YASim: convert Atmosphere to a non-static class so we can pass around air parameters in one object instead of several variables.

src/FDM/YASim/Airplane.cpp

@@ -38,13 +38,9 @@ Airplane::Airplane()
     _wing = 0;
     _tail = 0;
     _ballast = 0;
-    _cruiseP = 0;
-    _cruiseT = 0;
     _cruiseSpeed = 0;
     _cruiseWeight = 0;
     _cruiseGlideAngle = 0;
-    _approachP = 0;
-    _approachT = 0;
     _approachSpeed = 0;
     _approachAoA = 0;
     _approachWeight = 0;
@@ -149,8 +145,7 @@ void Airplane::updateGearState()
 void Airplane::setApproach(float speed, float altitude, float aoa, float fuel, float gla)
 {
     _approachSpeed = speed;
-    _approachP = Atmosphere::getStdPressure(altitude);
+    _approachAtmo.setStandard(altitude);
-    _approachT = Atmosphere::getStdTemperature(altitude);
     _approachAoA = aoa;
     _approachFuel = fuel;
     _approachGlideAngle = gla;
@@ -159,8 +154,7 @@ void Airplane::setApproach(float speed, float altitude, float aoa, float fuel, f
 void Airplane::setCruise(float speed, float altitude, float fuel, float gla)
 {
     _cruiseSpeed = speed;
-    _cruiseP = Atmosphere::getStdPressure(altitude);
+    _cruiseAtmo.setStandard(altitude);
-    _cruiseT = Atmosphere::getStdTemperature(altitude);
     _cruiseAoA = 0;
     _tailIncidence = 0;
     _cruiseFuel = fuel;
@@ -790,7 +784,7 @@ void Airplane::setupWeights(bool isApproach)
 }
 
 /// load values for controls as defined in cruise configuration
-void Airplane::loadControls(Vector& controls)
+void Airplane::loadControls(const Vector& controls)
 {
   _controls.reset();
   for(int i=0; i < controls.size(); i++) {
@@ -805,8 +799,7 @@ void Airplane::runCruise()
 {
     setupState(_cruiseAoA, _cruiseSpeed,_cruiseGlideAngle, &_cruiseState);
     _model.setState(&_cruiseState);
-    _model.setAir(_cruiseP, _cruiseT,
+    _model.setAtmosphere(_cruiseAtmo);
-                  Atmosphere::calcStdDensity(_cruiseP, _cruiseT));
 
     // The control configuration
     loadControls(_cruiseControls);
@@ -822,10 +815,10 @@ void Airplane::runCruise()
     // Set up the thruster parameters and iterate until the thrust
     // stabilizes.
     for(int i=0; i<_thrusters.size(); i++) {
-	Thruster* t = ((ThrustRec*)_thrusters.get(i))->thruster;
+        Thruster* t = ((ThrustRec*)_thrusters.get(i))->thruster;
-	t->setWind(wind);
+        t->setWind(wind);
-	t->setAir(_cruiseP, _cruiseT,
+        t->setAir(_cruiseAtmo);
-                  Atmosphere::calcStdDensity(_cruiseP, _cruiseT));
+                  //Atmosphere::calcStdDensity(_cruiseP, _cruiseT));
     }
     stabilizeThrust();
 
@@ -843,8 +836,7 @@ void Airplane::runApproach()
 {
     setupState(_approachAoA, _approachSpeed,_approachGlideAngle, &_approachState);
     _model.setState(&_approachState);
-    _model.setAir(_approachP, _approachT,
+    _model.setAtmosphere(_approachAtmo);
-                  Atmosphere::calcStdDensity(_approachP, _approachT));
 
     // The control configuration
     loadControls(_approachControls);
@@ -860,10 +852,9 @@ void Airplane::runApproach()
     // Run the thrusters until they get to a stable setting.  FIXME:
     // this is lots of wasted work.
     for(int i=0; i<_thrusters.size(); i++) {
-	Thruster* t = ((ThrustRec*)_thrusters.get(i))->thruster;
+        Thruster* t = ((ThrustRec*)_thrusters.get(i))->thruster;
-	t->setWind(wind);
+        t->setWind(wind);
-	t->setAir(_approachP, _approachT,
+        t->setAir(_approachAtmo);
-                  Atmosphere::calcStdDensity(_approachP, _approachT));
     }
     stabilizeThrust();
 
