/FDM/UIUCModel/uiuc_aircraft.h

Added variables necessary for new abilities.
/FDM/UIUCModel/uiuc_coefficients.cpp
/FDM/UIUCModel/uiuc_coefficients.h
/FDM/UIUCModel/uiuc_coef_lift.cpp
	Added CZfa.
/FDM/UIUCModel/uiuc_controlInput.cpp
	Added aileron and rudder inputs.
/FDM/UIUCModel/uiuc_engine.cpp
	Added throttle input.
/FDM/UIUCModel/uiuc_engine.h
/FDM/UIUCModel/uiuc_map_CL.cpp
/FDM/UIUCModel/uiuc_map_engine.cpp
/FDM/UIUCModel/uiuc_map_init.cpp
/FDM/UIUCModel/uiuc_menu.cpp
/FDM/UIUCModel/uiuc_wrapper.cpp
	Added a few new functions.
/FDM/UIUCModel/uiuc_wrapper.h
/FDM/UIUCModel/uiuc_map_controlSurface.cpp
/FDM/UIUCModel/uiuc_initializemaps.cpp
/FDM/UIUCModel/uiuc_initializemaps.h
/FDM/UIUCModel/uiuc_map_keyword.cpp
/FDM/UIUCModel/Makefile.am
/Main/Makefile.am

added files
/FDM/UIUCModel/uiuc_map_fog.cpp
	For the visibility ability.
/FDM/UIUCModel/uiuc_map_fog.h
/FDM/UIUCModel/uiuc_fog.cpp
/FDM/UIUCModel/uiuc_fog.h

src/FDM/UIUCModel/Makefile.am

@@ -20,7 +20,8 @@ libUIUCModel_a_SOURCES = \
 			uiuc_controlInput.cpp uiuc_controlInput.h \
                         uiuc_convert.cpp uiuc_convert.h \
                         uiuc_engine.cpp uiuc_engine.h \
-                        uiuc_gear.cpp uiuc_gear.h \
+			uiuc_fog.cpp uiuc_fog.h \
+			uiuc_gear.cpp uiuc_gear.h\
                         uiuc_ice.cpp uiuc_ice.h \
                         uiuc_initializemaps.cpp uiuc_initializemaps.h \
 			uiuc_map_CD.cpp uiuc_map_CD.h \
@@ -31,6 +32,7 @@ libUIUCModel_a_SOURCES = \
 			uiuc_map_Croll.cpp uiuc_map_Croll.h \
 			uiuc_map_controlSurface.cpp uiuc_map_controlSurface.h \
 			uiuc_map_engine.cpp uiuc_map_engine.h \
+			uiuc_map_fog.cpp uiuc_map_fog.h \
 			uiuc_map_geometry.cpp uiuc_map_geometry.h \
 			uiuc_map_ice.cpp uiuc_map_ice.h \
                         uiuc_map_gear.cpp uiuc_map_gear.h \

src/FDM/UIUCModel/uiuc_aircraft.h

@@ -37,11 +37,27 @@
                04/01/2000   (JS) added throttle, longitudinal, lateral, 
 	                    and rudder inputs to record map
                03/09/2001   (DPM) added support for gear
-
+	       06/18/2001   (RD) added variables needed for aileron,
+	                    rudder, and throttle_pct input files.  
+			    Added Alpha, Beta, U_body, V_body, and 
+                            W_body to init map.  Added variables 
+			    needed to ignore elevator, aileron, and 
+			    rudder pilot inputs.  Added CZ as a function
+			    of alpha, CZfa.  Added twinotter to engine
+			    group.
+	       07/05/2001   (RD) added pilot_elev_no_check, pilot_ail_no
+	                    _check, and pilot_rud_no_check variables.
+			    This allows pilot to fly aircraft after the
+			    input files have been used.
+	       08/27/2001   (RD) Added xxx_init_true and xxx_init for
+	                    P_body, Q_body, R_body, Phi, Theta, Psi,
+			    U_body, V_body, and W_body to help in
+			    starting the A/C at an initial condition.
 ----------------------------------------------------------------------
 
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
                Jeff Scott         <jscott@mail.com>
+	       Robert Deters      <rdeters@uiuc.edu>
                David Megginson    <david@megginson.com>
 
 ----------------------------------------------------------------------
@@ -119,7 +135,7 @@ typedef stack :: iterator LIST;
 /* Add more keywords here if required*/
 enum {init_flag = 1000, geometry_flag, controlSurface_flag, controlsMixer_flag, 
       mass_flag, engine_flag, CD_flag, CL_flag, Cm_flag, CY_flag, Cl_flag, 
-      Cn_flag, gear_flag, ice_flag, record_flag, misc_flag};
+      Cn_flag, gear_flag, ice_flag, record_flag, misc_flag, fog_flag};
 
 // init ======= Initial values for equation of motion
 enum {Dx_pilot_flag = 2000, Dy_pilot_flag, Dz_pilot_flag, 
@@ -128,7 +144,8 @@ enum {Dx_pilot_flag = 2000, Dy_pilot_flag, Dz_pilot_flag,
       P_body_flag, Q_body_flag, R_body_flag, 
       Phi_flag, Theta_flag, Psi_flag,
       Long_trim_flag, recordRate_flag, recordStartTime_flag, 
-      nondim_rate_V_rel_wind_flag, dyn_on_speed_flag};
+      nondim_rate_V_rel_wind_flag, dyn_on_speed_flag, Alpha_flag, 
+      Beta_flag, U_body_flag, V_body_flag, W_body_flag};
 
 // geometry === Aircraft-specific geometric quantities
 enum {bw_flag = 3000, cbar_flag, Sw_flag, ih_flag, bh_flag, ch_flag, Sh_flag};
@@ -136,7 +153,7 @@ enum {bw_flag = 3000, cbar_flag, Sw_flag, ih_flag, bh_flag, ch_flag, Sh_flag};
 // controlSurface = Control surface deflections and properties
 enum {de_flag = 4000, da_flag, dr_flag, 
       set_Long_trim_flag, set_Long_trim_deg_flag, zero_Long_trim_flag, 
-      elevator_step_flag, elevator_singlet_flag, elevator_doublet_flag, elevator_input_flag};
+      elevator_step_flag, elevator_singlet_flag, elevator_doublet_flag, elevator_input_flag, aileron_input_flag, rudder_input_flag, pilot_elev_no_flag, pilot_ail_no_flag, pilot_rud_no_flag};
 
 // controlsMixer == Controls mixer
 enum {nomix_flag = 5000};
@@ -145,7 +162,7 @@ enum {nomix_flag = 5000};
 enum {Weight_flag = 6000, Mass_flag, I_xx_flag, I_yy_flag, I_zz_flag, I_xz_flag};
 
 // engine ===== Propulsion data
-enum {simpleSingle_flag = 7000, c172_flag, cherokee_flag};
+enum {simpleSingle_flag = 7000, c172_flag, cherokee_flag, Throttle_pct_input_flag};
 
