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Working on incorporating the LaRCsim flight model.

This commit is contained in:
curt 1997-05-29 22:39:49 +00:00
parent 6145613736
commit 3698b6ec3d
11 changed files with 894 additions and 87 deletions

View file

@ -24,10 +24,13 @@
**************************************************************************/ **************************************************************************/
#include <math.h>
#include <stdio.h> #include <stdio.h>
#include "aircraft.h" #include "aircraft.h"
#define FG_LON_2_DEG(RAD) ((RAD) * 180.0 / M_PI)
#define FG_LAT_2_DEG(RAD) (-1.0 * (RAD) * 180.0 / M_PI)
/* Display various parameters to stdout */ /* Display various parameters to stdout */
void aircraft_debug(int type) { void aircraft_debug(int type) {
@ -37,17 +40,22 @@ void aircraft_debug(int type) {
f = &current_aircraft.flight; f = &current_aircraft.flight;
c = &current_aircraft.controls; c = &current_aircraft.controls;
printf("Pos = (%.2f,%.2f,%.2f) Dir = %.2f\n", printf("Pos = (%.2f,%.2f,%.2f) Dir = %.2f Mach = %.2f\n",
f->pos_x, f->pos_y, f->pos_z, f->Psi); FG_LAT_2_DEG(FG_Latitude) * 3600.0,
FG_LON_2_DEG(FG_Longitude) * 3600.0,
FG_Altitude, FG_Psi, FG_Mach_number);
printf("Elev = %.2f, Aileron = %.2f, Rudder = %.2f\n", printf("Elev = %.2f, Aileron = %.2f, Rudder = %.2f\n",
c->elev, c->aileron, c->rudder); c->elev, c->aileron, c->rudder);
} }
/* $Log$ /* $Log$
/* Revision 1.2 1997/05/23 15:40:29 curt /* Revision 1.3 1997/05/29 22:39:56 curt
/* Added GNU copyright headers. /* Working on incorporating the LaRCsim flight model.
/* /*
* Revision 1.2 1997/05/23 15:40:29 curt
* Added GNU copyright headers.
*
* Revision 1.1 1997/05/16 15:58:24 curt * Revision 1.1 1997/05/16 15:58:24 curt
* Initial revision. * Initial revision.
* *

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@ -23,20 +23,48 @@
* (Log is kept at end of this file) * (Log is kept at end of this file)
**************************************************************************/ **************************************************************************/
#include <stdio.h>
#include "flight.h" #include "flight.h"
/* Initialize the flight model parameters */ /* Initialize the flight model parameters */
int fgFlightModelInit(int model); int fgFlightModelInit(int model, struct flight_params *f, double dt) {
int result;
if ( model == FG_LARCSIM ) {
fgFlight_2_LaRCsim(f); /* translate FG to LaRCsim structure */
fgLaRCsimInit(dt);
printf("FG pos = %.2f\n", FG_Latitude);
fgLaRCsim_2_Flight(f); /* translate LaRCsim back to FG structure */
} else {
printf("Unimplemented flight model == %d\n", model);
}
return(result);
}
/* Run an iteration of the flight model */ /* Run multiloop iterations of the flight model */
int fgFlightModelUpdate(int model); int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop) {
int result;
if ( model == FG_LARCSIM ) {
fgFlight_2_LaRCsim(f); /* translate FG to LaRCsim structure */
fgLaRCsimUpdate(multiloop);
fgLaRCsim_2_Flight(f); /* translate LaRCsim back to FG structure */
} else {
printf("Unimplemented flight model == %d\n", model);
}
return(result);
}
/* $Log$ /* $Log$
/* Revision 1.1 1997/05/29 02:35:04 curt /* Revision 1.2 1997/05/29 22:39:57 curt
/* Initial revision. /* Working on incorporating the LaRCsim flight model.
/* /*
* Revision 1.1 1997/05/29 02:35:04 curt
* Initial revision.
*
*/ */

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@ -42,35 +42,377 @@
/* Define a structure containing the shared flight model parameters */ /* Define a structure containing the shared flight model parameters */
struct flight_params { /* struct flight_params {
double pos_x, pos_y, pos_z; /* temporary position variables */ double pos_x, pos_y, pos_z;
double vel_x, vel_y, vel_z; /* temporary velocity variables */ double vel_x, vel_y, vel_z;
double Phi; /* Roll angle */ double Phi;
double Theta; /* Pitch angle */ double Theta;
double Psi; /* Heading angle */ double Psi;
double vel_Phi; double vel_Phi;
double vel_Theta; double vel_Theta;
double vel_Psi; double vel_Psi;
}; */
typedef double FG_VECTOR_3[3];
/* This is based heavily on LaRCsim/ls_generic.h */
struct flight_params {
/*================== Mass properties and geometry values ==================*/
double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