@@ -1108,9 +1099,7 @@ void Airplane::solveHelicopter()
     setupWeights(true);
     _controls.reset();
     _model.getBody()->reset();
-    _model.setAir(_cruiseP, _cruiseT,
+    _model.setAtmosphere(_cruiseAtmo);    
-                  Atmosphere::calcStdDensity(_cruiseP, _cruiseT));
-    
 }
 
 float Airplane::getCGMAC()

src/FDM/YASim/Airplane.hpp

@@ -126,7 +126,7 @@ private:
     struct SolveWeight { bool approach; int idx; float wgt; };
     struct ContactRec { Gear* gear; float p[3]; };
 
-    void loadControls(Vector &controls);
+    void loadControls(const Vector& controls);
     void runCruise();
     void runApproach();
     void solveGear();
@@ -170,8 +170,7 @@ private:
 
     Vector _cruiseControls;
     State _cruiseState;
-    float _cruiseP;
+    Atmosphere _cruiseAtmo;
-    float _cruiseT;
     float _cruiseSpeed;
     float _cruiseWeight;
     float _cruiseFuel;
@@ -179,8 +178,7 @@ private:
 
     Vector _approachControls;
     State _approachState;
-    float _approachP;
+    Atmosphere _approachAtmo;
-    float _approachT;
     float _approachSpeed;
     float _approachAoA;
     float _approachWeight;

src/FDM/YASim/Atmosphere.cpp

@@ -1,7 +1,8 @@
+#include <string>
 #include "Math.hpp"
 #include "Atmosphere.hpp"
-namespace yasim {
 
+namespace yasim {
 // Copied from McCormick, who got it from "The ARDC Model Atmosphere"
 // Note that there's an error in the text in the first entry,
 // McCormick lists 299.16/101325/1.22500, but those don't agree with
@@ -9,7 +10,7 @@ namespace yasim {
 // pretty hot for a "standard" atmosphere.
 // Numbers above 19000 meters calculated from src/Environment/environment.cxx
 //                             meters   kelvin      Pa   kg/m^3
-float Atmosphere::data[][4] = {{ -900.0f, 293.91f, 111679.0f, 1.32353f },
+float Atmosphere::data[][Atmosphere::numColumns] = {{ -900.0f, 293.91f, 111679.0f, 1.32353f },
                                {    0.0f, 288.11f, 101325.0f, 1.22500f },
 			       {   900.0f, 282.31f,  90971.0f, 1.12260f },
 			       {  1800.0f, 276.46f,  81494.0f, 1.02690f },
@@ -48,28 +49,34 @@ float Atmosphere::data[][4] = {{ -900.0f, 293.91f, 111679.0f, 1.32353f },
 
 // Universal gas constant for air, in SI units.  P = R * rho * T.
 // P in pascals (N/m^2), rho is kg/m^3, T in kelvin.
-const float R = 287.1f;
+const float R = 287.058f;
 
 // Specific heat ratio for air, at "low" temperatures.  
 const float GAMMA = 1.4f;
 
+void Atmosphere::setStandard(float altitude)
+{
+    _density = getStdDensity(altitude);
+    _pressure = getStdPressure(altitude);
+    _temperature = getStdTemperature(altitude);
+}
+
 float Atmosphere::getStdTemperature(float alt)
 {
-    return getRecord(alt, 1);
+    return getRecord(alt, TEMPERATURE);
 }
 
 float Atmosphere::getStdPressure(float alt)
 {
-    return getRecord(alt, 2);
+    return getRecord(alt, PRESSURE);
 }
 
 float Atmosphere::getStdDensity(float alt)
 {
-    return getRecord(alt, 3);
+    return getRecord(alt, DENSITY);
 }
 
-float Atmosphere::calcVEAS(float spd,
+float Atmosphere::calcVEAS(float spd, float pressure, float temp, float density)
-                           float pressure, float temp, float density)
 {
     static float rho0 = getStdDensity(0);
     float densityRatio = density / rho0;
@@ -122,9 +129,14 @@ float Atmosphere::spdFromMach(float mach, float temp)
     return mach * Math::sqrt(GAMMA * R * temp);
 }
 
+float Atmosphere::spdFromMach(float mach)
+{
+    return spdFromMach(mach, _temperature);
+}
+
 float Atmosphere::spdFromVCAS(float vcas, float pressure, float temp)
 {
-                                // FIXME: does not account for supersonic
+    // FIXME: does not account for supersonic
     float p0 = getStdPressure(0);
     float rho0 = getStdDensity(0);
 
@@ -136,6 +148,11 @@ float Atmosphere::spdFromVCAS(float vcas, float pressure, float temp)
     return vtas;
 }
 
