
||||
fprintf(out,"%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,",Alpha,Cos_alpha,Sin_alpha,Alpha_dot,Q_body,Theta_dot,Sin_theta,Cos_theta,Beta,Cos_beta,Sin_beta);
|
||||
fprintf(out,"%g,%g,%g,%g,%g,%g,%g,%g\n",Sin_phi,Cos_phi,F_X_aero,F_Y_aero,F_Z_aero,M_l_aero,M_m_aero,M_n_aero);
|
||||
fflush(out);
|
||||
}
|
||||
|
||||
void aero( SCALAR dt, int Initialize ) {
|
||||
static int init = 0;
|
||||
|
||||
|
||||
static SCALAR trim_inc = 0.0002;
|
||||
SCALAR long_trim;
|
||||
|
||||
|
||||
SCALAR elevator, aileron, rudder;
|
||||
|
||||
static SCALAR alpha_ind[NCL]={-0.087,0,0.175,0.209,0.24,0.262,0.278,0.303,0.314,0.332,0.367};
|
||||
static SCALAR CLtable[NCL]={-0.14,0.31,1.21,1.376,1.51249,1.591,1.63,1.60878,1.53712,1.376,1.142};
|
||||
|
||||
|
||||
|
||||
|
||||
/*Note that CLo,Cdo,Cmo will likely change with flap setting so
|
||||
they may not be declared static in the future */
|
||||
|
||||
|
||||
static SCALAR CLadot=1.7;
|
||||
static SCALAR CLq=3.9;
|
||||
static SCALAR CLde=0.43;
|
||||
static SCALAR CLo=0;
|
||||
|
||||
|
||||
static SCALAR Cdo=0.031;
|
||||
static SCALAR Cda=0.13; /*Not used*/
|
||||
static SCALAR Cdde=0.06;
|
||||
|
||||
static SCALAR Cma=-0.89;
|
||||
static SCALAR Cmadot=-5.2;
|
||||
static SCALAR Cmq=-12.4;
|
||||
static SCALAR Cmo=-0.062;
|
||||
static SCALAR Cmde=-1.28;
|
||||
|
||||
static SCALAR Clbeta=-0.089;
|
||||
static SCALAR Clp=-0.47;
|
||||
static SCALAR Clr=0.096;
|
||||
static SCALAR Clda=0.178;
|
||||
static SCALAR Cldr=0.0147;
|
||||
|
||||
static SCALAR Cnbeta=0.065;
|
||||
static SCALAR Cnp=-0.03;
|
||||
static SCALAR Cnr=-0.099;
|
||||
static SCALAR Cnda=-0.053;
|
||||
static SCALAR Cndr=-0.0657;
|
||||
|
||||
static SCALAR Cybeta=-0.31;
|
||||
static SCALAR Cyp=-0.037;
|
||||
static SCALAR Cyr=0.21;
|
||||
static SCALAR Cyda=0.0;
|
||||
static SCALAR Cydr=0.187;
|
||||
|
||||
/*nondimensionalization quantities*/
|
||||
/*units here are ft and lbs */
|
||||
static SCALAR cbar=4.9; /*mean aero chord ft*/
|
||||
static SCALAR b=35.8; /*wing span ft */
|
||||
static SCALAR Sw=174; /*wing planform surface area ft^2*/
|
||||
static SCALAR rPiARe=0.054; /*reciprocal of Pi*AR*e*/
|
||||
|
||||
SCALAR W=Mass/INVG;
|
||||
|
||||
SCALAR CLwbh,CL,cm,cd,cn,cy,croll,cbar_2V,b_2V,qS,qScbar,qSb,ps,rs;
|
||||
|
||||
SCALAR F_X_wind,F_Y_wind,F_Z_wind,W_X,W_Y,W_Z;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if (Initialize != 0)
|
||||
{
|
||||
|
||||
|
||||
out=fopen("flight.csv","w");
|
||||
/* Initialize aero coefficients */
|
||||
|
||||
|
||||
}
|
||||
|
||||
record();
|
||||
|
||||
/*
|
||||
LaRCsim uses:
|
||||
Cm > 0 => ANU
|
||||
Cl > 0 => Right wing down
|
||||
Cn > 0 => ANL
|
||||
so:
|
||||
elevator > 0 => AND -- aircraft nose down
|
||||
aileron > 0 => right wing up
|
||||
rudder > 0 => ANL
|
||||
*/
|
||||
|
||||
if(Aft_trim) long_trim = long_trim - trim_inc;
|
||||
if(Fwd_trim) long_trim = long_trim + trim_inc;
|
||||
|
||||
/*scale pct control to degrees deflection*/
|
||||
if ((Long_control+long_trim) <= 0)
|
||||
elevator=(Long_control+long_trim)*-28*DEG_TO_RAD;
|
||||
else
|
||||
elevator=(Long_control+long_trim)*23*DEG_TO_RAD;
|
||||
|
||||
aileron = Lat_control*17.5*DEG_TO_RAD;
|
||||
rudder = Rudder_pedal*16*DEG_TO_RAD;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/*check control surface travel limits*/
|
||||