#define FG_Mass f->mass
#define FG_I_xx f->i_xx
#define FG_I_yy f->i_yy
#define FG_I_zz f->i_zz
#define FG_I_xz f->i_xz
FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
#define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v
#define FG_Dx_pilot f->d_pilot_rp_body_v[0]
#define FG_Dy_pilot f->d_pilot_rp_body_v[1]
#define FG_Dz_pilot f->d_pilot_rp_body_v[2]
FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
#define FG_D_cg_rp_body_v f->d_cg_rp_body_v
#define FG_Dx_cg f->d_cg_rp_body_v[0]
#define FG_Dy_cg f->d_cg_rp_body_v[1]
#define FG_Dz_cg f->d_cg_rp_body_v[2]
/*================================ Forces =================================*/
FG_VECTOR_3 f_body_total_v;
#define FG_F_body_total_v f->f_body_total_v
#define FG_F_X f->f_body_total_v[0]
#define FG_F_Y f->f_body_total_v[1]
#define FG_F_Z f->f_body_total_v[2]
FG_VECTOR_3 f_local_total_v;
#define FG_F_local_total_v f->f_local_total_v
#define FG_F_north f->f_local_total_v[0]
#define FG_F_east f->f_local_total_v[1]
#define FG_F_down f->f_local_total_v[2]
FG_VECTOR_3 f_aero_v;
#define FG_F_aero_v f->f_aero_v
#define FG_F_X_aero f->f_aero_v[0]
#define FG_F_Y_aero f->f_aero_v[1]
#define FG_F_Z_aero f->f_aero_v[2]
FG_VECTOR_3 f_engine_v;
#define FG_F_engine_v f->f_engine_v
#define FG_F_X_engine f->f_engine_v[0]
#define FG_F_Y_engine f->f_engine_v[1]
#define FG_F_Z_engine f->f_engine_v[2]
FG_VECTOR_3 f_gear_v;
#define FG_F_gear_v f->f_gear_v
#define FG_F_X_gear f->f_gear_v[0]
#define FG_F_Y_gear f->f_gear_v[1]
#define FG_F_Z_gear f->f_gear_v[2]
/*================================ Moments ================================*/
FG_VECTOR_3 m_total_rp_v;
#define FG_M_total_rp_v f->m_total_rp_v
#define FG_M_l_rp f->m_total_rp_v[0]
#define FG_M_m_rp f->m_total_rp_v[1]
#define FG_M_n_rp f->m_total_rp_v[2]
FG_VECTOR_3 m_total_cg_v;
#define FG_M_total_cg_v f->m_total_cg_v
#define FG_M_l_cg f->m_total_cg_v[0]
#define FG_M_m_cg f->m_total_cg_v[1]
#define FG_M_n_cg f->m_total_cg_v[2]
FG_VECTOR_3 m_aero_v;
#define FG_M_aero_v f->m_aero_v
#define FG_M_l_aero f->m_aero_v[0]
#define FG_M_m_aero f->m_aero_v[1]
#define FG_M_n_aero f->m_aero_v[2]
FG_VECTOR_3 m_engine_v;
#define FG_M_engine_v f->m_engine_v
#define FG_M_l_engine f->m_engine_v[0]
#define FG_M_m_engine f->m_engine_v[1]
#define FG_M_n_engine f->m_engine_v[2]
FG_VECTOR_3 m_gear_v;
#define FG_M_gear_v f->m_gear_v
#define FG_M_l_gear f->m_gear_v[0]
#define FG_M_m_gear f->m_gear_v[1]
#define FG_M_n_gear f->m_gear_v[2]
/*============================== Accelerations ============================*/
FG_VECTOR_3 v_dot_local_v;
#define FG_V_dot_local_v f->v_dot_local_v
#define FG_V_dot_north f->v_dot_local_v[0]
#define FG_V_dot_east f->v_dot_local_v[1]
#define FG_V_dot_down f->v_dot_local_v[2]
FG_VECTOR_3 v_dot_body_v;
#define FG_V_dot_body_v f->v_dot_body_v
#define FG_U_dot_body f->v_dot_body_v[0]
#define FG_V_dot_body f->v_dot_body_v[1]
#define FG_W_dot_body f->v_dot_body_v[2]
FG_VECTOR_3 a_cg_body_v;
#define FG_A_cg_body_v f->a_cg_body_v
#define FG_A_X_cg f->a_cg_body_v[0]
#define FG_A_Y_cg f->a_cg_body_v[1]
#define FG_A_Z_cg f->a_cg_body_v[2]
FG_VECTOR_3 a_pilot_body_v;
#define FG_A_pilot_body_v f->a_pilot_body_v
#define FG_A_X_pilot f->a_pilot_body_v[0]
#define FG_A_Y_pilot f->a_pilot_body_v[1]
#define FG_A_Z_pilot f->a_pilot_body_v[2]
FG_VECTOR_3 n_cg_body_v;
#define FG_N_cg_body_v f->n_cg_body_v
#define FG_N_X_cg f->n_cg_body_v[0]
#define FG_N_Y_cg f->n_cg_body_v[1]
#define FG_N_Z_cg f->n_cg_body_v[2]
FG_VECTOR_3 n_pilot_body_v;
#define FG_N_pilot_body_v f->n_pilot_body_v
#define FG_N_X_pilot f->n_pilot_body_v[0]
#define FG_N_Y_pilot f->n_pilot_body_v[1]
#define FG_N_Z_pilot f->n_pilot_body_v[2]
FG_VECTOR_3 omega_dot_body_v;
#define FG_Omega_dot_body_v f->omega_dot_body_v
#define FG_P_dot_body f->omega_dot_body_v[0]
#define FG_Q_dot_body f->omega_dot_body_v[1]
#define FG_R_dot_body f->omega_dot_body_v[2]
/*============================== Velocities ===============================*/
FG_VECTOR_3 v_local_v;
#define FG_V_local_v f->v_local_v
#define FG_V_north f->v_local_v[0]
#define FG_V_east f->v_local_v[1]
#define FG_V_down f->v_local_v[2]
FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
#define FG_V_local_rel_ground_v f->v_local_rel_ground_v
#define FG_V_north_rel_ground f->v_local_rel_ground_v[0]