+float Atmosphere::spdFromVCAS(float vcas)
+{
+    return spdFromVCAS(vcas, _pressure, _temperature);
+}
+
 void Atmosphere::calcStaticAir(float p0, float t0, float d0, float v,
                                float* pOut, float* tOut, float* dOut)
 {
@@ -147,14 +164,24 @@ void Atmosphere::calcStaticAir(float p0, float t0, float d0, float v,
     *pOut = (*dOut) * R * (*tOut);
 }
 
-float Atmosphere::getRecord(float alt, int recNum)
+void Atmosphere::calcStaticAir(float v, float* pOut, float* tOut, float* dOut)
 {
-    int hi = (sizeof(data) / (4*sizeof(float))) - 1;
+    return calcStaticAir(_pressure, _temperature, _density, v, pOut, tOut, dOut);
+}
+
+
+float Atmosphere::getRecord(float alt, Column recNum)
+{
+    int hi = maxTableIndex();
     int lo = 0;
 
     // safety valve, clamp to the edges of the table
-    if(alt < data[0][0])       hi=1;
+    if(alt < data[0][ALTITUDE]) {
-    else if(alt > data[hi][0]) lo = hi-1;
+      hi = 1;
+    }
+    else if(alt > data[hi][ALTITUDE]) {
+      lo = hi-1;
+    }
 
     // binary search
     while(1) {
@@ -165,10 +192,38 @@ float Atmosphere::getRecord(float alt, int recNum)
     }
 
     // interpolate
-    float frac = (alt - data[lo][0])/(data[hi][0] - data[lo][0]);
+    float frac = (alt - data[lo][ALTITUDE])/(data[hi][ALTITUDE] - data[lo][ALTITUDE]);
     float a = data[lo][recNum];
     float b = data[hi][recNum];
     return a + frac * (b-a);
 }
 
+int Atmosphere::maxTableIndex() {
+    return (sizeof(data) / (numColumns * sizeof(float))) - 1;
+}
+
+bool Atmosphere::test() {
+    bool passed = true;
+    int rows = maxTableIndex() + 1;
+    const float maxDeviation = 0.0002f;
+    
+    fprintf(stderr, "Atmosphere::test()\n");
+    fprintf(stderr, "Columns = %d\n", numColumns);
+    fprintf(stderr, "Rows = %d\n", rows);
+    
+    for (int alt = 0; alt < maxTableIndex(); alt++) {
+      float density = calcStdDensity(data[alt][PRESSURE], data[alt][TEMPERATURE]);
+      float delta = data[alt][DENSITY] - density;
+      fprintf(stderr, "%d : %f \n", alt, delta);
+      if (Math::abs(delta) > maxDeviation) { 
+        passed = false;       
+        fprintf(stderr,"FAIL: Deviation above limit of %1.6f\n", maxDeviation);
+      }
+    }
+    if (passed) {
+      fprintf(stderr,"Deviation below %1.6f for all rows.\n", maxDeviation);
+    }
+    return passed;
+}
+
 }; // namespace yasim

src/FDM/YASim/Atmosphere.hpp

@@ -3,8 +3,28 @@
 
 namespace yasim {
 
+//constexpr int Atmosphere::numColumns {4};
+  
 class Atmosphere {
+    enum Column {
+      ALTITUDE,
+      TEMPERATURE,
+      PRESSURE,
+      DENSITY
+    };
+    static const int numColumns {4};
 public:
+    void setTemperature(float t) { _temperature = t; }
+    void setPressure(float p) { _pressure = p; }
+    void setDensity(float d) { _density = d; }
+
+    //set temperature, pressure and density to standard values for given altitude
+    void setStandard(float altitude);
+    
+    float getTemperature() const { return _temperature; }
+    float getPressure() const { return _pressure; }
+    float getDensity() const { return _density; }
+    
     static float getStdTemperature(float alt);
     static float getStdPressure(float alt);
     static float getStdDensity(float alt);
@@ -16,6 +36,8 @@ public:
 
     static float spdFromMach(float mach, float temp);
     static float spdFromVCAS(float vcas, float pressure, float temp);
+    float spdFromMach(float mach);
+    float spdFromVCAS(float vcas);
     