 // CD ========= Aerodynamic x-force quantities (longitudinal)
 enum {CDo_flag = 8000, CDK_flag, CD_a_flag, CD_adot_flag, CD_q_flag, CD_ih_flag, CD_de_flag, 
@@ -157,7 +174,7 @@ enum {CDo_flag = 8000, CDK_flag, CD_a_flag, CD_adot_flag, CD_q_flag, CD_ih_flag,
 enum {CLo_flag = 9000, CL_a_flag, CL_adot_flag, CL_q_flag, CL_ih_flag, CL_de_flag, 
       CLfa_flag, CLfade_flag, CLfdf_flag, CLfadf_flag, 
       CZo_flag, CZ_a_flag, CZ_a2_flag, CZ_a3_flag, CZ_adot_flag, 
-      CZ_q_flag, CZ_de_flag, CZ_deb2_flag, CZ_df_flag, CZ_adf_flag};
+      CZ_q_flag, CZ_de_flag, CZ_deb2_flag, CZ_df_flag, CZ_adf_flag, CZfa_flag};
 
 // Cm ========= Aerodynamic m-moment quantities (longitudinal)
 enum {Cmo_flag = 10000, Cm_a_flag, Cm_a2_flag, Cm_adot_flag, Cm_q_flag, 
@@ -297,8 +314,12 @@ enum {Simtime_record = 16000, dt_record,
 // misc ======= Miscellaneous inputs
 enum {simpleHingeMomentCoef_flag = 17000, dfTimefdf_flag};
 
+//321654
+// fog ======== Fog field quantities
+enum {fog_segments_flag = 18000, fog_point_flag}; 
 
-typedef struct
+//321654  
+struct AIRCRAFT
 {
   // ParseFile stuff [] Bipin to add more comments
   ParseFile *airplane;
@@ -375,6 +396,50 @@ typedef struct
 #define nondim_rate_V_rel_wind aircraft_->nondim_rate_V_rel_wind
   double dyn_on_speed;
 #define dyn_on_speed           aircraft_->dyn_on_speed
+  bool P_body_init_true;
+  double P_body_init;
+#define P_body_init_true       aircraft_->P_body_init_true
+#define P_body_init            aircraft_->P_body_init
+  bool Q_body_init_true;
+  double Q_body_init;
+#define Q_body_init_true       aircraft_->Q_body_init_true
+#define Q_body_init            aircraft_->Q_body_init
+  bool R_body_init_true;
+  double R_body_init;
+#define R_body_init_true       aircraft_->R_body_init_true
+#define R_body_init            aircraft_->R_body_init
+  bool Phi_init_true;
+  double Phi_init;
+#define Phi_init_true          aircraft_->Phi_init_true
+#define Phi_init               aircraft_->Phi_init
+  bool Theta_init_true;
+  double Theta_init;
+#define Theta_init_true        aircraft_->Theta_init_true
+#define Theta_init             aircraft_->Theta_init
+  bool Psi_init_true;
+  double Psi_init;
+#define Psi_init_true          aircraft_->Psi_init_true
+#define Psi_init               aircraft_->Psi_init
+  bool Alpha_init_true;
+  double Alpha_init;
+#define Alpha_init_true        aircraft_->Alpha_init_true
+#define Alpha_init             aircraft_->Alpha_init
+  bool Beta_init_true;
+  double Beta_init;
+#define Beta_init_true         aircraft_->Beta_init_true
+#define Beta_init              aircraft_->Beta_init
+  bool U_body_init_true;
+  double U_body_init;
+#define U_body_init_true       aircraft_->U_body_init_true
+#define U_body_init            aircraft_->U_body_init
+  bool V_body_init_true;
+  double V_body_init;
+#define V_body_init_true       aircraft_->V_body_init_true
+#define V_body_init            aircraft_->V_body_init
+  bool W_body_init_true;
+  double W_body_init;
+#define W_body_init_true       aircraft_->W_body_init_true
+#define W_body_init            aircraft_->W_body_init
 
 
   /* Variables (token2) ===========================================*/
@@ -457,6 +522,47 @@ typedef struct
 #define elevator_input_ntime       aircraft_->elevator_input_ntime
 #define elevator_input_startTime   aircraft_->elevator_input_startTime
 
+  bool aileron_input;
+  string aileron_input_file;
+  double aileron_input_timeArray[1000];
+  double aileron_input_daArray[1000];
+  int aileron_input_ntime;
+  double aileron_input_startTime;
+#define aileron_input             aircraft_->aileron_input
+#define aileron_input_file        aircraft_->aileron_input_file
+#define aileron_input_timeArray   aircraft_->aileron_input_timeArray
+#define aileron_input_daArray     aircraft_->aileron_input_daArray
+#define aileron_input_ntime       aircraft_->aileron_input_ntime
+#define aileron_input_startTime   aircraft_->aileron_input_startTime
+
+  bool rudder_input;
+  string rudder_input_file;
+  double rudder_input_timeArray[1000];
+  double rudder_input_drArray[1000];
+  int rudder_input_ntime;
+  double rudder_input_startTime;
+#define rudder_input             aircraft_->rudder_input
+#define rudder_input_file        aircraft_->rudder_input_file
+#define rudder_input_timeArray   aircraft_->rudder_input_timeArray
+#define rudder_input_drArray     aircraft_->rudder_input_drArray
+#define rudder_input_ntime       aircraft_->rudder_input_ntime
+#define rudder_input_startTime   aircraft_->rudder_input_startTime
+
+  bool pilot_elev_no;
+#define pilot_elev_no            aircraft_->pilot_elev_no
+  bool pilot_elev_no_check;
+#define pilot_elev_no_check      aircraft_->pilot_elev_no_check
+
+  bool pilot_ail_no;
+#define pilot_ail_no             aircraft_->pilot_ail_no
+  bool pilot_ail_no_check;
+#define pilot_ail_no_check       aircraft_->pilot_ail_no_check
+
+  bool pilot_rud_no;
+#define pilot_rud_no             aircraft_->pilot_rud_no
+  bool pilot_rud_no_check;
+#define pilot_rud_no_check       aircraft_->pilot_rud_no_check
+
   
   /* Variables (token2) ===========================================*/
   /* controlsMixer = Control mixer ================================*/
@@ -487,6 +593,19 @@ typedef struct
   double simpleSingleMaxThrust;
 #define simpleSingleMaxThrust  aircraft_->simpleSingleMaxThrust
   
+  bool Throttle_pct_input;
+  string Throttle_pct_input_file;
+  double Throttle_pct_input_timeArray[1000];
+  double Throttle_pct_input_dTArray[1000];
+  int Throttle_pct_input_ntime;
+  double Throttle_pct_input_startTime;
+#define Throttle_pct_input            aircraft_->Throttle_pct_input
+#define Throttle_pct_input_file       aircraft_->Throttle_pct_input_file
+#define Throttle_pct_input_timeArray  aircraft_->Throttle_pct_input_timeArray
+#define Throttle_pct_input_dTArray    aircraft_->Throttle_pct_input_dTArray
+#define Throttle_pct_input_ntime      aircraft_->Throttle_pct_input_ntime
+#define Throttle_pct_input_startTime  aircraft_->Throttle_pct_input_startTime
+
 