#define FG_V_east_rel_ground f->v_local_rel_ground_v[1]
#define FG_V_down_rel_ground f->v_local_rel_ground_v[2]
FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
#define FG_V_local_airmass_v f->v_local_airmass_v
#define FG_V_north_airmass f->v_local_airmass_v[0]
#define FG_V_east_airmass f->v_local_airmass_v[1]
#define FG_V_down_airmass f->v_local_airmass_v[2]
FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */
/* airmass */
#define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v
#define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0]
#define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1]
#define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2]
FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
#define FG_V_local_gust_v f->v_local_gust_v
#define FG_U_gust f->v_local_gust_v[0]
#define FG_V_gust f->v_local_gust_v[1]
#define FG_W_gust f->v_local_gust_v[2]
FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
#define FG_V_wind_body_v f->v_wind_body_v
#define FG_U_body f->v_wind_body_v[0]
#define FG_V_body f->v_wind_body_v[1]
#define FG_W_body f->v_wind_body_v[2]
double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
double v_ground_speed, v_equiv, v_equiv_kts;
double v_calibrated, v_calibrated_kts;
#define FG_V_rel_wind f->v_rel_wind
#define FG_V_true_kts f->v_true_kts
#define FG_V_rel_ground f->v_rel_ground
#define FG_V_inertial f->v_inertial
#define FG_V_ground_speed f->v_ground_speed
#define FG_V_equiv f->v_equiv
#define FG_V_equiv_kts f->v_equiv_kts
#define FG_V_calibrated f->v_calibrated
#define FG_V_calibrated_kts f->v_calibrated_kts
FG_VECTOR_3 omega_body_v; /* Angular B rates */
#define FG_Omega_body_v f->omega_body_v
#define FG_P_body f->omega_body_v[0]
#define FG_Q_body f->omega_body_v[1]
#define FG_R_body f->omega_body_v[2]
FG_VECTOR_3 omega_local_v; /* Angular L rates */
#define FG_Omega_local_v f->omega_local_v
#define FG_P_local f->omega_local_v[0]
#define FG_Q_local f->omega_local_v[1]
#define FG_R_local f->omega_local_v[2]
FG_VECTOR_3 omega_total_v; /* Diff btw B & L */
#define FG_Omega_total_v f->omega_total_v
#define FG_P_total f->omega_total_v[0]
#define FG_Q_total f->omega_total_v[1]
#define FG_R_total f->omega_total_v[2]
FG_VECTOR_3 euler_rates_v;
#define FG_Euler_rates_v f->euler_rates_v
#define FG_Phi_dot f->euler_rates_v[0]
#define FG_Theta_dot f->euler_rates_v[1]
#define FG_Psi_dot f->euler_rates_v[2]
FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
#define FG_Geocentric_rates_v f->geocentric_rates_v
#define FG_Latitude_dot f->geocentric_rates_v[0]
#define FG_Longitude_dot f->geocentric_rates_v[1]
#define FG_Radius_dot f->geocentric_rates_v[2]
/*=============================== Positions ===============================*/
FG_VECTOR_3 geocentric_position_v;
#define FG_Geocentric_position_v f->geocentric_position_v
#define FG_Lat_geocentric f->geocentric_position_v[0]
#define FG_Lon_geocentric f->geocentric_position_v[1]
#define FG_Radius_to_vehicle f->geocentric_position_v[2]
FG_VECTOR_3 geodetic_position_v;
#define FG_Geodetic_position_v f->geodetic_position_v
#define FG_Latitude f->geodetic_position_v[0]
#define FG_Longitude f->geodetic_position_v[1]
#define FG_Altitude f->geodetic_position_v[2]
FG_VECTOR_3 euler_angles_v;
#define FG_Euler_angles_v f->euler_angles_v
#define FG_Phi f->euler_angles_v[0]
#define FG_Theta f->euler_angles_v[1]
#define FG_Psi f->euler_angles_v[2]
/*======================= Miscellaneous quantities ========================*/
double t_local_to_body_m[3][3]; /* Transformation matrix L to B */
#define FG_T_local_to_body_m f->t_local_to_body_m
#define FG_T_local_to_body_11 f->t_local_to_body_m[0][0]
#define FG_T_local_to_body_12 f->t_local_to_body_m[0][1]
#define FG_T_local_to_body_13 f->t_local_to_body_m[0][2]
#define FG_T_local_to_body_21 f->t_local_to_body_m[1][0]
#define FG_T_local_to_body_22 f->t_local_to_body_m[1][1]
#define FG_T_local_to_body_23 f->t_local_to_body_m[1][2]
#define FG_T_local_to_body_31 f->t_local_to_body_m[2][0]
#define FG_T_local_to_body_32 f->t_local_to_body_m[2][1]
#define FG_T_local_to_body_33 f->t_local_to_body_m[2][2]
double gravity; /* Local acceleration due to G */
#define FG_Gravity f->gravity
double centrifugal_relief; /* load factor reduction due to speed */
#define FG_Centrifugal_relief f->centrifugal_relief