     // Given ambient ("0") pressure/density/temperature values,
     // calculate the properties of static air (air accelerated to the
@@ -23,10 +45,17 @@ public:
     // compressibility, but not shock effects.
     static void calcStaticAir(float p0, float t0, float d0, float v,
                               float* pOut, float* tOut, float* dOut);
+    void calcStaticAir(float v, float* pOut, float* tOut, float* dOut);
+    static bool test();
     
 private:
-    static float getRecord(float alt, int idx);
+    static float getRecord(float alt, Atmosphere::Column recNum);
-    static float data[][4];
+    static float data[][numColumns];
+    static int maxTableIndex();
+    
+    float _temperature = 288.11f;
+    float _pressure = 101325.0f;
+    float _density = 1.22500f;
 };
 
 }; // namespace yasim

src/FDM/YASim/CMakeLists.txt

@@ -22,7 +22,6 @@ set(COMMON
 	Rotorpart.cpp
 	SimpleJet.cpp
 	Surface.cpp
-	Thruster.cpp
 	TurbineEngine.cpp
 	Turbulence.cpp
 	Wing.cpp
@@ -40,6 +39,7 @@ flightgear_component(YASim  "${SOURCES}")
 if(ENABLE_TESTS)
 add_executable(yasim yasim-test.cpp ${COMMON})
 add_executable(yasim-proptest proptest.cpp ${COMMON})
+add_executable(yasim-atmotest yasim-atmotest.cpp Atmosphere.cpp )
 
 target_link_libraries(yasim SimGearCore)
 target_link_libraries(yasim-proptest SimGearCore)

src/FDM/YASim/Jet.cpp

@@ -59,21 +59,6 @@ void Jet::setMaxThrust(float thrust, float afterburner)
     }
 }
 
-void Jet::setVMax(float spd)
-{
-    _vMax = spd;
-}
-
-void Jet::setTSFC(float tsfc)
-{
-    _tsfc = tsfc;
-}
-
-void Jet::setATSFC(float atsfc)
-{
-    _atsfc = atsfc;
-}
-
 void Jet::setRPMs(float idleN1, float maxN1, float idleN2, float maxN2)
 {
     _n1Min = idleN1;
@@ -82,16 +67,6 @@ void Jet::setRPMs(float idleN1, float maxN1, float idleN2, float maxN2)
     _n2Max = maxN2;
 }
 
-void Jet::setEGT(float takeoffEGT)
-{
-    _egt0 = takeoffEGT;
-}
-
-void Jet::setEPR(float takeoffEPR)
-{
-    _epr0 = takeoffEPR;
-}
-
 void Jet::setSpooling(float time)
 {
     // 2.3 = -ln(0.1), i.e. x=2.3 is the 90% point we're defining
@@ -100,11 +75,6 @@ void Jet::setSpooling(float time)
     _decay = 1.5f * 2.3f / time;
 }
 
-void Jet::setVectorAngle(float angle)
-{
-    _maxRot = angle;
-}
-
 void Jet::setReheat(float reheat)
 {
     _reheat = Math::clamp(reheat, 0, 1);
@@ -112,9 +82,7 @@ void Jet::setReheat(float reheat)
 
 void Jet::setRotation(float rot)
 {
-    if(rot < 0) rot = 0;
+    _rotControl = Math::clamp(rot, 0, 1);
-    if(rot > 1) rot = 1;
-    _rotControl = rot;
 }
 
 float Jet::getN1()
@@ -127,16 +95,12 @@ float Jet::getN2()
     return _n2 * _tempCorrect;
 }
 
-float Jet::getEPR()
-{
-    return _epr;
-}
-
 float Jet::getEGT()
 {
     // Exactly zero means "off" -- return the ambient temperature
-    if(_egt == 0) return _temp;
+    if(_egt == 0) {
-
+      return _atmo.getTemperature();
+    }
     return _egt * _tempCorrect * _tempCorrect;
 }
 
@@ -155,8 +119,7 @@ void Jet::integrate(float dt)
     float spd = -Math::dot3(_wind, _dir);
 
     float statT, statP, statD;
-    Atmosphere::calcStaticAir(_pressure, _temp, _rho, spd,
+    _atmo.calcStaticAir(spd, &statP, &statT, &statD);
-                              &statP, &statT, &statD);
     _pressureCorrect = statP/P0;
     _tempCorrect = Math::sqrt(statT/T0);
 
@@ -175,8 +138,8 @@ void Jet::integrate(float dt)
     // Now get a "beta" (i.e. EPR - 1) value.  The output values are
     // expressed as functions of beta.
     float ibeta0 = 1/(_epr0 - 1);
-    float betaTarget = (_epr0 - 1) * (setThrust/_maxThrust) * (P0/_pressure)
+    float betaTarget = (_epr0 - 1) * (setThrust/_maxThrust) * (P0/_atmo.getPressure())
-	* (_temp/statT);
+	* (_atmo.getTemperature()/statT);
     float n2Target = _n2Min + (betaTarget*ibeta0) * (_n2Max - _n2Min);
 