   /* Variables (token2) ===========================================*/
   /* CD ============ Aerodynamic x-force quantities (longitudinal) */
@@ -648,6 +767,16 @@ typedef struct
 #define CZ_deb2  aircraft_->CZ_deb2
 #define CZ_df    aircraft_->CZ_df
 #define CZ_adf   aircraft_->CZ_adf
+  string CZfa;
+  double CZfa_aArray[100];
+  double CZfa_CZArray[100];
+  int CZfa_nAlpha;
+  double CZfaI;
+#define CZfa               aircraft_->CZfa
+#define CZfa_aArray        aircraft_->CZfa_aArray
+#define CZfa_CZArray       aircraft_->CZfa_CZArray
+#define CZfa_nAlpha        aircraft_->CZfa_nAlpha
+#define CZfaI              aircraft_->CZfaI
 
 
   /* Variables (token2) ===========================================*/
@@ -1048,6 +1177,47 @@ typedef struct
 #define Cn_b3_clean    aircraft_->Cn_b3_clean
 
 
+  //321654
+  /* Variables (token2) ===========================================*/
+  /* fog =========== Fog field quantities ======================== */
+
+  map <string,int> fog_map;
+#define fog_map 	aircraft_->fog_map
+
+  bool fog_field;
+  int fog_segments;
+  int fog_point_index;
+  double *fog_time;
+  int *fog_value;
+  double fog_next_time;
+  int fog_current_segment;
+ 
+  int Fog;
+  
+  AIRCRAFT()
+  {
+    fog_field = false;
+    fog_segments = 0;
+    fog_point_index = -1;
+    fog_time = NULL;
+    fog_value = NULL;
+    fog_next_time = 0.0;
+    fog_current_segment = 0;
+    Fog = 0;
+  };
+
+#define fog_field	aircraft_->fog_field
+#define fog_segments	aircraft_->fog_segments
+#define fog_point_index	aircraft_->fog_point_index
+#define fog_time	aircraft_->fog_time
+#define fog_value	aircraft_->fog_value
+#define fog_next_time	aircraft_->fog_next_time
+#define fog_current_segment	aircraft_->fog_current_segment
+
+#define Fog             aircraft_->Fog
+
+ 
+
   /* Variables (token2) ===========================================*/
   /* record ======== Record desired quantites to file =============*/
   
@@ -1169,7 +1339,7 @@ typedef struct
 #define fout aircraft_->fout
   
   
-} AIRCRAFT;
+};
 
 extern AIRCRAFT *aircraft_;    // usually defined in the first program that includes uiuc_aircraft.h
 

src/FDM/UIUCModel/uiuc_coef_lift.cpp

@@ -19,11 +19,13 @@
 ----------------------------------------------------------------------
 
  HISTORY:      04/15/2000   initial release
+               06/18/2001   (RD) Added CZfa
 
 ----------------------------------------------------------------------
 
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
                Jeff Scott         <jscott@mail.com>
+	       Robert Deters      <rdeters@uiuc.edu>
 
 ----------------------------------------------------------------------
 
@@ -387,6 +389,15 @@ void uiuc_coef_lift()
             CZ += CZ_adf * Alpha * flap;
             break;
           }
+        case CZfa_flag:
+          {
+            CZfaI = uiuc_1Dinterpolation(CZfa_aArray,
+                                         CZfa_CZArray,
+                                         CZfa_nAlpha,
+                                         Alpha);
+            CZ += CZfaI;
+            break;
+          }
         };
     } // end CL map
 

src/FDM/UIUCModel/uiuc_coefficients.cpp

@@ -28,11 +28,17 @@
                             Cnfada, and Cnfbetadr switches
 	       04/15/2000   (JS) broke up into multiple 
 	                    uiuc_coef_xxx functions
+	       06/18/2001   (RD) Added initialization of Alpha and
+	                    Beta.  Added aileron_input and rudder_input.
+			    Added pilot_elev_no, pilot_ail_no, and
+			    pilot_rud_no.
+	       07/05/2001   (RD) Added pilot_(elev,ail,rud)_no=false
 
 ----------------------------------------------------------------------
 
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
                Jeff Scott         <jscott@mail.com>
+	       Robert Deters      <rdeters@uiuc.edu>
 
 ----------------------------------------------------------------------
 
@@ -93,6 +99,14 @@
 
 void uiuc_coefficients()
 {
+  double l_trim, l_defl;
+
+  if (Alpha_init_true && Simtime==0)
+    Alpha = Alpha_init;
+
+  if (Beta_init_true && Simtime==0)
+    Beta = Beta_init;
+
   // calculate rate derivative nondimensionalization factors
   // check if speed is sufficient to compute dynamic pressure terms
   if (nondim_rate_V_rel_wind)         // c172_aero uses V_rel_wind
@@ -132,8 +146,11 @@ void uiuc_coefficients()
       uiuc_ice_eta();
     }
 
-  // check to see if phugoid mode engaged
+  // check to see if data files are used for control deflections
-  if (elevator_step || elevator_singlet || elevator_doublet || elevator_input)
+  pilot_elev_no = false;
+  pilot_ail_no = false;
+  pilot_rud_no = false;
+  if (elevator_step || elevator_singlet || elevator_doublet || elevator_input || aileron_input || rudder_input)
     {
       uiuc_controlInput();
     }
@@ -150,6 +167,36 @@ void uiuc_coefficients()
   uiuc_coef_roll();
   uiuc_coef_yaw();
 
+  if (pilot_ail_no)
+    {
+      if (aileron <=0)
+	Lat_control = - aileron / damax * RAD_TO_DEG;
+      else
+	Lat_control = - aileron / damin * RAD_TO_DEG;
+    }
+
+  if (pilot_elev_no)
+    {
+      l_trim = elevator_tab;
+      l_defl = elevator - elevator_tab;
+      if (l_trim <=0 )
+	Long_trim = l_trim / demax * RAD_TO_DEG;
+      else
+	Long_trim = l_trim / demin * RAD_TO_DEG;
+      if (l_defl <= 0)
+	Long_control = l_defl / demax * RAD_TO_DEG;
+      else
+	Long_control = l_defl / demin * RAD_TO_DEG;
+    }
+
+  if (pilot_rud_no)
+    {
+      if (rudder <=0)
+	Rudder_pedal = - rudder / drmax * RAD_TO_DEG;
+      else
+	Rudder_pedal = - rudder / drmin * RAD_TO_DEG;
+    }
+
   return;
 }
 

src/FDM/UIUCModel/uiuc_coefficients.h

@@ -10,6 +10,8 @@
 #include "uiuc_coef_roll.h"
 #include "uiuc_coef_yaw.h"
 #include <FDM/LaRCsim/ls_generic.h>
+#include <FDM/LaRCsim/ls_cockpit.h>     /*Long_control,Lat_control,Rudder_pedal */
+#include <FDM/LaRCsim/ls_constants.h>   /* RAD_TO_DEG, DEG_TO_RAD*/
 
 
 void uiuc_coefficients();

src/FDM/UIUCModel/uiuc_controlInput.cpp

@@ -18,10 +18,15 @@
 ----------------------------------------------------------------------
 
  HISTORY:      04/08/2000   initial release
+               06/18/2001   (RD) Added aileron_input and rudder_input
+	       07/05/2001   (RD) Code added to allow the pilot to fly
+	                    aircraft after the control surface input
+			    files have been used.
 