double alpha, beta, alpha_dot, beta_dot; /* in radians */
#define FG_Alpha f->alpha
#define FG_Beta f->beta
#define FG_Alpha_dot f->alpha_dot
#define FG_Beta_dot f->beta_dot
double cos_alpha, sin_alpha, cos_beta, sin_beta;
#define FG_Cos_alpha f->cos_alpha
#define FG_Sin_alpha f->sin_alpha
#define FG_Cos_beta f->cos_beta
#define FG_Sin_beta f->sin_beta
double cos_phi, sin_phi, cos_theta, sin_theta, cos_psi, sin_psi;
#define FG_Cos_phi f->cos_phi
#define FG_Sin_phi f->sin_phi
#define FG_Cos_theta f->cos_theta
#define FG_Sin_theta f->sin_theta
#define FG_Cos_psi f->cos_psi
#define FG_Sin_psi f->sin_psi
double gamma_vert_rad, gamma_horiz_rad; /* Flight path angles */
#define FG_Gamma_vert_rad f->gamma_vert_rad
#define FG_Gamma_horiz_rad f->gamma_horiz_rad
double sigma, density, v_sound, mach_number;
#define FG_Sigma f->sigma
#define FG_Density f->density
#define FG_V_sound f->v_sound
#define FG_Mach_number f->mach_number
double static_pressure, total_pressure, impact_pressure;
double dynamic_pressure;
#define FG_Static_pressure f->static_pressure
#define FG_Total_pressure f->total_pressure
#define FG_Impact_pressure f->impact_pressure
#define FG_Dynamic_pressure f->dynamic_pressure
double static_temperature, total_temperature;
#define FG_Static_temperature f->static_temperature
#define FG_Total_temperature f->total_temperature
double sea_level_radius, earth_position_angle;
#define FG_Sea_level_radius f->sea_level_radius
#define FG_Earth_position_angle f->earth_position_angle
double runway_altitude, runway_latitude, runway_longitude;
double runway_heading;
#define FG_Runway_altitude f->runway_altitude
#define FG_Runway_latitude f->runway_latitude
#define FG_Runway_longitude f->runway_longitude
#define FG_Runway_heading f->runway_heading
double radius_to_rwy;
#define FG_Radius_to_rwy f->radius_to_rwy
FG_VECTOR_3 d_cg_rwy_local_v; /* CG rel. to rwy in local coords */
#define FG_D_cg_rwy_local_v f->d_cg_rwy_local_v
#define FG_D_cg_north_of_rwy f->d_cg_rwy_local_v[0]
#define FG_D_cg_east_of_rwy f->d_cg_rwy_local_v[1]
#define FG_D_cg_above_rwy f->d_cg_rwy_local_v[2]
FG_VECTOR_3 d_cg_rwy_rwy_v; /* CG relative to rwy, in rwy coordinates */
#define FG_D_cg_rwy_rwy_v f->d_cg_rwy_rwy_v
#define FG_X_cg_rwy f->d_cg_rwy_rwy_v[0]
#define FG_Y_cg_rwy f->d_cg_rwy_rwy_v[1]
#define FG_H_cg_rwy f->d_cg_rwy_rwy_v[2]
FG_VECTOR_3 d_pilot_rwy_local_v; /* pilot rel. to rwy in local coords */
#define FG_D_pilot_rwy_local_v f->d_pilot_rwy_local_v
#define FG_D_pilot_north_of_rwy f->d_pilot_rwy_local_v[0]
#define FG_D_pilot_east_of_rwy f->d_pilot_rwy_local_v[1]
#define FG_D_pilot_above_rwy f->d_pilot_rwy_local_v[2]
FG_VECTOR_3 d_pilot_rwy_rwy_v; /* pilot rel. to rwy, in rwy coords. */
#define FG_D_pilot_rwy_rwy_v f->d_pilot_rwy_rwy_v
#define FG_X_pilot_rwy f->d_pilot_rwy_rwy_v[0]
#define FG_Y_pilot_rwy f->d_pilot_rwy_rwy_v[1]
#define FG_H_pilot_rwy f->d_pilot_rwy_rwy_v[2]
}; };
/* General interface to the flight model routines */ /* General interface to the flight model routines */
/* Initialize the flight model parameters */ /* Initialize the flight model parameters */
int fgFlightModelInit(int model); int fgFlightModelInit(int model, struct flight_params *f, double dt);
/* Run an iteration of the flight model */ /* Run multiloop iterations of the flight model */
int fgFlightModelUpdate(int model); int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop);
#endif FLIGHT_H #endif FLIGHT_H
/* $Log$ /* $Log$
/* Revision 1.3 1997/05/29 02:32:25 curt /* Revision 1.4 1997/05/29 22:39:57 curt
/* Starting to build generic flight model interface. /* Working on incorporating the LaRCsim flight model.
/* /*
* Revision 1.3 1997/05/29 02:32:25 curt
* Starting to build generic flight model interface.
*
* Revision 1.2 1997/05/23 15:40:37 curt * Revision 1.2 1997/05/23 15:40:37 curt
* Added GNU copyright headers. * Added GNU copyright headers.
* *

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@ -34,6 +34,9 @@
$Header$ $Header$
$Log$ $Log$
Revision 1.2 1997/05/29 22:39:58 curt
Working on incorporating the LaRCsim flight model.
Revision 1.1 1997/05/29 00:09:57 curt Revision 1.1 1997/05/29 00:09:57 curt
Initial Flight Gear revision. Initial Flight Gear revision.
@ -85,6 +88,9 @@ static char rcsid[] = "$Id$";
#include "ls_types.h" #include "ls_types.h"