/* if((elevator+long_trim) > 23)
|
||||
elevator=23;
|
||||
else if((elevator+long_trim) < -28)
|
||||
elevator=-23; */
|
||||
|
||||
|
||||
/*
|
||||
The aileron travel limits are 20 deg. TEU and 15 deg TED
|
||||
but since we don't distinguish between left and right we'll
|
||||
use the average here (17.5 deg)
|
||||
*/
|
||||
/* if(fabs(aileron) > 17.5)
|
||||
aileron = 17.5;
|
||||
if(fabs(rudder) > 16)
|
||||
rudder = 16; */
|
||||
|
||||
/*calculate rate derivative nondimensionalization (is that a word?) factors */
|
||||
/*hack to avoid divide by zero*/
|
||||
/*the dynamic terms might be negligible at low ground speeds anyway*/
|
||||
|
||||
if(V_rel_wind > DYN_ON_SPEED)
|
||||
{
|
||||
cbar_2V=cbar/(2*V_rel_wind);
|
||||
b_2V=b/(2*V_rel_wind);
|
||||
}
|
||||
else
|
||||
{
|
||||
cbar_2V=0;
|
||||
b_2V=0;
|
||||
}
|
||||
|
||||
/*calcuate the qS nondimensionalization factors*/
|
||||
|
||||
qS=Dynamic_pressure*Sw;
|
||||
qScbar=qS*cbar;
|
||||
qSb=qS*b;
|
||||
|
||||
/*transform the aircraft rotation rates*/
|
||||
ps=-P_body*Cos_alpha + R_body*Sin_alpha;
|
||||
rs=-P_body*Sin_alpha + R_body*Cos_alpha;
|
||||
|
||||
|
||||
/* sum coefficients */
|
||||
CLwbh = interp(CLtable,alpha_ind,NCL,Alpha);
|
||||
CL = CLo + CLwbh + (CLadot*Alpha_dot + CLq*Theta_dot)*cbar_2V + CLde*elevator;
|
||||
cd = Cdo + rPiARe*CL*CL + Cdde*elevator;
|
||||
cy = Cybeta*Beta + (Cyp*ps + Cyr*rs)*b_2V + Cyda*aileron + Cydr*rudder;
|
||||
|
||||
cm = Cmo + Cma*Alpha + (Cmq*Theta_dot + Cmadot*Alpha_dot)*cbar_2V + Cmde*(elevator+long_trim);
|
||||
cn = Cnbeta*Beta + (Cnp*ps + Cnr*rs)*b_2V + Cnda*aileron + Cndr*rudder;
|
||||
croll=Clbeta*Beta + (Clp*ps + Clr*rs)*b_2V + Clda*aileron + Cldr*rudder;
|
||||
|
||||
/*calculate wind axes forces*/
|
||||
F_X_wind=-1*cd*qS;
|
||||
F_Y_wind=cy*qS;
|
||||
F_Z_wind=-1*CL*qS;
|
||||
|
||||
/*calculate moments and body axis forces */
|
||||
|
||||
/*find body-axis components of weight*/
|
||||
/*with earth axis to body axis transform */
|
||||
W_X=-1*W*Sin_theta;
|
||||
W_Y=W*Sin_phi*Cos_theta;
|
||||
W_Z=W*Cos_phi*Cos_theta;
|
||||
|
||||
/* requires ugly wind-axes to body-axes transform */
|
||||
F_X_aero = W_X + F_X_wind*Cos_alpha*Cos_beta - F_Y_wind*Cos_alpha*Sin_beta - F_Z_wind*Sin_alpha;
|
||||
F_Y_aero = W_Y + F_X_wind*Sin_beta + F_Z_wind*Cos_beta;
|
||||
F_Z_aero = W_Z*NZ + F_X_wind*Sin_alpha*Cos_beta - F_Y_wind*Sin_alpha*Sin_beta + F_Z_wind*Cos_alpha;
|
||||
|
||||
/*no axes transform here */
|
||||
M_l_aero = I_xx*croll*qSb;
|
||||
M_m_aero = I_yy*cm*qScbar;
|
||||
M_n_aero = I_zz*cn*qSb;
|
||||
|
||||
}
|
||||
|
||||
|
||||
84
Simulator/FDM/LaRCsim/c172_engine.c
Normal file
84
Simulator/FDM/LaRCsim/c172_engine.c
Normal file
|
|
@ -0,0 +1,84 @@
|
|||
/***************************************************************************
|
||||
|
||||
TITLE: engine.c
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
FUNCTION: dummy engine routine
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
MODULE STATUS: incomplete
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
GENEALOGY: This is a renamed navion_engine.c originall written by E. Bruce
|
||||
Jackson
|
||||
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
DESIGNED BY: designer
|
||||
|
||||
CODED BY: programmer
|
||||
|
||||
MAINTAINED BY: maintainer
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