 ----------------------------------------------------------------------
 
  AUTHOR(S):    Jeff Scott         <jscott@mail.com>
+               Robert Deters      <rdeters@uiuc.edu>
 
 ----------------------------------------------------------------------
 
@@ -115,6 +120,11 @@ void uiuc_controlInput()
           Simtime <= (elevator_input_startTime + elevator_input_endTime))
         {
           double time = Simtime - elevator_input_startTime;
+	  if (pilot_elev_no_check)
+	    {
+	      elevator = 0 + elevator_tab;
+	      pilot_elev_no = true;
+	    }
           elevator = elevator + 
             uiuc_1Dinterpolation(elevator_input_timeArray,
                                  elevator_input_deArray,
@@ -122,6 +132,51 @@ void uiuc_controlInput()
                                  time);
         }
     }
+
+  // aileron input
+  if (aileron_input)
+    {
+      double aileron_input_endTime = aileron_input_timeArray[aileron_input_ntime];
+      if (Simtime >= aileron_input_startTime && 
+          Simtime <= (aileron_input_startTime + aileron_input_endTime))
+        {
+          double time = Simtime - aileron_input_startTime;
+	  if (pilot_ail_no_check)
+	    {
+	      aileron = 0;
+	      if (Simtime==0)             //7-25-01 (RD) Added because
+		pilot_ail_no = false;     //segmentation fault is given
+	      else                        //with FG 0.7.8
+		pilot_ail_no = true;
+	    }
+          aileron = aileron + 
+            uiuc_1Dinterpolation(aileron_input_timeArray,
+                                 aileron_input_daArray,
+                                 aileron_input_ntime,
+                                 time);
+        }
+    }
+
+  // rudder input
+  if (rudder_input)
+    {
+      double rudder_input_endTime = rudder_input_timeArray[rudder_input_ntime];
+      if (Simtime >= rudder_input_startTime && 
+          Simtime <= (rudder_input_startTime + rudder_input_endTime))
+        {
+          double time = Simtime - rudder_input_startTime;
+	  if (pilot_rud_no_check)
+	    {
+	      rudder = 0;
+	      pilot_rud_no = true;
+	    }
+          rudder = rudder + 
+            uiuc_1Dinterpolation(rudder_input_timeArray,
+                                 rudder_input_drArray,
+                                 rudder_input_ntime,
+                                 time);
+        }
+    }
   return;
 }
 

src/FDM/UIUCModel/uiuc_engine.cpp

@@ -19,11 +19,13 @@
 ----------------------------------------------------------------------
 
  HISTORY:      01/30/2000   initial release
+               06/18/2001   (RD) Added Throttle_pct_input.
 
 ----------------------------------------------------------------------
 
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
                Jeff Scott         <jscott@mail.com>
+	       Robert Deters      <rdeters@uiuc.edu>
                Michael Selig      <m-selig@uiuc.edu>
 
 ----------------------------------------------------------------------
@@ -81,6 +83,20 @@ void uiuc_engine()
   string linetoken1;
   string linetoken2;
 
+  if (Throttle_pct_input)
+    {
+      double Throttle_pct_input_endTime = Throttle_pct_input_timeArray[Throttle_pct_input_ntime];
+      if (Simtime >= Throttle_pct_input_startTime && 
+          Simtime <= (Throttle_pct_input_startTime + Throttle_pct_input_endTime))
+        {
+          double time = Simtime - Throttle_pct_input_startTime;
+          Throttle_pct = uiuc_1Dinterpolation(Throttle_pct_input_timeArray,
+                         Throttle_pct_input_dTArray,
+                         Throttle_pct_input_ntime,
+                         time);
+        }
+    }
+  
   Throttle[3] = Throttle_pct;
 
   command_list = engineParts -> getCommands();

src/FDM/UIUCModel/uiuc_engine.h

@@ -2,8 +2,19 @@
 #define _ENGINE_H_
 
 #include "uiuc_aircraft.h"
+#include "uiuc_1Dinterpolation.h"
 #include <FDM/LaRCsim/ls_generic.h>
 #include <FDM/LaRCsim/ls_cockpit.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern double Simtime;
+
+#ifdef __cplusplus
+}
+#endif
+
 void uiuc_engine();
 #endif // _ENGINE_H_

src/FDM/UIUCModel/uiuc_fog.cpp

@@ -0,0 +1,114 @@
+/**********************************************************************
+
+ FILENAME:     uiuc_fog.cpp
+
+----------------------------------------------------------------------
+
+ DESCRIPTION:  changes Fog variable to +/-1 or 0 using fog 
+	       parameters and Simtime
+
+----------------------------------------------------------------------
+
+ STATUS:       alpha version
+
+----------------------------------------------------------------------
+
+ REFERENCES:   
+
+----------------------------------------------------------------------
+
+ HISTORY:      05/20/2001   initial release
+
+----------------------------------------------------------------------
+
+ AUTHOR(S):    Michael Savchenko         <savchenk@uiuc.edu>
+
+----------------------------------------------------------------------
+
+ VARIABLES:
+
+----------------------------------------------------------------------
+
+ INPUTS:     	-Simtime
+		-Fog
+		-fog_field
+		-fog_next_time
+		-fog_current_segment
+		-fog_value
+		-fog_time
+	       
+----------------------------------------------------------------------
+
+ OUTPUTS:      	-Fog
+		-fog_field
+		-fog_next_time
+		-fog_current_segment
+ 
+----------------------------------------------------------------------
+
+ CALLED BY:    uiuc_wrapper
+
+----------------------------------------------------------------------
+
+ CALLS TO:     none
+
+----------------------------------------------------------------------
+
+ COPYRIGHT:    (C) 2000 by Michael Selig
+
+ 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.
+
+ 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
+ USA or view http://www.gnu.org/copyleft/gpl.html.
+
+**********************************************************************/
+
+
+#include "uiuc_fog.h"
+
+void uiuc_fog()
+{
+  if (Simtime >= fog_next_time)
+  {
+    if (fog_current_segment != 0)
+    {
+      if (fog_value[fog_current_segment] > fog_value[fog_current_segment-1])
+	Fog = 1;
+      else if (fog_value[fog_current_segment] < fog_value[fog_current_segment-1])
+	Fog = -1;
+      else
+	Fog = 0;
+    }
+    else
+      Fog = 0;
+
+    if (Simtime > fog_time[fog_current_segment]) {
+      if (fog_current_segment == fog_segments)
+      {
+	fog_field = false;
+	Fog = 0;
+	return;
+      }
+      else
+	fog_current_segment++;			}
+
+    if (fog_value[fog_current_segment] == fog_value[fog_current_segment-1])
+      fog_next_time = fog_time[fog_current_segment];
+    else
+      fog_next_time += (fog_time[fog_current_segment]-fog_time[fog_current_segment-1]) / abs(fog_value[fog_current_segment]-fog_value[fog_current_segment-1]);
+  }
+  else
+    Fog = 0;
+  
+  return;
+}
+