     // Note that this "first" beta value is used to compute a target
@@ -191,7 +154,7 @@ void Jet::integrate(float dt)
     // The actual thrust produced is keyed to the N1 speed.  Add the
     // afterburners in at the end.
     float betaN1 =  (_epr0-1) * (_n1 - _n1Min) / (_n1Max - _n1Min);
-    _thrust = _maxThrust * betaN1/((_epr0-1)*(P0/_pressure)*(_temp/statT));
+    _thrust = _maxThrust * betaN1/((_epr0-1)*(P0/_atmo.getPressure())*(_atmo.getTemperature()/statT));
     _thrust *= 1 + _reheat*(_abFactor-1);
 
     // Finally, calculate the output variables.   Use a 80/20 mix of
@@ -214,16 +177,6 @@ void Jet::integrate(float dt)
     if(_reverseThrust) _thrust *= -_reverseEff;
 }
 
-bool Jet::isRunning()
-{
-    return _running;
-}
-
-bool Jet::isCranking()
-{
-    return _cranking;
-}
-
 void Jet::getThrust(float* out)
 {
     Math::mul3(_thrust, _dir, out);
@@ -240,13 +193,11 @@ void Jet::getThrust(float* out)
 void Jet::getTorque(float* out)
 {
     out[0] = out[1] = out[2] = 0;
-    return;
 }
 
 void Jet::getGyro(float* out)
 {
     out[0] = out[1] = out[2] = 0;
-    return;
 }
 
 }; // namespace yasim

src/FDM/YASim/Jet.hpp

@@ -12,13 +12,13 @@ public:
     virtual Jet* getJet() { return this; }
     
     void setMaxThrust(float thrust, float afterburner=0);
-    void setVMax(float spd);
+    void setVMax(float spd) { _vMax = spd; };
-    void setTSFC(float tsfc);
+    void setTSFC(float tsfc) { _tsfc = tsfc; };
-    void setATSFC(float atsfc);
+    void setATSFC(float atsfc) { _atsfc = atsfc; };
     void setRPMs(float idleN1, float maxN1, float idleN2, float maxN2);
-    void setEGT(float takeoffEGT);
+    void setEGT(float takeoffEGT) { _egt0 = takeoffEGT; };
-    void setEPR(float takeoffEPR);
+    void setEPR(float takeoffEPR) { _epr0 = takeoffEPR; };
-    void setVectorAngle(float angle);
+    void setVectorAngle(float angle) { _maxRot = angle; };
 
     // The time it takes the engine to reach 90% thrust from idle
     void setSpooling(float time);
@@ -37,15 +37,15 @@ public:
 
     float getN1();
     float getN2();
-    float getEPR();
+    float getEPR() const { return _epr; };
     float getEGT();
 
     // Normalized "performance" number.  Used for fuzzy numbers in FGFDM
     float getPerfNorm() { return (_n1 - _n1Min) / (_n1Max - _n1Min); }
 
     // From Thruster:
-    virtual bool isRunning();
+    virtual bool isRunning() { return _running; };
-    virtual bool isCranking();
+    virtual bool isCranking() { return _cranking; };
     virtual void getThrust(float* out);
     virtual void getTorque(float* out);
     virtual void getGyro(float* out);

src/FDM/YASim/Model.cpp

@@ -127,7 +127,7 @@ void Model::initIteration()
         localWind(pos, _s, v, alt);
 
 	t->setWind(v);
-	t->setAir(_pressure, _temp, _rho);
+	t->setAir(_atmo);
 	t->integrate(_integrator.getInterval());
 
 	t->getTorque(v);
@@ -186,7 +186,7 @@ void Model::iterate()
 void Model::setState(State* s)
 {
     _integrator.setState(s);
-    _s = _integrator.getState();
+    _s = s;
 }
 
 
@@ -203,18 +203,9 @@ void Model::setGroundEffect(const float* pos, float span, float mul)
     _groundEffect = mul;
 }
 