MODIFICATION HISTORY:
|
||||
|
||||
DATE PURPOSE BY
|
||||
|
||||
CURRENT RCS HEADER INFO:
|
||||
|
||||
$Header$
|
||||
|
||||
* Revision 1.1 92/12/30 13:21:46 bjax
|
||||
* Initial revision
|
||||
*
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
REFERENCES:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
CALLED BY: ls_model();
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
CALLS TO: none
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
INPUTS:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
OUTPUTS:
|
||||
|
||||
--------------------------------------------------------------------------*/
|
||||
#include <math.h>
|
||||
#include "ls_types.h"
|
||||
#include "ls_constants.h"
|
||||
#include "ls_generic.h"
|
||||
#include "ls_sim_control.h"
|
||||
#include "ls_cockpit.h"
|
||||
|
||||
extern SIM_CONTROL sim_control_;
|
||||
|
||||
void engine( SCALAR dt, int init ) {
|
||||
/* if (init) { */
|
||||
Throttle[3] = Throttle_pct;
|
||||
/* } */
|
||||
|
||||
/* F_X_engine = Throttle[3]*813.4/0.2; */ /* original code */
|
||||
/* F_Z_engine = Throttle[3]*11.36/0.2; */ /* original code */
|
||||
F_X_engine = Throttle[3]*813.4/0.83;
|
||||
F_Z_engine = Throttle[3]*11.36/0.83;
|
||||
|
||||
Throttle_pct = Throttle[3];
|
||||
}
|
||||
|
||||
|
||||
340
Simulator/FDM/LaRCsim/c172_gear.c
Normal file
340
Simulator/FDM/LaRCsim/c172_gear.c
Normal file
|
|
@ -0,0 +1,340 @@
|
|||
/***************************************************************************
|
||||
|
||||
TITLE: gear
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
FUNCTION: Landing gear model for example simulation
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
MODULE STATUS: developmental
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
GENEALOGY: Renamed navion_gear.c originally created 931012 by E. B. Jackson
|
||||
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
DESIGNED BY: E. B. Jackson
|
||||
|
||||
CODED BY: E. B. Jackson
|
||||
|
||||
MAINTAINED BY: E. B. Jackson
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
MODIFICATION HISTORY:
|
||||
|
||||
DATE PURPOSE BY
|
||||
|
||||
931218 Added navion.h header to allow connection with
|
||||
aileron displacement for nosewheel steering. EBJ
|
||||
940511 Connected nosewheel to rudder pedal; adjusted gain.
|
||||
|
||||
CURRENT RCS HEADER:
|
||||
|
||||
$Header$
|
||||
$Log$
|
||||
Revision 1.1 1999/06/15 20:05:27 curt
|
||||
Added c172 model from Tony Peden.
|
||||
|
||||
Revision 1.1.1.1 1999/04/05 21:32:45 curt
|
||||
Start of 0.6.x branch.
|
||||
|
||||
Revision 1.6 1998/10/17 01:34:16 curt
|
||||
C++ ifying ...
|
||||
|
||||
Revision 1.5 1998/09/29 02:03:00 curt
|
||||
Added a brake + autopilot mods.
|
||||
|
||||
Revision 1.4 1998/08/06 12:46:40 curt
|
||||
Header change.
|
||||
|
||||
Revision 1.3 1998/02/03 23:20:18 curt
|
||||
Lots of little tweaks to fix various consistency problems discovered by
|
||||
Solaris' CC. Fixed a bug in fg_debug.c with how the fgPrintf() wrapper
|
||||
passed arguments along to the real printf(). Also incorporated HUD changes
|
||||
by Michele America.
|
||||
|
||||
Revision 1.2 1998/01/19 18:40:29 curt
|
||||
Tons of little changes to clean up the code and to remove fatal errors
|
||||
when building with the c++ compiler.
|
||||
|
||||
Revision 1.1 1997/05/29 00:10:02 curt
|
||||
Initial Flight Gear revision.