src/FDM/UIUCModel/uiuc_fog.h

@@ -0,0 +1,18 @@
+#ifndef _FOG_H_
+#define _FOG_H_
+
+#include "uiuc_aircraft.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern double Simtime;
+
+#ifdef __cplusplus
+}
+#endif
+
+void uiuc_fog();
+
+#endif // _FOG_H_

src/FDM/UIUCModel/uiuc_initializemaps.cpp

@@ -84,6 +84,7 @@ void uiuc_initializemaps()
   uiuc_map_Croll();
   uiuc_map_Cn();
   uiuc_map_gear();
+  uiuc_map_fog();
   uiuc_map_ice();
   uiuc_map_record1();
   uiuc_map_record2();

src/FDM/UIUCModel/uiuc_initializemaps.h

@@ -16,6 +16,7 @@
 #include "uiuc_map_Cn.h"
 #include "uiuc_map_ice.h"
 #include "uiuc_map_gear.h"
+#include "uiuc_map_fog.h"
 #include "uiuc_map_record1.h"
 #include "uiuc_map_record2.h"
 #include "uiuc_map_record3.h"

src/FDM/UIUCModel/uiuc_map_CL.cpp

@@ -17,11 +17,13 @@
 ----------------------------------------------------------------------
  
  HISTORY:      04/08/2000   initial release
+               06/18/2001   Added CZfa
 
 ----------------------------------------------------------------------
  
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
                Jeff Scott         <jscott@mail.com>
+	       Robert Deters      <rdeters@uiuc.edu>
  
 ----------------------------------------------------------------------
  
@@ -88,6 +90,7 @@ void uiuc_map_CL()
   CL_map["CZ_deb2"]               =      CZ_deb2_flag               ;
   CL_map["CZ_df"]                 =      CZ_df_flag                 ;
   CL_map["CZ_adf"]                =      CZ_adf_flag                ;
+  CL_map["CZfa"]                  =      CZfa_flag                  ;
 }
 
 // end uiuc_map_CL.cpp

src/FDM/UIUCModel/uiuc_map_controlSurface.cpp

@@ -17,11 +17,15 @@
 ----------------------------------------------------------------------
  
  HISTORY:      04/08/2000   initial release
+               06/18/2001   Added aileron_input, rudder_input,
+	                    pilot_elev_no, pilot_ail_no, and 
+			    pilot_rud_no
 
 ----------------------------------------------------------------------
  
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
                Jeff Scott         <jscott@mail.com>
+	       Robert Deters      <rdeters@uiuc.edu>
  
 ----------------------------------------------------------------------
  
@@ -78,6 +82,11 @@ void uiuc_map_controlSurface()
   controlSurface_map["elevator_singlet"] = elevator_singlet_flag    ;
   controlSurface_map["elevator_doublet"] = elevator_doublet_flag    ;
   controlSurface_map["elevator_input"]   = elevator_input_flag      ;
+  controlSurface_map["aileron_input"]    = aileron_input_flag       ;
+  controlSurface_map["rudder_input"]     = rudder_input_flag        ;
+  controlSurface_map["pilot_elev_no"]    = pilot_elev_no_flag       ;
+  controlSurface_map["pilot_ail_no"]     = pilot_ail_no_flag        ;
+  controlSurface_map["pilot_rud_no"]     = pilot_rud_no_flag        ;
 }
 
 // end uiuc_map_controlSurface.cpp

src/FDM/UIUCModel/uiuc_map_engine.cpp

@@ -17,11 +17,13 @@
 ----------------------------------------------------------------------
  
  HISTORY:      04/08/2000   initial release
+               06/18/2001   (RD) Added Throttle_pct_input
 
 ----------------------------------------------------------------------
  
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
                Jeff Scott         <jscott@mail.com>
+	       Robert Deters      <rdeters@uiuc.edu>
  
 ----------------------------------------------------------------------
  
@@ -71,6 +73,7 @@ void uiuc_map_engine()
   engine_map["simpleSingle"]      =      simpleSingle_flag         ;
   engine_map["c172"]              =      c172_flag                 ;
   engine_map["cherokee"]          =      cherokee_flag             ;
+  engine_map["Throttle_pct_input"]=      Throttle_pct_input_flag   ;
 }
 
 // end uiuc_map_engine.cpp

src/FDM/UIUCModel/uiuc_map_fog.cpp

@@ -0,0 +1,76 @@
+/********************************************************************** 
+ 
+ FILENAME:     uiuc_map_fog.cpp 
+
+---------------------------------------------------------------------- 
+
+ DESCRIPTION:  initializes the fog map
+
+----------------------------------------------------------------------
+ 
+ STATUS:       alpha version
+
+----------------------------------------------------------------------
+ 
+ REFERENCES:   
+ 
+----------------------------------------------------------------------
+ 
+ HISTORY:      05/20/2001   initial release
+
+----------------------------------------------------------------------
+ 
+ AUTHOR(S):    Michael Savchenko       <savchenk@uiuc.edu>
+ 
+----------------------------------------------------------------------
+ 
+ VARIABLES:
+ 
+----------------------------------------------------------------------
+ 
+ INPUTS:       none
+ 
+----------------------------------------------------------------------
+ 
+ OUTPUTS:      none
+ 
+----------------------------------------------------------------------
+ 
+ CALLED BY:    uiuc_initializemaps.cpp
+ 
+----------------------------------------------------------------------
+ 
+ CALLS TO:     none
+ 
+----------------------------------------------------------------------
+ 
+ COPYRIGHT:    (C) 2000 by Michael Selig
+ 
+ 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.
+ 
+ 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
+ USA or view http://www.gnu.org/copyleft/gpl.html.
+ 
+**********************************************************************/
+
+
+#include "uiuc_map_fog.h"
+
+
+void uiuc_map_fog()
+{
+  fog_map["fog_segments"]	=	fog_segments_flag	;
+  fog_map["fog_point"]		=	fog_point_flag		;
+  
+}
+
+// end uiuc_map_fog.cpp

src/FDM/UIUCModel/uiuc_map_fog.h

@@ -0,0 +1,10 @@
+//321654
+
+#ifndef _MAP_FOG_H_
+#define _MAP_FOG_H_
+
+#include "uiuc_aircraft.h"
+
+void uiuc_map_fog();
+
+#endif  // _MAP_FOG_H_

src/FDM/UIUCModel/uiuc_map_init.cpp

@@ -17,11 +17,14 @@
 ----------------------------------------------------------------------
  
  HISTORY:      04/08/2000   initial release
+               06/18/2001   (RD) Added Alpha, Beta, U_body
+	                    V_body, and W_body.
 