-void Model::setAir(float pressure, float temp, float density)
+void Model::setStandardAtmosphere(float altitude)
 {
-    _pressure = pressure;
+    _atmo.setStandard(altitude);
-    _temp = temp;
-    _rho = density;
-}
-
-void Model::setAirFromStandardAtmosphere(float altitude)
-{
-    _pressure = Atmosphere::getStdPressure(altitude);
-    _temp = Atmosphere::getStdTemperature(altitude);
-    _rho = Atmosphere::getStdDensity(altitude);
 }
 
 void Model::updateGround(State* s)
@@ -336,7 +327,7 @@ void Model::calcForces(State* s)
       localWind(pos, s, vs, alt);
 
       float force[3], torque[3];
-      sf->calcForce(vs, _rho, force, torque);
+      sf->calcForce(vs, _atmo.getDensity(), force, torque);
       Math::add3(faero, force, faero);
 
       _body.addForce(pos, force);
@@ -349,7 +340,7 @@ void Model::calcForces(State* s)
         float vs[3], pos[3];
         r->getPosition(pos);
         localWind(pos, s, vs, alt);
-        r->calcLiftFactor(vs, _rho,s);
+        r->calcLiftFactor(vs, _atmo.getDensity(), s);
         float tq=0; 
         // total torque of rotor (scalar) for calculating new rotor rpm
 
@@ -363,7 +354,7 @@ void Model::calcForces(State* s)
             localWind(pos, s, vs, alt,true);
 
             float force[3], torque[3];
-            rp->calcForce(vs, _rho, force, torque, &torque_scalar);
+            rp->calcForce(vs, _atmo.getDensity(), force, torque, &torque_scalar);
             tq+=torque_scalar;
             rp->getPositionForceAttac(pos);
 
@@ -486,7 +477,7 @@ void Model::newState(State* s)
 
 // Calculates the airflow direction at the given point and for the
 // specified aircraft velocity.
-void Model::localWind(const float* pos, yasim::State* s, float* out, float alt, bool is_rotor)
+void Model::localWind(const float* pos, const yasim::State* s, float* out, float alt, bool is_rotor)
 {
     float tmp[3], lwind[3], lrot[3], lv[3];
 
@@ -521,8 +512,6 @@ void Model::localWind(const float* pos, yasim::State* s, float* out, float alt,
         _rotorgear.getDownWash(pos,lv,tmp);
         Math::add3(out,tmp, out);    //  + downwash
     }
-
-
 }
 
 }; // namespace yasim

src/FDM/YASim/Model.hpp

@@ -7,6 +7,7 @@
 #include "Vector.hpp"
 #include "Turbulence.hpp"
 #include "Rotor.hpp"
+#include "Atmosphere.hpp"
 #include <simgear/props/props.hxx>
 
 namespace yasim {
@@ -68,8 +69,8 @@ public:
     //
     void setGroundEffect(const float* pos, float span, float mul);
     void setWind(float* wind) { Math::set3(wind, _wind); }
-    void setAir(float pressure, float temp, float density);
+    void setAtmosphere(Atmosphere a) { _atmo = a; };
-    void setAirFromStandardAtmosphere(float altitude);
+    void setStandardAtmosphere(float altitude);
 
     void updateGround(State* s);
 
@@ -81,7 +82,7 @@ private:
     void initRotorIteration();
     void calcGearForce(Gear* g, float* v, float* rot, float* ground);
     float gearFriction(float wgt, float v, Gear* g);
-    void localWind(const float* pos, State* s, float* out, float alt, bool is_rotor = false);
+    void localWind(const float* pos, const yasim::State* s, float* out, float alt, bool is_rotor = false);
 
     Integrator _integrator;
     RigidBody _body;
@@ -102,11 +103,10 @@ private:
 
     Ground* _ground_cb;
     double _global_ground[4];
-    float _pressure;
+    Atmosphere _atmo;
-    float _temp;
-    float _rho;
     float _wind[3];
     
+
     // Accumulators for the total internal gyro and engine torque
     float _gyro[3];
     float _torque[3];

src/FDM/YASim/PropEngine.cpp

@@ -123,8 +123,8 @@ void PropEngine::stabilize()
     // If we cannot manage this in 100 iterations, give up.
     for (int n = 0; n < 100; n++) {
 	float ptau, thrust;
-	_prop->calc(_rho, speed, _omega * _gearRatio, &thrust, &ptau);
+	_prop->calc(_atmo.getDensity(), speed, _omega * _gearRatio, &thrust, &ptau);
-	_eng->calc(_pressure, _temp, _omega);
+	_eng->calc(_atmo.getPressure(), _atmo.getTemperature(), _omega);
         _eng->stabilize();
 