|
||||
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
REFERENCES:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
CALLED BY:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
CALLS TO:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
INPUTS:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
OUTPUTS:
|
||||
|
||||
--------------------------------------------------------------------------*/
|
||||
#include <math.h>
|
||||
#include "ls_types.h"
|
||||
#include "ls_constants.h"
|
||||
#include "ls_generic.h"
|
||||
#include "ls_cockpit.h"
|
||||
|
||||
|
||||
void sub3( DATA v1[], DATA v2[], DATA result[] )
|
||||
{
|
||||
result[0] = v1[0] - v2[0];
|
||||
result[1] = v1[1] - v2[1];
|
||||
result[2] = v1[2] - v2[2];
|
||||
}
|
||||
|
||||
void add3( DATA v1[], DATA v2[], DATA result[] )
|
||||
{
|
||||
result[0] = v1[0] + v2[0];
|
||||
result[1] = v1[1] + v2[1];
|
||||
result[2] = v1[2] + v2[2];
|
||||
}
|
||||
|
||||
void cross3( DATA v1[], DATA v2[], DATA result[] )
|
||||
{
|
||||
result[0] = v1[1]*v2[2] - v1[2]*v2[1];
|
||||
result[1] = v1[2]*v2[0] - v1[0]*v2[2];
|
||||
result[2] = v1[0]*v2[1] - v1[1]*v2[0];
|
||||
}
|
||||
|
||||
void multtrans3x3by3( DATA m[][3], DATA v[], DATA result[] )
|
||||
{
|
||||
result[0] = m[0][0]*v[0] + m[1][0]*v[1] + m[2][0]*v[2];
|
||||
result[1] = m[0][1]*v[0] + m[1][1]*v[1] + m[2][1]*v[2];
|
||||
result[2] = m[0][2]*v[0] + m[1][2]*v[1] + m[2][2]*v[2];
|
||||
}
|
||||
|
||||
void mult3x3by3( DATA m[][3], DATA v[], DATA result[] )
|
||||
{
|
||||
result[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2];
|
||||
result[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2];
|
||||
result[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2];
|
||||
}
|
||||
|
||||
void clear3( DATA v[] )
|
||||
{
|
||||
v[0] = 0.; v[1] = 0.; v[2] = 0.;
|
||||
}
|
||||
|
||||
void gear( SCALAR dt, int Initialize ) {
|
||||
char rcsid[] = "$Id$";
|
||||
|
||||
/*
|
||||
* Aircraft specific initializations and data goes here
|
||||
*/
|
||||
|
||||
#define NUM_WHEELS 3
|
||||
|
||||
static int num_wheels = NUM_WHEELS; /* number of wheels */
|
||||
static DATA d_wheel_rp_body_v[NUM_WHEELS][3] = /* X, Y, Z locations */
|
||||
{
|
||||
{ 10., 0., 4. }, /* in feet */
|
||||
{ -1., 3., 4. },
|
||||
{ -1., -3., 4. }
|
||||
};
|
||||
static DATA spring_constant[NUM_WHEELS] = /* springiness, lbs/ft */
|
||||
{ 1500., 5000., 5000. };
|
||||
static DATA spring_damping[NUM_WHEELS] = /* damping, lbs/ft/sec */
|
||||
{ 100., 150., 150. };
|
||||
static DATA percent_brake[NUM_WHEELS] = /* percent applied braking */
|
||||
{ 0., 0., 0. }; /* 0 = none, 1 = full */
|
||||
static DATA caster_angle_rad[NUM_WHEELS] = /* steerable tires - in */
|
||||
{ 0., 0., 0.}; /* radians, +CW */
|
||||
/*
|
||||
* End of aircraft specific code
|
||||
*/
|
||||
|
||||
/*
|
||||
* Constants & coefficients for tyres on tarmac - ref [1]
|
||||
*/
|
||||
|
||||
/* skid function looks like:
|
||||
*
|
||||
* mu ^
|
||||
* |
|
||||
* max_mu | +
|
||||
* | /|
|
||||
* sliding_mu | / +------
|
||||
* | /
|
||||
* | /
|
||||
* +--+------------------------>
|
||||
* | | | sideward V
|
||||
* 0 bkout skid
|
||||
* V V
|
||||
*/
|
||||
|
||||
|
||||
static DATA sliding_mu = 0.5;
|
||||
static DATA rolling_mu = 0.01;
|
||||
static DATA max_brake_mu = 0.6;
|
||||
static DATA max_mu = 0.8;
|
||||
static DATA bkout_v = 0.1;
|
||||
static DATA skid_v = 1.0;
|
||||
/*
|
||||
* Local data variables
|
||||
*/
|
||||
|
||||
DATA d_wheel_cg_body_v[3]; /* wheel offset from cg, X-Y-Z */
|
||||
DATA d_wheel_cg_local_v[3]; /* wheel offset from cg, N-E-D */
|
||||
DATA d_wheel_rwy_local_v[3]; /* wheel offset from rwy, N-E-U */
|
||||
DATA v_wheel_body_v[3]; /* wheel velocity, X-Y-Z */
|
||||