#include "ls_sym.h" #include "ls_sym.h"
/* temp */
#include "ls_generic.h"
#define MAX_NUMBER_OF_CONTINUOUS_STATES 100 #define MAX_NUMBER_OF_CONTINUOUS_STATES 100
#define MAX_NUMBER_OF_DISCRETE_STATES 20 #define MAX_NUMBER_OF_DISCRETE_STATES 20
#define HARDWIRED 13 #define HARDWIRED 13
@ -175,7 +181,11 @@ void ls_init()
Simtime = 0; Simtime = 0;
printf("LS in init() pos = %.2f\n", Latitude);
ls_init_init(); ls_init_init();
printf("LS after init_init() pos = %.2f\n", Latitude);
/* move the states to proper values */ /* move the states to proper values */
/* commented out by CLO /* commented out by CLO
@ -192,7 +202,11 @@ void ls_init()
model_init(); model_init();
printf("LS after model_init() pos = %.2f\n", Latitude);
ls_step(0.0, -1); ls_step(0.0, -1);
printf("LS after ls_step() pos = %.2f\n", Latitude);
} }

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@ -222,17 +222,6 @@ $Original log: LaRCsim.c,v $
--------------------------------------------------------------------------*/ --------------------------------------------------------------------------*/
#include "ls_interface.h"
#include "ls_types.h"
#include "ls_constants.h"
#include "ls_generic.h"
#include "ls_sim_control.h"
#include "ls_cockpit.h"
/* #include "ls_tape.h" */
#ifndef linux
# include <libgen.h>
#endif
#include <sys/types.h> #include <sys/types.h>
#include <sys/stat.h> #include <sys/stat.h>
#include <stdlib.h> #include <stdlib.h>
@ -240,6 +229,14 @@ $Original log: LaRCsim.c,v $
#include <math.h> #include <math.h>
#include <time.h> #include <time.h>
#include "ls_types.h"
#include "ls_constants.h"
#include "ls_generic.h"
#include "ls_sim_control.h"
#include "ls_cockpit.h"
#include "ls_interface.h"
#include "../flight.h"
/* global variable declarations */ /* global variable declarations */
/* TAPE *Tape; */ /* TAPE *Tape; */
@ -497,14 +494,13 @@ int initialize;
int ls_cockpit() { int ls_cockpit() {
sim_control_.paused = 0; sim_control_.paused = 0;
Throttle_pct = 0.85; Throttle_pct = 0.25;
/* printf("Mach = %.2f ", Mach_number); printf("Mach = %.2f ", Mach_number);
printf("%.4f,%.4f,%.2f ", Latitude, Longitude, Altitude); printf("%.4f,%.4f,%.2f ", Latitude, Longitude, Altitude);
printf("%.2f,%.2f,%.2f\n", Phi, Theta, Psi); */ printf("%.2f,%.2f,%.2f\n", Phi, Theta, Psi);
} }
@ -512,35 +508,10 @@ int ls_cockpit() {
/* Initialize the LaRCsim flight model, dt is the time increment for /* Initialize the LaRCsim flight model, dt is the time increment for
each subsequent iteration through the EOM */ each subsequent iteration through the EOM */
int fgLaRCsimInit(double dt) { int fgLaRCsimInit(double dt) {
model_dt = dt; model_dt = dt;
ls_setdefopts(); /* set default options */ ls_setdefopts(); /* set default options */
/* Number_of_Continuous_States = 22; */
generic_.geodetic_position_v[0] = 2.793445E-05;
generic_.geodetic_position_v[1] = 3.262070E-07;
generic_.geodetic_position_v[2] = 3.758099E+00;
generic_.v_local_v[0] = 7.287719E+00;
generic_.v_local_v[1] = 1.521770E+03;
generic_.v_local_v[2] = -1.265722E-05;
generic_.euler_angles_v[0] = -2.658474E-06;
generic_.euler_angles_v[1] = 7.401790E-03;
generic_.euler_angles_v[2] = 1.391358E-03;
generic_.omega_body_v[0] = 7.206685E-05;
generic_.omega_body_v[1] = 0.000000E+00;
generic_.omega_body_v[2] = 9.492658E-05;
generic_.earth_position_angle = 0.000000E+00;
generic_.mass = 8.547270E+01;
generic_.i_xx = 1.048000E+03;
generic_.i_yy = 3.000000E+03;
generic_.i_zz = 3.530000E+03;
generic_.i_xz = 0.000000E+00;
generic_.d_cg_rp_body_v[0] = 0.000000E+00;
generic_.d_cg_rp_body_v[1] = 0.000000E+00;
generic_.d_cg_rp_body_v[2] = 0.000000E+00;
ls_stamp(); /* ID stamp; record time and date of run */ ls_stamp(); /* ID stamp; record time and date of run */
if (speedup == 0.0) { if (speedup == 0.0) {
@ -548,8 +519,12 @@ int fgLaRCsimInit(double dt) {
return 1; return 1;
} }
printf("LS pre Init pos = %.2f\n", Latitude);
ls_init(); ls_init();
printf("LS post Init pos = %.2f\n", Latitude);
if (speedup > 0) { if (speedup > 0) {
/* Initialize (get) cockpit (controls) settings */ /* Initialize (get) cockpit (controls) settings */
ls_cockpit(); ls_cockpit();
@ -575,9 +550,359 @@ int fgLaRCsimUpdate(int multiloop) {
} }
/* Convert from the FG flight_params struct to the LaRCsim generic_ struct */
int fgFlight_2_LaRCsim (struct flight_params *f) {