         // Do it again -- the turbo sets the target MP in the first
@@ -133,7 +133,7 @@ void PropEngine::stabilize()
         // it works without side effects (other than solver
         // performance).  In the future, the Engine objects should
         // store state to allow them to do the work themselves.
-	_eng->calc(_pressure, _temp, _omega);
+	_eng->calc(_atmo.getPressure(), _atmo.getTemperature(), _omega);
 
         // Compute torque as seen by the engine's end of the gearbox.
         // The propeller will be moving more slowly (for gear ratios
@@ -185,11 +185,11 @@ void PropEngine::integrate(float dt)
     _eng->setMixture(_mixture);
     _eng->setFuelState(_fuel);
     
-    _prop->calc(_rho, speed, _omega * _gearRatio, &thrust, &propTorque);
+    _prop->calc(_atmo.getDensity(), speed, _omega * _gearRatio, &thrust, &propTorque);
     if(_omega == 0.0)
         _omega = 0.001; // hack to get around reports of NaNs somewhere...
     propTorque *= _gearRatio;
-    _eng->calc(_pressure, _temp, _omega);
+    _eng->calc(_atmo.getPressure(), _atmo.getTemperature(), _omega);
     _eng->integrate(dt);
     engTorque = _eng->getTorque();
     _fuelFlow = _eng->getFuelFlow();

src/FDM/YASim/Thruster.cpp

@@ -1,27 +0,0 @@
-#include "Math.hpp"
-#include "Thruster.hpp"
-namespace yasim {
-
-Thruster::Thruster()
-{
-    _dir[0] = 1; _dir[1] = 0; _dir[2] = 0;
-    int i;
-    for(i=0; i<3; i++) _pos[i] = _wind[i] = 0;
-    _throttle = 0;
-    _mixture = 0;
-    _starter = false;
-    _pressure = _temp = _rho = 0;
-}
-
-Thruster::~Thruster()
-{
-}
-
-void Thruster::setAir(float pressure, float temp, float density)
-{
-    _pressure = pressure;
-    _temp = temp;
-    _rho = density;
-}
-
-}; // namespace yasim

src/FDM/YASim/Thruster.hpp

@@ -1,5 +1,7 @@
 #ifndef _THRUSTER_HPP
 #define _THRUSTER_HPP
+
+#include "Atmosphere.hpp"
 #include "Math.hpp"
 
 namespace yasim {
@@ -11,8 +13,8 @@ class Engine;
 
 class Thruster {
 public:
-    Thruster();
+    Thruster() {};
-    virtual ~Thruster();
+    virtual ~Thruster() {};
 
     // Typing info, these are the possible sub-type (or sub-parts)
     // that a thruster might have.  Any might return null.  A little
@@ -44,25 +46,22 @@ public:
 
     // Runtime instructions
     void setWind(const float* wind) { Math::set3(wind, _wind); };
-    void setAir(float pressure, float temp, float density);
+    void setAir(Atmosphere a) { _atmo = a; };
     virtual void init() {}
     virtual void integrate(float dt)=0;
     virtual void stabilize()=0;
 
 protected:
-    float _pos[3];
+    float _pos[3] {0, 0, 0};
-    float _dir[3];
+    float _dir[3] {1, 0, 0};
-    float _throttle;
+    float _throttle = 0;
-    float _mixture;
+    float _mixture = 0;
-    bool _starter; // true=engaged, false=disengaged
+    bool _starter = false; // true=engaged, false=disengaged
     bool _fuel; // true=available, false=out
 
-    float _wind[3];
+    float _wind[3] {0, 0, 0};
-    float _pressure;
+    Atmosphere _atmo;
-    float _temp;
-    float _rho;
 };
 
 }; // namespace yasim
 #endif // _THRUSTER_HPP
-

src/FDM/YASim/YASim.cxx

@@ -312,6 +312,10 @@ void YASim::copyToYASim(bool copyState)
     float temp     = _temp_degc->getFloatValue() + 273.15;
     float dens     = _density_slugft3->getFloatValue() *
                             SLUG2KG * M2FT*M2FT*M2FT;
+    Atmosphere atmo;
+    atmo.setDensity(dens);
+    atmo.setTemperature(temp);
+    atmo.setPressure(pressure);
                             
     // Convert and set:
     Model* model = _fdm->getAirplane()->getModel();
@@ -332,7 +336,7 @@ void YASim::copyToYASim(bool copyState)
     Math::mmul33(s.orient, xyz2ned, s.orient);
 