DATA v_wheel_local_v[3]; /* wheel velocity, N-E-D */
|
||||
DATA f_wheel_local_v[3]; /* wheel reaction force, N-E-D */
|
||||
DATA temp3a[3], temp3b[3], tempF[3], tempM[3];
|
||||
DATA reaction_normal_force; /* wheel normal (to rwy) force */
|
||||
DATA cos_wheel_hdg_angle, sin_wheel_hdg_angle; /* temp storage */
|
||||
DATA v_wheel_forward, v_wheel_sideward, abs_v_wheel_sideward;
|
||||
DATA forward_mu, sideward_mu; /* friction coefficients */
|
||||
DATA beta_mu; /* breakout friction slope */
|
||||
DATA forward_wheel_force, sideward_wheel_force;
|
||||
|
||||
int i; /* per wheel loop counter */
|
||||
|
||||
/*
|
||||
* Execution starts here
|
||||
*/
|
||||
|
||||
beta_mu = max_mu/(skid_v-bkout_v);
|
||||
clear3( F_gear_v ); /* Initialize sum of forces... */
|
||||
clear3( M_gear_v ); /* ...and moments */
|
||||
|
||||
/*
|
||||
* Put aircraft specific executable code here
|
||||
*/
|
||||
|
||||
/* replace with cockpit brake handle connection code */
|
||||
percent_brake[1] = Brake_pct;
|
||||
percent_brake[2] = percent_brake[1];
|
||||
|
||||
caster_angle_rad[0] = 0.03*Rudder_pedal;
|
||||
|
||||
for (i=0;i<num_wheels;i++) /* Loop for each wheel */
|
||||
{
|
||||
/*========================================*/
|
||||
/* Calculate wheel position w.r.t. runway */
|
||||
/*========================================*/
|
||||
|
||||
/* First calculate wheel location w.r.t. cg in body (X-Y-Z) axes... */
|
||||
|
||||
sub3( d_wheel_rp_body_v[i], D_cg_rp_body_v, d_wheel_cg_body_v );
|
||||
|
||||
/* then converting to local (North-East-Down) axes... */
|
||||
|
||||
multtrans3x3by3( T_local_to_body_m, d_wheel_cg_body_v, d_wheel_cg_local_v );
|
||||
|
||||
/* Runway axes correction - third element is Altitude, not (-)Z... */
|
||||
|
||||
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* since altitude = -Z */
|
||||
|
||||
/* Add wheel offset to cg location in local axes */
|
||||
|
||||
add3( d_wheel_cg_local_v, D_cg_rwy_local_v, d_wheel_rwy_local_v );
|
||||
|
||||
/* remove Runway axes correction so right hand rule applies */
|
||||
|
||||
d_wheel_cg_local_v[2] = -d_wheel_cg_local_v[2]; /* now Z positive down */
|
||||
|
||||
/*============================*/
|
||||
/* Calculate wheel velocities */
|
||||
/*============================*/
|
||||
|
||||
/* contribution due to angular rates */
|
||||
|
||||
cross3( Omega_body_v, d_wheel_cg_body_v, temp3a );
|
||||
|
||||
/* transform into local axes */
|
||||
|
||||
multtrans3x3by3( T_local_to_body_m, temp3a, temp3b );
|
||||
|
||||
/* plus contribution due to cg velocities */
|
||||
|
||||
add3( temp3b, V_local_rel_ground_v, v_wheel_local_v );
|
||||
|
||||
|
||||
/*===========================================*/
|
||||
/* Calculate forces & moments for this wheel */
|
||||
/*===========================================*/
|
||||
|
||||
/* Add any anticipation, or frame lead/prediction, here... */
|
||||
|
||||
/* no lead used at present */
|
||||
|
||||
/* Calculate sideward and forward velocities of the wheel
|
||||
in the runway plane */
|
||||
|
||||
cos_wheel_hdg_angle = cos(caster_angle_rad[i] + Psi);
|
||||
sin_wheel_hdg_angle = sin(caster_angle_rad[i] + Psi);
|
||||
|
||||
v_wheel_forward = v_wheel_local_v[0]*cos_wheel_hdg_angle
|
||||
+ v_wheel_local_v[1]*sin_wheel_hdg_angle;
|
||||
v_wheel_sideward = v_wheel_local_v[1]*cos_wheel_hdg_angle
|
||||
- v_wheel_local_v[0]*sin_wheel_hdg_angle;
|
||||
|
||||
/* Calculate normal load force (simple spring constant) */
|
||||
|
||||
reaction_normal_force = 0.;
|
||||
if( d_wheel_rwy_local_v[2] < 0. )
|
||||
{
|
||||
reaction_normal_force = spring_constant[i]*d_wheel_rwy_local_v[2]
|
||||
- v_wheel_local_v[2]*spring_damping[i];
|
||||
if (reaction_normal_force > 0.) reaction_normal_force = 0.;
|
||||