Mass = FG_Mass;
I_xx = FG_I_xx;
I_yy = FG_I_yy;
I_zz = FG_I_zz;
I_xz = FG_I_xz;
Dx_pilot = FG_Dx_pilot;
Dy_pilot = FG_Dy_pilot;
Dz_pilot = FG_Dz_pilot;
Dx_cg = FG_Dx_cg;
Dy_cg = FG_Dy_cg;
Dz_cg = FG_Dz_cg;
F_X = FG_F_X;
F_Y = FG_F_Y;
F_Z = FG_F_Z;
F_north = FG_F_north;
F_east = FG_F_east;
F_down = FG_F_down;
F_X_aero = FG_F_X_aero;
F_Y_aero = FG_F_Y_aero;
F_Z_aero = FG_F_Z_aero;
F_X_engine = FG_F_X_engine;
F_Y_engine = FG_F_Y_engine;
F_Z_engine = FG_F_Z_engine;
F_X_gear = FG_F_X_gear;
F_Y_gear = FG_F_Y_gear;
F_Z_gear = FG_F_Z_gear;
M_l_rp = FG_M_l_rp;
M_m_rp = FG_M_m_rp;
M_n_rp = FG_M_n_rp;
M_l_cg = FG_M_l_cg;
M_m_cg = FG_M_m_cg;
M_n_cg = FG_M_n_cg;
M_l_aero = FG_M_l_aero;
M_m_aero = FG_M_m_aero;
M_n_aero = FG_M_n_aero;
M_l_engine = FG_M_l_engine;
M_m_engine = FG_M_m_engine;
M_n_engine = FG_M_n_engine;
M_l_gear = FG_M_l_gear;
M_m_gear = FG_M_m_gear;
M_n_gear = FG_M_n_gear;
V_dot_north = FG_V_dot_north;
V_dot_east = FG_V_dot_east;
V_dot_down = FG_V_dot_down;
U_dot_body = FG_U_dot_body;
V_dot_body = FG_V_dot_body;
W_dot_body = FG_W_dot_body;
A_X_cg = FG_A_X_cg;
A_Y_cg = FG_A_Y_cg;
A_Z_cg = FG_A_Z_cg;
A_X_pilot = FG_A_X_pilot;
A_Y_pilot = FG_A_Y_pilot;
A_Z_pilot = FG_A_Z_pilot;
N_X_cg = FG_N_X_cg;
N_Y_cg = FG_N_Y_cg;
N_Z_cg = FG_N_Z_cg;
N_X_pilot = FG_N_X_pilot;
N_Y_pilot = FG_N_Y_pilot;
N_Z_pilot = FG_N_Z_pilot;
P_dot_body = FG_P_dot_body;
Q_dot_body = FG_Q_dot_body;
R_dot_body = FG_R_dot_body;
V_north = FG_V_north;
V_east = FG_V_east;
V_down = FG_V_down;
V_north_rel_ground = FG_V_north_rel_ground;
V_east_rel_ground = FG_V_east_rel_ground;
V_down_rel_ground = FG_V_down_rel_ground;
V_north_airmass = FG_V_north_airmass;
V_east_airmass = FG_V_east_airmass;
V_down_airmass = FG_V_down_airmass;
V_north_rel_airmass = FG_V_north_rel_airmass;
V_east_rel_airmass = FG_V_east_rel_airmass;
V_down_rel_airmass = FG_V_down_rel_airmass;
U_gust = FG_U_gust;
V_gust = FG_V_gust;
W_gust = FG_W_gust;
U_body = FG_U_body;
V_body = FG_V_body;
W_body = FG_W_body;
V_rel_wind = FG_V_rel_wind;
V_true_kts = FG_V_true_kts;
V_rel_ground = FG_V_rel_ground;
V_inertial = FG_V_inertial;
V_ground_speed = FG_V_ground_speed;
V_equiv = FG_V_equiv;
V_equiv_kts = FG_V_equiv_kts;
V_calibrated = FG_V_calibrated;
V_calibrated_kts = FG_V_calibrated_kts;
P_body = FG_P_body;
Q_body = FG_Q_body;
R_body = FG_R_body;
P_local = FG_P_local;
Q_local = FG_Q_local;
R_local = FG_R_local;
P_total = FG_P_total;
Q_total = FG_Q_total;
R_total = FG_R_total;
Phi_dot = FG_Phi_dot;
Theta_dot = FG_Theta_dot;
Psi_dot = FG_Psi_dot;
Latitude_dot = FG_Latitude_dot;
Longitude_dot = FG_Longitude_dot;
Radius_dot = FG_Radius_dot;
Lat_geocentric = FG_Lat_geocentric;
Lon_geocentric = FG_Lon_geocentric;
Radius_to_vehicle = FG_Radius_to_vehicle;
Latitude = FG_Latitude;
Longitude = FG_Longitude;
Altitude = FG_Altitude;
Phi = FG_Phi;
Theta = FG_Theta;
Psi = FG_Psi;
T_local_to_body_11 = FG_T_local_to_body_11;
T_local_to_body_12 = FG_T_local_to_body_12;
T_local_to_body_13 = FG_T_local_to_body_13;
T_local_to_body_21 = FG_T_local_to_body_21;
T_local_to_body_22 = FG_T_local_to_body_22;
T_local_to_body_23 = FG_T_local_to_body_23;
T_local_to_body_31 = FG_T_local_to_body_31;
T_local_to_body_32 = FG_T_local_to_body_32;
T_local_to_body_33 = FG_T_local_to_body_33;
Gravity = FG_Gravity;
Centrifugal_relief = FG_Centrifugal_relief;
Alpha = FG_Alpha;
Beta = FG_Beta;
Alpha_dot = FG_Alpha_dot;
Beta_dot = FG_Beta_dot;
Cos_alpha = FG_Cos_alpha;
Sin_alpha = FG_Sin_alpha;
Cos_beta = FG_Cos_beta;
Sin_beta = FG_Sin_beta;
Cos_phi = FG_Cos_phi;
Sin_phi = FG_Sin_phi;
Cos_theta = FG_Cos_theta;
Sin_theta = FG_Sin_theta;
Cos_psi = FG_Cos_psi;
Sin_psi = FG_Sin_psi;
Gamma_vert_rad = FG_Gamma_vert_rad;
Gamma_horiz_rad = FG_Gamma_horiz_rad;
Sigma = FG_Sigma;
Density = FG_Density;
V_sound = FG_V_sound;
Mach_number = FG_Mach_number;
Static_pressure = FG_Static_pressure;
Total_pressure = FG_Total_pressure;
Impact_pressure = FG_Impact_pressure;
Dynamic_pressure = FG_Dynamic_pressure;
Static_temperature = FG_Static_temperature;
Total_temperature = FG_Total_temperature;
Sea_level_radius = FG_Sea_level_radius;
Earth_position_angle = FG_Earth_position_angle;
Runway_altitude = FG_Runway_altitude;
Runway_latitude = FG_Runway_latitude;
Runway_longitude = FG_Runway_longitude;
Runway_heading = FG_Runway_heading;
Radius_to_rwy = FG_Radius_to_rwy;