 ----------------------------------------------------------------------
  
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
                Jeff Scott         <jscott@mail.com>
+	       Robert Deters      <rdeters@uiuc.edu>
  
 ----------------------------------------------------------------------
  
@@ -89,6 +92,11 @@ void uiuc_map_init()
   init_map["recordStartTime"]     =      recordStartTime_flag       ;
   init_map["nondim_rate_V_rel_wind"]=    nondim_rate_V_rel_wind_flag;
   init_map["dyn_on_speed"]        =      dyn_on_speed_flag          ;
+  init_map["Alpha"]               =      Alpha_flag                 ;
+  init_map["Beta"]                =      Beta_flag                  ;
+  init_map["U_body"]              =      U_body_flag                ;
+  init_map["V_body"]              =      V_body_flag                ;
+  init_map["W_body"]              =      W_body_flag                ;
 }
 
 // end uiuc_map_init.cpp

src/FDM/UIUCModel/uiuc_map_keyword.cpp

@@ -83,6 +83,7 @@ void uiuc_map_keyword()
   Keyword_map["ice"]              =      ice_flag                   ;
   Keyword_map["record"]           =      record_flag                ;
   Keyword_map["misc"]             =      misc_flag                  ;
+  Keyword_map["fog"]		  =	 fog_flag		    ;
 }
 
 // end uiuc_map_keyword.cpp

src/FDM/UIUCModel/uiuc_menu.cpp

@@ -42,11 +42,26 @@
                             maps; added zero_Long_trim to 
                             controlSurface map
                03/09/2001   (DPM) added support for gear.
+	       06/18/2001   (RD) Added Alpha, Beta, U_body,
+	                    V_body, and W_body to init map.  Added 
+			    aileron_input, rudder_input, pilot_elev_no,
+			    pilot_ail_no, and pilot_rud_no to
+			    controlSurface map.  Added Throttle_pct_input
+			    to engine map.  Added CZfa to CL map.
+	       07/05/2001   (RD) Changed pilot_elev_no = true to pilot_
+	                    elev_no_check=false.  This is to allow pilot
+			    to fly aircraft after input files have been
+			    used.
+ 	       08/27/2001   (RD) Added xxx_init_true and xxx_init for
+	                    P_body, Q_body, R_body, Phi, Theta, Psi,
+			    U_body, V_body, and W_body to help in
+			    starting the A/C at an initial condition.
 
 ----------------------------------------------------------------------
 
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
                Jeff Scott         <jscott@mail.com>
+	       Robert Deters      <rdeters@uiuc.edu>
                Michael Selig      <m-selig@uiuc.edu>
                David Megginson    <david@megginson.com>
 
@@ -310,7 +325,8 @@ void uiuc_menu( string aircraft_name )
                   else
                     uiuc_warnings_errors(1, *command_line);
 
-                  P_body = token_value;
+                  P_body_init_true = true;
+                  P_body_init = token_value;
                   initParts -> storeCommands (*command_line);
                   break;
                 }
@@ -321,7 +337,8 @@ void uiuc_menu( string aircraft_name )
                   else
                     uiuc_warnings_errors(1, *command_line);
                   
-                  Q_body = token_value;
+		  Q_body_init_true = true;
+                  Q_body_init = token_value;
                   initParts -> storeCommands (*command_line);
                   break;
                 }
@@ -332,7 +349,8 @@ void uiuc_menu( string aircraft_name )
                   else
                     uiuc_warnings_errors(1, *command_line);
                   
-                  R_body = token_value;
+		  R_body_init_true = true;
+                  R_body_init = token_value;
                   initParts -> storeCommands (*command_line);
                   break;
                 }
@@ -343,7 +361,8 @@ void uiuc_menu( string aircraft_name )
                   else
                     uiuc_warnings_errors(1, *command_line);
                   
-                  Phi = token_value;
+		  Phi_init_true = true;
+                  Phi_init = token_value;
                   initParts -> storeCommands (*command_line);
                   break;
                 }
@@ -354,7 +373,8 @@ void uiuc_menu( string aircraft_name )
                   else
                     uiuc_warnings_errors(1, *command_line);
                   
-                  Theta = token_value;
+		  Theta_init_true = true;
+                  Theta_init = token_value;
                   initParts -> storeCommands (*command_line);
                   break;
                 }
@@ -365,7 +385,8 @@ void uiuc_menu( string aircraft_name )
                   else
                     uiuc_warnings_errors(1, *command_line);
                   