/* to prevent damping component from swamping spring component */
|
||||
}
|
||||
|
||||
/* Calculate friction coefficients */
|
||||
|
||||
forward_mu = (max_brake_mu - rolling_mu)*percent_brake[i] + rolling_mu;
|
||||
abs_v_wheel_sideward = sqrt(v_wheel_sideward*v_wheel_sideward);
|
||||
sideward_mu = sliding_mu;
|
||||
if (abs_v_wheel_sideward < skid_v)
|
||||
sideward_mu = (abs_v_wheel_sideward - bkout_v)*beta_mu;
|
||||
if (abs_v_wheel_sideward < bkout_v) sideward_mu = 0.;
|
||||
|
||||
/* Calculate foreward and sideward reaction forces */
|
||||
|
||||
forward_wheel_force = forward_mu*reaction_normal_force;
|
||||
sideward_wheel_force = sideward_mu*reaction_normal_force;
|
||||
if(v_wheel_forward < 0.) forward_wheel_force = -forward_wheel_force;
|
||||
if(v_wheel_sideward < 0.) sideward_wheel_force = -sideward_wheel_force;
|
||||
|
||||
/* Rotate into local (N-E-D) axes */
|
||||
|
||||
f_wheel_local_v[0] = forward_wheel_force*cos_wheel_hdg_angle
|
||||
- sideward_wheel_force*sin_wheel_hdg_angle;
|
||||
f_wheel_local_v[1] = forward_wheel_force*sin_wheel_hdg_angle
|
||||
+ sideward_wheel_force*cos_wheel_hdg_angle;
|
||||
f_wheel_local_v[2] = reaction_normal_force;
|
||||
|
||||
/* Convert reaction force from local (N-E-D) axes to body (X-Y-Z) */
|
||||
|
||||
mult3x3by3( T_local_to_body_m, f_wheel_local_v, tempF );
|
||||
|
||||
/* Calculate moments from force and offsets in body axes */
|
||||
|
||||
cross3( d_wheel_cg_body_v, tempF, tempM );
|
||||
|
||||
/* Sum forces and moments across all wheels */
|
||||
|
||||
add3( tempF, F_gear_v, F_gear_v );
|
||||
add3( tempM, M_gear_v, M_gear_v );
|
||||
|
||||
}
|
||||
}
|
||||
76
Simulator/FDM/LaRCsim/c172_init.c
Normal file
76
Simulator/FDM/LaRCsim/c172_init.c
Normal file
|
|
@ -0,0 +1,76 @@
|
|||
/***************************************************************************
|
||||
|
||||
TITLE: navion_init.c
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
FUNCTION: Initializes navion math model
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
MODULE STATUS: developmental
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
GENEALOGY: Renamed navion_init.c originally created on 930111 by Bruce Jackson
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
DESIGNED BY: EBJ
|
||||
|
||||
CODED BY: EBJ
|
||||
|
||||
MAINTAINED BY: EBJ
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
MODIFICATION HISTORY:
|
||||
|
||||
DATE PURPOSE BY
|
||||
|
||||
950314 Removed initialization of state variables, since this is
|
||||
now done (version 1.4b1) in ls_init. EBJ
|
||||
950406 Removed #include of "shmdefs.h"; shmdefs.h is a duplicate
|
||||
of "navion.h". EBJ
|
||||
|
||||
CURRENT RCS HEADER:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
REFERENCES:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
CALLED BY:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
CALLS TO:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
INPUTS:
|
||||
|
||||
----------------------------------------------------------------------------
|
||||
|
||||
OUTPUTS:
|
||||
|
||||
--------------------------------------------------------------------------*/
|
||||
#include "ls_types.h"
|
||||
#include "ls_generic.h"
|
||||
#include "ls_cockpit.h"
|
||||
#include "ls_constants.h"
|
||||
|
||||
void model_init( void ) {
|
||||
|
||||
Throttle[3] = 0.2; Rudder_pedal = 0; Lat_control = 0; Long_control = 0;
|
||||
|
||||
Dx_pilot = 0; Dy_pilot = 0; Dz_pilot = 0;
|
||||
Mass=2300*INVG;
|
||||
I_xx=948;
|
||||
I_yy=1346;
|
||||
I_zz=1967;
|
||||
I_xz=0;
|
||||
|
||||
|
||||
}
|
||||
413
Simulator/FDM/LaRCsim/c172_main.c
Normal file
413
Simulator/FDM/LaRCsim/c172_main.c
Normal file
|
|
@ -0,0 +1,413 @@
|
|||
// 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.