     // Velocity
-    float v[3];
+    float v[3] {0, 0, 0};
     bool needCopy = false;
     switch (_speed_set) {
     case NED:
@@ -347,15 +351,14 @@ void YASim::copyToYASim(bool copyState)
         Math::tmul33(s.orient, v, v);
         break;
     case KNOTS:
-        v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
+        v[0] = atmo.spdFromVCAS(get_V_calibrated_kts()/MPS2KTS);
-                                       pressure, temp);
         v[1] = 0;
         v[2] = 0;
         Math::tmul33(s.orient, v, v);
         needCopy = true;
         break;
     case MACH:
-        v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
+        v[0] = atmo.spdFromMach(get_Mach_number());
         v[1] = 0;
         v[2] = 0;
         Math::tmul33(s.orient, v, v);
@@ -374,20 +377,18 @@ void YASim::copyToYASim(bool copyState)
     if(copyState || needCopy)
         model->setState(&s);
 
-    // wind
     Math::tmul33(xyz2ned, wind, wind);
     model->setWind(wind);
-
+    model->setAtmosphere(atmo);
-    // air
-    model->setAir(pressure, temp, dens);
 
     // Query a ground plane for each gear/hook/launchbar and
     // write that value into the corresponding class.
     _fdm->getAirplane()->getModel()->updateGround(&s);
 
     Launchbar* l = model->getLaunchbar();
-    if (l)
+    if (l) {
         l->setLaunchCmd(0.0 < _catapult_launch_cmd->getFloatValue());
+    }
 }
 
 // All the settables:

src/FDM/YASim/proptest.cpp

@@ -71,9 +71,9 @@ int main(int argc, char** argv)
     eng->setBoost(1);
 
     float alt = (argc > 2 ? atof(argv[2]) : 0) * FT2M;
-    pe->setAir(Atmosphere::getStdPressure(alt),
+    Atmosphere atmo;
-               Atmosphere::getStdTemperature(alt),
+    atmo.setStandard(alt);
-               Atmosphere::getStdDensity(alt));
+    pe->setAir(atmo);
  
     float speed = (argc > 3 ? atof(argv[3]) : 0) * KTS2MPS;
     float wind[3];

src/FDM/YASim/yasim-atmotest.cpp

@@ -0,0 +1,12 @@
+#include "Atmosphere.hpp"
+
+using namespace yasim;
+
+int main(int argc, char** argv)
+{
+  Atmosphere a;
+  if (a.test()) {
+    return 0;
+  }
+  return 1;
+}

src/FDM/YASim/yasim-test.cpp

@@ -54,7 +54,7 @@ void yasim_graph(Airplane* a, const float alt, const float kts, int cfg = CONFIG
   Model* m = a->getModel();
   State s;
 
-  m->setAirFromStandardAtmosphere(alt);
+  m->setStandardAtmosphere(alt);
 
   switch (cfg) {
     case CONFIG_APPROACH:
@@ -129,7 +129,7 @@ void yasim_drag(Airplane* a, const float aoa, const float alt, int cfg = CONFIG_
   Model* m = a->getModel();
   State s;
   
-  m->setAirFromStandardAtmosphere(alt);
+  m->setStandardAtmosphere(alt);
   
   switch (cfg) {
     case CONFIG_APPROACH:
@@ -254,11 +254,11 @@ int main(int argc, char** argv)
     float MACy = a->getWing()->getMACy();
     
     printf("       Iterations: %d\n", a->getSolutionIterations());
-    printf(" Drag Coefficient: %f\n", drag);
+    printf(" Drag Coefficient: %.3f\n", drag);
-    printf("       Lift Ratio: %f\n", a->getLiftRatio());
+    printf("       Lift Ratio: %.3f\n", a->getLiftRatio());
-    printf("       Cruise AoA: %f deg\n", aoa);
+    printf("       Cruise AoA: %.2f deg\n", aoa);
-    printf("   Tail Incidence: %f deg\n", tail);
+    printf("   Tail Incidence: %.2f deg\n", tail);
-    printf("Approach Elevator: %f\n\n", a->getApproachElevator());
+    printf("Approach Elevator: %.3f\n\n", a->getApproachElevator());
     printf("               CG: x:%.3f, y:%.3f, z:%.3f\n", cg[0], cg[1], cg[2]);
     printf("    Wing MAC (*1): x:%.2f, y:%.2f, length:%.1f \n", MACx, MACy, MAC);
     printf("    CG-x rel. MAC: %.3f\n", a->getCGMAC());