-                  Psi = token_value;
+		  Psi_init_true = true;
+                  Psi_init = token_value;
                   initParts -> storeCommands (*command_line);
                   break;
                 }
@@ -412,6 +433,61 @@ void uiuc_menu( string aircraft_name )
                   dyn_on_speed = token_value;
                   break;
                 }
+	      case Alpha_flag:
+		{
+		  if (check_float(linetoken3))
+		    token3 >> token_value;
+		  else
+		    uiuc_warnings_errors(1, *command_line);
+
+		  Alpha_init_true = true;
+		  Alpha_init = token_value * DEG_TO_RAD;
+		  break;
+		}
+	      case Beta_flag:
+		{
+		  if (check_float(linetoken3))
+		    token3 >> token_value;
+		  else
+		    uiuc_warnings_errors(1, *command_line);
+
+		  Beta_init_true = true;
+		  Beta_init = token_value * DEG_TO_RAD;
+		  break;
+		}
+	      case U_body_flag:
+		{
+		  if (check_float(linetoken3))
+		    token3 >> token_value;
+		  else
+		    uiuc_warnings_errors(1, *command_line);
+
+		  U_body_init_true = true;
+		  U_body_init = token_value;
+		  break;
+		}
+	      case V_body_flag:
+		{
+		  if (check_float(linetoken3))
+		    token3 >> token_value;
+		  else
+		    uiuc_warnings_errors(1, *command_line);
+
+		  V_body_init_true = true;
+		  V_body_init = token_value;
+		  break;
+		}
+	      case W_body_flag:
+		{
+		  if (check_float(linetoken3))
+		    token3 >> token_value;
+		  else
+		    uiuc_warnings_errors(1, *command_line);
+
+		  W_body_init_true = true;
+		  W_body_init = token_value;
+		  break;
+		}
               default:
                 {
                   uiuc_warnings_errors(2, *command_line);
@@ -693,6 +769,53 @@ void uiuc_menu( string aircraft_name )
                   elevator_input_startTime = token_value;
                   break;
                 }
+	      case aileron_input_flag:
+                {
+                  aileron_input = true;
+                  aileron_input_file = linetoken3;
+                  token4 >> token_value_convert1;
+                  token5 >> token_value_convert2;
+                  convert_y = uiuc_convert(token_value_convert1);
+                  convert_x = uiuc_convert(token_value_convert2);
+                  uiuc_1DdataFileReader(aileron_input_file,
+                                        aileron_input_timeArray,
+                                        aileron_input_daArray,
+                                        aileron_input_ntime);
+                  token6 >> token_value;
+                  aileron_input_startTime = token_value;
+                  break;
+                }
+	      case rudder_input_flag:
+                {
+                  rudder_input = true;
+                  rudder_input_file = linetoken3;
+                  token4 >> token_value_convert1;
+                  token5 >> token_value_convert2;
+                  convert_y = uiuc_convert(token_value_convert1);
+                  convert_x = uiuc_convert(token_value_convert2);
+                  uiuc_1DdataFileReader(rudder_input_file,
+                                        rudder_input_timeArray,
+                                        rudder_input_drArray,
+                                        rudder_input_ntime);
+                  token6 >> token_value;
+                  rudder_input_startTime = token_value;
+                  break;
+                }
+	      case pilot_elev_no_flag:
+		{
+		  pilot_elev_no_check = true;
+		  break;
+		}
+	      case pilot_ail_no_flag:
+		{
+		  pilot_ail_no_check = true;
+		  break;
+		}
+	      case pilot_rud_no_flag:
+		{
+		  pilot_rud_no_check = true;
+		  break;
+		}
               default:
                 {
                   uiuc_warnings_errors(2, *command_line);
@@ -809,6 +932,22 @@ void uiuc_menu( string aircraft_name )
                   engineParts -> storeCommands (*command_line);
                   break;
                 }
+              case Throttle_pct_input_flag:
+                {
+                  Throttle_pct_input = true;
+                  Throttle_pct_input_file = linetoken3;
+		  token4 >> token_value_convert1;
+		  token5 >> token_value_convert2;
+		  convert_y = uiuc_convert(token_value_convert1);
+		  convert_x = uiuc_convert(token_value_convert2);
+                  uiuc_1DdataFileReader(Throttle_pct_input_file,
+                                        Throttle_pct_input_timeArray,
+                                        Throttle_pct_input_dTArray,
+                                        Throttle_pct_input_ntime);
+                  token6 >> token_value;
+                  Throttle_pct_input_startTime = token_value;
+                  break;
+                }
               default:
                 {
                   uiuc_warnings_errors(2, *command_line);
@@ -1439,6 +1578,24 @@ void uiuc_menu( string aircraft_name )
                   aeroLiftParts -> storeCommands (*command_line);
                   break;
                 }
+              case CZfa_flag:
+                {
+                  CZfa = linetoken3;
+                  token4 >> token_value_convert1;
+                  token5 >> token_value_convert2;
+                  convert_y = uiuc_convert(token_value_convert1);
+                  convert_x = uiuc_convert(token_value_convert2);
+                  /* call 1D File Reader with file name (CZfa) and conversion 
+                     factors; function returns array of alphas (aArray) and 
+                     corresponding CZ values (CZArray) and max number of 
+                     terms in arrays (nAlpha) */
+                  uiuc_1DdataFileReader(CZfa,
+                                        CZfa_aArray,
+                                        CZfa_CZArray,
+                                        CZfa_nAlpha);
+                  aeroLiftParts -> storeCommands (*command_line);
+                  break;
+                }
               default:
                 {
                   uiuc_warnings_errors(2, *command_line);
@@ -2924,6 +3081,73 @@ void uiuc_menu( string aircraft_name )
           } // end ice map
          
 
+	case fog_flag:
+          {
+	    switch(fog_map[linetoken2])
+              {
+              case fog_segments_flag:
+                {
+                  if (check_float(linetoken3))
+		    token3 >> token_value_convert1;
+		  else
+		    uiuc_warnings_errors(1, *command_line);
+
+	          if (token_value_convert1 < 1 || token_value_convert1 > 100)
+		    uiuc_warnings_errors(1, *command_line);
+		  
+		  fog_field = true;
+		  fog_point_index = 0;
+		  delete[] fog_time;
+		  delete[] fog_value;
+		  fog_segments = token_value_convert1;
+		  fog_time = new double[fog_segments+1];
+		  fog_time[0] = 0.0;
+		  fog_value = new int[fog_segments+1];
+		  fog_value[0] = 0;
+		  
+		  break;
+		}
+	      case fog_point_flag:
+		{
+		  if (check_float(linetoken3))
+		    token3 >> token_value;
+	          else
+		    uiuc_warnings_errors(1, *command_line);
+
+		  if (token_value < 0.1)
+		    uiuc_warnings_errors(1, *command_line);
+
+		  if (check_float(linetoken4))
+		    token4 >> token_value_convert1;
+		  else
+		    uiuc_warnings_errors(1, *command_line);
+
+		  if (token_value_convert1 < -1000 || token_value_convert1 > 1000)
+		    uiuc_warnings_errors(1, *command_line);
+
+		  if (fog_point_index == fog_segments || fog_point_index == -1)
+		    uiuc_warnings_errors(1, *command_line);
+
+		  fog_point_index++;
+		  fog_time[fog_point_index] = token_value;
+		  fog_value[fog_point_index] = token_value_convert1;
+
+		  break;
+		}
+	      default:
+		{
+		  uiuc_warnings_errors(2, *command_line);
+		  break;
+		}
+	      };
+	    break;
+	  } // end fog map	  
+	  
+
+
+
+	  
+
         case record_flag:
           {
             static int fout_flag=0;

src/FDM/UIUCModel/uiuc_wrapper.cpp

@@ -19,10 +19,16 @@
 
  HISTORY:      01/26/2000   initial release
                03/09/2001   (DPM) added support for gear
+               06/18/2001   (RD) Made uiuc_recorder its own routine.
+	       07/19/2001   (RD) Added uiuc_vel_init() to initialize
+	                    the velocities.
+	       08/27/2001   (RD) Added uiuc_initial_init() to help
+	                    in starting an A/C at an initial condition
  
 ----------------------------------------------------------------------
  
  AUTHOR(S):    Bipin Sehgal       <bsehgal@uiuc.edu>
+               Robert Deters      <rdeters@uiuc.edu>
                David Megginson    <david@megginson.com>
  
 ----------------------------------------------------------------------
@@ -66,6 +72,13 @@
 **********************************************************************/
 
 #include <simgear/compiler.h>
+#include <Aircraft/aircraft.hxx>
+
+#ifndef FG_OLD_WEATHER
+#include <WeatherCM/FGLocalWeatherDatabase.h>
+#else
+#include <Weather/weather.hxx>
+#endif
 