|
||||
//
|
||||
// $Id$
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#include <FDM/LaRCsim/ls_cockpit.h>
|
||||
#include <FDM/LaRCsim/ls_generic.h>
|
||||
#include <FDM/LaRCsim/ls_interface.h>
|
||||
#include <FDM/LaRCsim/ls_constants.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 main() {
|
||||
|
||||
|
||||
double save_alt = 0.0;
|
||||
int multiloop=1;
|
||||
double time=0;
|
||||
|
||||
Altitude=1000; /*BFI as given by airnav*/
|
||||
Latitude=47.5299892;
|
||||
Longitude=122.3019561;
|
||||
Lat_geocentric=Latitude;
|
||||
Lon_geocentric=Longitude;
|
||||
Radius_to_vehicle=Altitude+EQUATORIAL_RADIUS;
|
||||
Lat_control = 0;
|
||||
Long_control = 0;
|
||||
Long_trim = 0;
|
||||
Rudder_pedal = 0;
|
||||
Throttle_pct = 0.0;
|
||||
Brake_pct = 1.0;
|
||||
V_north=200;
|
||||
V_east=0;
|
||||
V_down=0;
|
||||
|
||||
printf("Calling init...\n");
|
||||
fgLaRCsimInit(0.05);
|
||||
|
||||
/* copy control positions into the LaRCsim structure */
|
||||
|
||||
|
||||
/* Inform LaRCsim of the local terrain altitude */
|
||||
Runway_altitude = 18.0;
|
||||
printf("Entering Loop\n");
|
||||
printf("Speed: %7.4f, Lat: %7.4f, Long: %7.4f, Alt: %7.4f\n\n",V_true_kts,Latitude,Longitude,Altitude);
|
||||
|
||||
while (time < 0.2)
|
||||
{
|
||||
time=time+0.05;
|
||||
ls_update(multiloop);
|
||||
printf("Speed: %7.4f, Fxeng: %7.4f, Fxaero: %7.4f, Fxgear: %7.4f Alt: %7.4f\n\n",V_true_kts,F_X_engine,F_X_aero,F_X_gear,Altitude);
|
||||
|
||||
|
||||
|
||||
}
|
||||
/* // 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_FGInterface(f); */
|
||||
|
||||
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
/*// Convert from the FGInterface struct to the LaRCsim generic_ struct
|
||||
int FGInterface_2_LaRCsim (FGInterface& f) {
|
||||
|
||||
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 FGInterface struct
|
||||
int fgLaRCsim_2_FGInterface (FGInterface& f) {
|
||||
|
||||
// Mass properties and geometry values
|
||||
f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
|
||||
// f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
|
||||
f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
|
||||
|
||||
// Forces
|
||||
// f.set_Forces_Body_Total( F_X, F_Y, F_Z );
|
||||
// f.set_Forces_Local_Total( F_north, F_east, F_down );
|
||||
// f.set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
|
||||
// f.set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
|
||||
// f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
|
||||
|
||||
// Moments
|
||||
// f.set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
|
||||
// f.set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
|
||||
// f.set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
|
||||
// f.set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
|
||||
// f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
|
||||
|
||||
// Accelerations
|
||||
// f.set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
|
||||
// f.set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
|
||||
// f.set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
|
||||
// f.set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
|
||||
// f.set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
|
||||
// f.set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
|
||||
// f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
|
||||
|
||||
// Velocities
|
||||
f.set_Velocities_Local( V_north, V_east, V_down );
|
||||
// f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
|
||||
// V_down_rel_ground );
|
||||
// f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
|
||||
// V_down_airmass );
|
||||
// f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
|
||||
// V_east_rel_airmass, V_down_rel_airmass );
|
||||
// f.set_Velocities_Gust( U_gust, V_gust, W_gust );
|
||||