D_cg_north_of_rwy = FG_D_cg_north_of_rwy;
D_cg_east_of_rwy = FG_D_cg_east_of_rwy;
D_cg_above_rwy = FG_D_cg_above_rwy;
X_cg_rwy = FG_X_cg_rwy;
Y_cg_rwy = FG_Y_cg_rwy;
H_cg_rwy = FG_H_cg_rwy;
D_pilot_north_of_rwy = FG_D_pilot_north_of_rwy;
D_pilot_east_of_rwy = FG_D_pilot_east_of_rwy;
D_pilot_above_rwy = FG_D_pilot_above_rwy;
X_pilot_rwy = FG_X_pilot_rwy;
Y_pilot_rwy = FG_Y_pilot_rwy;
H_pilot_rwy = FG_H_pilot_rwy;
}
/* Convert from the LaRCsim generic_ struct to the FG flight_params struct */
int fgLaRCsim_2_Flight (struct flight_params *f) {
FG_Mass = Mass;
FG_I_xx = I_xx;
FG_I_yy = I_yy;
FG_I_zz = I_zz;
FG_I_xz = I_xz;
FG_Dx_pilot = Dx_pilot;
FG_Dy_pilot = Dy_pilot;
FG_Dz_pilot = Dz_pilot;
FG_Dx_cg = Dx_cg;
FG_Dy_cg = Dy_cg;
FG_Dz_cg = Dz_cg;
FG_F_X = F_X;
FG_F_Y = F_Y;
FG_F_Z = F_Z;
FG_F_north = F_north;
FG_F_east = F_east;
FG_F_down = F_down;
FG_F_X_aero = F_X_aero;
FG_F_Y_aero = F_Y_aero;
FG_F_Z_aero = F_Z_aero;
FG_F_X_engine = F_X_engine;
FG_F_Y_engine = F_Y_engine;
FG_F_Z_engine = F_Z_engine;
FG_F_X_gear = F_X_gear;
FG_F_Y_gear = F_Y_gear;
FG_F_Z_gear = F_Z_gear;
FG_M_l_rp = M_l_rp;
FG_M_m_rp = M_m_rp;
FG_M_n_rp = M_n_rp;
FG_M_l_cg = M_l_cg;
FG_M_m_cg = M_m_cg;
FG_M_n_cg = M_n_cg;
FG_M_l_aero = M_l_aero;
FG_M_m_aero = M_m_aero;
FG_M_n_aero = M_n_aero;
FG_M_l_engine = M_l_engine;
FG_M_m_engine = M_m_engine;
FG_M_n_engine = M_n_engine;
FG_M_l_gear = M_l_gear;
FG_M_m_gear = M_m_gear;
FG_M_n_gear = M_n_gear;
FG_V_dot_north = V_dot_north;
FG_V_dot_east = V_dot_east;
FG_V_dot_down = V_dot_down;
FG_U_dot_body = U_dot_body;
FG_V_dot_body = V_dot_body;
FG_W_dot_body = W_dot_body;
FG_A_X_cg = A_X_cg;
FG_A_Y_cg = A_Y_cg;
FG_A_Z_cg = A_Z_cg;
FG_A_X_pilot = A_X_pilot;
FG_A_Y_pilot = A_Y_pilot;
FG_A_Z_pilot = A_Z_pilot;
FG_N_X_cg = N_X_cg;
FG_N_Y_cg = N_Y_cg;
FG_N_Z_cg = N_Z_cg;
FG_N_X_pilot = N_X_pilot;
FG_N_Y_pilot = N_Y_pilot;
FG_N_Z_pilot = N_Z_pilot;
FG_P_dot_body = P_dot_body;
FG_Q_dot_body = Q_dot_body;
FG_R_dot_body = R_dot_body;
FG_V_north = V_north;
FG_V_east = V_east;
FG_V_down = V_down;
FG_V_north_rel_ground = V_north_rel_ground;
FG_V_east_rel_ground = V_east_rel_ground;
FG_V_down_rel_ground = V_down_rel_ground;
FG_V_north_airmass = V_north_airmass;
FG_V_east_airmass = V_east_airmass;
FG_V_down_airmass = V_down_airmass;
FG_V_north_rel_airmass = V_north_rel_airmass;
FG_V_east_rel_airmass = V_east_rel_airmass;
FG_V_down_rel_airmass = V_down_rel_airmass;
FG_U_gust = U_gust;
FG_V_gust = V_gust;
FG_W_gust = W_gust;
FG_U_body = U_body;
FG_V_body = V_body;
FG_W_body = W_body;
FG_V_rel_wind = V_rel_wind;
FG_V_true_kts = V_true_kts;
FG_V_rel_ground = V_rel_ground;
FG_V_inertial = V_inertial;
FG_V_ground_speed = V_ground_speed;
FG_V_equiv = V_equiv;
FG_V_equiv_kts = V_equiv_kts;
FG_V_calibrated = V_calibrated;
FG_V_calibrated_kts = V_calibrated_kts;
FG_P_body = P_body;
FG_Q_body = Q_body;
FG_R_body = R_body;
FG_P_local = P_local;
FG_Q_local = Q_local;
FG_R_local = R_local;
FG_P_total = P_total;
FG_Q_total = Q_total;
FG_R_total = R_total;
FG_Phi_dot = Phi_dot;
FG_Theta_dot = Theta_dot;
FG_Psi_dot = Psi_dot;
FG_Latitude_dot = Latitude_dot;
FG_Longitude_dot = Longitude_dot;
FG_Radius_dot = Radius_dot;
FG_Lat_geocentric = Lat_geocentric;
FG_Lon_geocentric = Lon_geocentric;
FG_Radius_to_vehicle = Radius_to_vehicle;
FG_Latitude = Latitude;
FG_Longitude = Longitude;
FG_Altitude = Altitude;
FG_Phi = Phi;
FG_Theta = Theta;
FG_Psi = Psi;
FG_T_local_to_body_11 = T_local_to_body_11;
FG_T_local_to_body_12 = T_local_to_body_12;
FG_T_local_to_body_13 = T_local_to_body_13;
FG_T_local_to_body_21 = T_local_to_body_21;
FG_T_local_to_body_22 = T_local_to_body_22;
FG_T_local_to_body_23 = T_local_to_body_23;
FG_T_local_to_body_31 = T_local_to_body_31;
FG_T_local_to_body_32 = T_local_to_body_32;
FG_T_local_to_body_33 = T_local_to_body_33;
FG_Gravity = Gravity;
FG_Centrifugal_relief = Centrifugal_relief;
FG_Alpha = Alpha;
FG_Beta = Beta;
FG_Alpha_dot = Alpha_dot;
FG_Beta_dot = Beta_dot;
FG_Cos_alpha = Cos_alpha;
FG_Sin_alpha = Sin_alpha;
FG_Cos_beta = Cos_beta;
FG_Sin_beta = Sin_beta;
FG_Cos_phi = Cos_phi;
FG_Sin_phi = Sin_phi;
FG_Cos_theta = Cos_theta;
FG_Sin_theta = Sin_theta;
FG_Cos_psi = Cos_psi;
FG_Sin_psi = Sin_psi;
FG_Gamma_vert_rad = Gamma_vert_rad;
FG_Gamma_horiz_rad = Gamma_horiz_rad;
FG_Sigma = Sigma;
FG_Density = Density;
FG_V_sound = V_sound;