 #include "uiuc_aircraft.h"
 #include "uiuc_aircraftdir.h"
@@ -77,6 +90,8 @@
 #include "uiuc_menu.h"
 #include "uiuc_betaprobe.h"
 #include <FDM/LaRCsim/ls_generic.h>
+#include "Main/simple_udp.h"
+#include "uiuc_fog.h" //321654
 
 #if !defined (SG_HAVE_NATIVE_SGI_COMPILERS)
 SG_USING_STD(cout);
@@ -87,10 +102,73 @@ extern "C" void uiuc_init_aeromodel ();
 extern "C" void uiuc_force_moment(double dt);
 extern "C" void uiuc_engine_routine();
 extern "C" void uiuc_gear_routine();
+extern "C" void uiuc_record_routine(double dt);
+extern "C" void uiuc_vel_init ();
+extern "C" void uiuc_initial_init ();
 
 AIRCRAFT *aircraft_ = new AIRCRAFT;
 AIRCRAFTDIR *aircraftdir_ = new AIRCRAFTDIR;
 
+SendArray testarray(4950);
+
+/* Convert float to string */
+string ftoa(double in)
+{
+  static char temp[20];
+  sprintf(temp,"%g",in);
+  return (string)temp;
+}
+
+void uiuc_initial_init ()
+{
+  if (P_body_init_true)
+    P_body = P_body_init;
+  if (Q_body_init_true)
+    Q_body = Q_body_init;
+  if (R_body_init_true)
+    R_body = R_body_init;
+
+  if (Phi_init_true)
+    Phi = Phi_init;
+  if (Theta_init_true)
+    Theta = Theta_init;
+  if (Psi_init_true)
+    Psi = Psi_init;
+
+  if (U_body_init_true)
+    U_body = U_body_init;
+  if (V_body_init_true)
+    V_body = V_body_init;
+  if (W_body_init_true)
+    W_body = W_body_init;
+
+}
+
+void uiuc_vel_init ()
+{
+  if (U_body_init_true && V_body_init_true && W_body_init_true)
+    {
+  double det_T_l_to_b, cof11, cof12, cof13, cof21, cof22, cof23, cof31, cof32, cof33;
+
+  det_T_l_to_b = T_local_to_body_11*(T_local_to_body_22*T_local_to_body_33-T_local_to_body_23*T_local_to_body_32) - T_local_to_body_12*(T_local_to_body_21*T_local_to_body_33-T_local_to_body_23*T_local_to_body_31) + T_local_to_body_13*(T_local_to_body_21*T_local_to_body_32-T_local_to_body_22*T_local_to_body_31);
+  cof11 = T_local_to_body_22 * T_local_to_body_33 - T_local_to_body_23 * T_local_to_body_32;
+  cof12 = T_local_to_body_23 * T_local_to_body_31 - T_local_to_body_21 * T_local_to_body_33;
+  cof13 = T_local_to_body_21 * T_local_to_body_32 - T_local_to_body_22 * T_local_to_body_31;
+  cof21 = T_local_to_body_13 * T_local_to_body_32 - T_local_to_body_12 * T_local_to_body_33;
+  cof22 = T_local_to_body_11 * T_local_to_body_33 - T_local_to_body_13 * T_local_to_body_31;
+  cof23 = T_local_to_body_12 * T_local_to_body_31 - T_local_to_body_11 * T_local_to_body_32;
+  cof31 = T_local_to_body_12 * T_local_to_body_23 - T_local_to_body_13 * T_local_to_body_22;
+  cof32 = T_local_to_body_13 * T_local_to_body_21 - T_local_to_body_11 * T_local_to_body_23;
+  cof33 = T_local_to_body_11 * T_local_to_body_22 - T_local_to_body_12 * T_local_to_body_21;
+
+  V_north = (cof11*U_body+cof21*V_body+cof31*W_body)/det_T_l_to_b;
+  V_east_rel_ground = (cof12*U_body+cof22*V_body+cof32*W_body)/det_T_l_to_b;
+  V_down = (cof13*U_body+cof23*V_body+cof33*W_body)/det_T_l_to_b;
+
+  V_east = V_east_rel_ground + OMEGA_EARTH*Sea_level_radius*cos(Lat_geocentric);
+    }
+}
+
 void uiuc_init_aeromodel ()
 {
   string aircraft;
@@ -133,9 +211,57 @@ void uiuc_force_moment(double dt)
   M_m_aero = Cm * qScbar;
   M_n_aero = Cn * qSb;
 
-  /* Call fligt data recorder */
+  /* Call flight data recorder */
-  if (Simtime >= recordStartTime)
+  //  if (Simtime >= recordStartTime)
-      uiuc_recorder(dt);
+  //      uiuc_recorder(dt);
+  
+
+  // fog field update
+   Fog = 0;
+   if (fog_field)
+     uiuc_fog();
+
+   double vis;
+   if (Fog != 0)
+   {
+ #ifndef FG_OLD_WEATHER
+     vis = WeatherDatabase->getWeatherVisibility();
+     if (Fog > 0)
+       vis /= 1.01;
+     else
+       vis *= 1.01;
+     WeatherDatabase->setWeatherVisibility( vis );
+ #else
+     vis = current_weather->get_visibility();
+     if (Fog > 0)
+       vis /= 1.01;
+     else
+       vis *= 1.01;
+     current_weather->set_visibility( vis );
+ #endif
+   }
+ 
+
+  /* Send data on the network to the Glass Cockpit */
+ 
+  string input="";
+
+  input += " stick_right " + ftoa(Lat_control);
+  input += " rudder_left " + ftoa(-Rudder_pedal);
+  input += " stick_forward " + ftoa(Long_control);
+  input += " stick_trim_forward " + ftoa(Long_trim);
+  input += " vehicle_pitch " + ftoa(Theta * 180.0 / 3.14);
+  input += " vehicle_roll " + ftoa(Phi * 180.0 / 3.14);
+  input += " vehicle_speed " + ftoa(V_rel_wind);
+  input += " throttle_forward " + ftoa(Throttle_pct);
+  input += " altitude " + ftoa(Altitude);
+  input += " climb_rate " + ftoa(-1.0*V_down_rel_ground);
+ 
+  testarray.getHello();
+  testarray.sendData(input);
+  
+  /* End of Networking */ 
+
 }
 
 void uiuc_engine_routine()
@@ -148,4 +274,9 @@ void uiuc_gear_routine ()
   uiuc_gear();
 }
 
+void uiuc_record_routine(double dt)
+{
+  if (Simtime >= recordStartTime)
+    uiuc_recorder(dt);
+}
 //end uiuc_wrapper.cpp

src/FDM/UIUCModel/uiuc_wrapper.h

@@ -3,3 +3,6 @@ void uiuc_init_aeromodel ();
 void uiuc_force_moment(double dt);
 void uiuc_engine_routine();
 void uiuc_gear_routine();
+void uiuc_record_routine(double dt);
+void uiuc_vel_init ();
+void uiuc_initial_init ();