// f.set_Velocities_Wind_Body( U_body, V_body, W_body );
|
||||
|
||||
// f.set_V_rel_wind( V_rel_wind );
|
||||
// f.set_V_true_kts( V_true_kts );
|
||||
// f.set_V_rel_ground( V_rel_ground );
|
||||
// f.set_V_inertial( V_inertial );
|
||||
// f.set_V_ground_speed( V_ground_speed );
|
||||
// f.set_V_equiv( V_equiv );
|
||||
f.set_V_equiv_kts( V_equiv_kts );
|
||||
// f.set_V_calibrated( V_calibrated );
|
||||
// f.set_V_calibrated_kts( V_calibrated_kts );
|
||||
|
||||
f.set_Omega_Body( P_body, Q_body, R_body );
|
||||
// f.set_Omega_Local( P_local, Q_local, R_local );
|
||||
// f.set_Omega_Total( P_total, Q_total, R_total );
|
||||
|
||||
// f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
|
||||
f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
|
||||
|
||||
FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << Longitude
|
||||
<< " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
|
||||
<< " alt = " << Altitude << " sl_radius = " << Sea_level_radius
|
||||
<< " radius_to_vehicle = " << Radius_to_vehicle );
|
||||
|
||||
// Positions
|
||||
f.set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
|
||||
Radius_to_vehicle );
|
||||
f.set_Geodetic_Position( Latitude, Longitude, Altitude );
|
||||
f.set_Euler_Angles( Phi, Theta, Psi );
|
||||
|
||||
// Miscellaneous quantities
|
||||
f.set_T_Local_to_Body(T_local_to_body_m);
|
||||
// f.set_Gravity( Gravity );
|
||||
// f.set_Centrifugal_relief( Centrifugal_relief );
|
||||
|
||||
f.set_Alpha( Alpha );
|
||||
f.set_Beta( Beta );
|
||||
// f.set_Alpha_dot( Alpha_dot );
|
||||
// f.set_Beta_dot( Beta_dot );
|
||||
|
||||
// f.set_Cos_alpha( Cos_alpha );
|
||||
// f.set_Sin_alpha( Sin_alpha );
|
||||
// f.set_Cos_beta( Cos_beta );
|
||||
// f.set_Sin_beta( Sin_beta );
|
||||
|
||||
// f.set_Cos_phi( Cos_phi );
|
||||
// f.set_Sin_phi( Sin_phi );
|
||||
// f.set_Cos_theta( Cos_theta );
|
||||
// f.set_Sin_theta( Sin_theta );
|
||||
// f.set_Cos_psi( Cos_psi );
|
||||
// f.set_Sin_psi( Sin_psi );
|
||||
|
||||
f.set_Gamma_vert_rad( Gamma_vert_rad );
|
||||
// f.set_Gamma_horiz_rad( Gamma_horiz_rad );
|
||||
|
||||
// f.set_Sigma( Sigma );
|
||||
// f.set_Density( Density );
|
||||
// f.set_V_sound( V_sound );
|
||||
// f.set_Mach_number( Mach_number );
|
||||
|
||||
// f.set_Static_pressure( Static_pressure );
|
||||
// f.set_Total_pressure( Total_pressure );
|
||||
// f.set_Impact_pressure( Impact_pressure );
|
||||
// f.set_Dynamic_pressure( Dynamic_pressure );
|
||||
|
||||
// f.set_Static_temperature( Static_temperature );
|
||||
// f.set_Total_temperature( Total_temperature );
|
||||
|
||||
f.set_Sea_level_radius( Sea_level_radius );
|
||||
f.set_Earth_position_angle( Earth_position_angle );
|
||||
|
||||
f.set_Runway_altitude( Runway_altitude );
|
||||
// f.set_Runway_latitude( Runway_latitude );
|
||||
// f.set_Runway_longitude( Runway_longitude );
|
||||
// f.set_Runway_heading( Runway_heading );
|
||||
// f.set_Radius_to_rwy( Radius_to_rwy );
|
||||
|
||||
// f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
|
||||
// f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
|
||||
// f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
|
||||
// D_pilot_above_rwy );
|
||||
// f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
|
||||
|
||||
f.set_sin_lat_geocentric(Lat_geocentric);
|
||||
f.set_cos_lat_geocentric(Lat_geocentric);
|
||||
f.set_sin_cos_longitude(Longitude);
|
||||
f.set_sin_cos_latitude(Latitude);
|
||||
|
||||
// printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
|
||||
// printf("sin_lat %f cos_lat %f\n",
|
||||
// f.get_sin_latitude(), f.get_cos_latitude());
|
||||
// printf("sin_lon %f cos_lon %f\n",
|
||||
// f.get_sin_longitude(), f.get_cos_longitude());
|
||||
|
||||
return 0;
|
||||
} */
|
||||
|
||||
Loading…
Reference in a new issue