FG_Mach_number = Mach_number;
FG_Static_pressure = Static_pressure;
FG_Total_pressure = Total_pressure;
FG_Impact_pressure = Impact_pressure;
FG_Dynamic_pressure = Dynamic_pressure;
FG_Static_temperature = Static_temperature;
FG_Total_temperature = Total_temperature;
FG_Sea_level_radius = Sea_level_radius;
FG_Earth_position_angle = Earth_position_angle;
FG_Runway_altitude = Runway_altitude;
FG_Runway_latitude = Runway_latitude;
FG_Runway_longitude = Runway_longitude;
FG_Runway_heading = Runway_heading;
FG_Radius_to_rwy = Radius_to_rwy;
FG_D_cg_north_of_rwy = D_cg_north_of_rwy;
FG_D_cg_east_of_rwy = D_cg_east_of_rwy;
FG_D_cg_above_rwy = D_cg_above_rwy;
FG_X_cg_rwy = X_cg_rwy;
FG_Y_cg_rwy = Y_cg_rwy;
FG_H_cg_rwy = H_cg_rwy;
FG_D_pilot_north_of_rwy = D_pilot_north_of_rwy;
FG_D_pilot_east_of_rwy = D_pilot_east_of_rwy;
FG_D_pilot_above_rwy = D_pilot_above_rwy;
FG_X_pilot_rwy = X_pilot_rwy;
FG_Y_pilot_rwy = Y_pilot_rwy;
FG_H_pilot_rwy = H_pilot_rwy;
}
/* Flight Gear Modification Log /* Flight Gear Modification Log
* *
* $Log$ * $Log$
* Revision 1.2 1997/05/29 22:39:59 curt
* Working on incorporating the LaRCsim flight model.
*
* Revision 1.1 1997/05/29 00:09:57 curt * Revision 1.1 1997/05/29 00:09:57 curt
* Initial Flight Gear revision. * Initial Flight Gear revision.
* *

View file

@ -28,18 +28,24 @@
#define LS_INTERFACE_H #define LS_INTERFACE_H
#include "../flight.h"
/* reset flight params to a specific position */ /* reset flight params to a specific position */
int fgLaRCsimInit(double dt); int fgLaRCsimInit(double dt);
/* update position based on inputs, positions, velocities, etc. */ /* update position based on inputs, positions, velocities, etc. */
int fgLaRCsimUpdate(); int fgLaRCsimUpdate(int multiloop);
#endif LS_INTERFACE_H #endif LS_INTERFACE_H
/* $Log$ /* $Log$
/* Revision 1.1 1997/05/29 00:09:58 curt /* Revision 1.2 1997/05/29 22:39:59 curt
/* Initial Flight Gear revision. /* Working on incorporating the LaRCsim flight model.
/* /*
* Revision 1.1 1997/05/29 00:09:58 curt
* Initial Flight Gear revision.
*
*/ */

View file

@ -71,8 +71,10 @@ void engine( SCALAR dt, int init )
if (init || sim_control_.sim_type != cockpit) if (init || sim_control_.sim_type != cockpit)
Throttle[3] = Throttle_pct; Throttle[3] = Throttle_pct;
F_X_engine = Throttle[3]*813.4/0.2; /* F_X_engine = Throttle[3]*813.4/0.2; */ /* original code */
F_Z_engine = Throttle[3]*11.36/0.2; /* F_Z_engine = Throttle[3]*11.36/0.2; */ /* original code */
F_X_engine = Throttle[3]*813.4/0.85;
F_Z_engine = Throttle[3]*11.36/0.85;
Throttle_pct = Throttle[3]; Throttle_pct = Throttle[3];
} }

View file

@ -28,7 +28,12 @@
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <signal.h> /* for timer routines */ #include <signal.h> /* for timer routines */
#include <sys/time.h> /* for timer routines */
#if defined(__WATCOMC__) || defined(__MSC__)
# include <time.h>
#else
# include <sys/time.h>
#endif
#ifdef GLUT #ifdef GLUT
#include <GL/glut.h> #include <GL/glut.h>
@ -42,6 +47,12 @@
#include "../aircraft/aircraft.h" #include "../aircraft/aircraft.h"
#include "../scenery/scenery.h" #include "../scenery/scenery.h"
#define FG_LON_2_DEG(RAD) ((RAD) * 180.0 / M_PI)
#define FG_LAT_2_DEG(RAD) (-1.0 * (RAD) * 180.0 / M_PI)
#define FG_DEG_2_LON(DEG) ((DEG) * M_PI / 180.0)
#define FG_DEG_2_LAT(DEG) (-1.0 * (DEG) * M_PI / 180.0)
/* This is a record containing all the info for the aircraft currently /* This is a record containing all the info for the aircraft currently
being operated */ being operated */
struct aircraft_params current_aircraft; struct aircraft_params current_aircraft;
@ -62,9 +73,8 @@ double fogDensity = 2000.0;
/* Another hack */ /* Another hack */
#define DEFAULT_MODEL_HZ 20 #define DEFAULT_MODEL_HZ 20
#define DEFAULT_MULTILOOP 6
double Simtime; double Simtime;
int Overrun;
int model_dt;
/************************************************************************** /**************************************************************************
@ -109,6 +119,7 @@ static void fgInitVisuals() {
**************************************************************************/ **************************************************************************/
static void fgUpdateViewParams() { static void fgUpdateViewParams() {
double pos_x, pos_y, pos_z;
struct flight_params *f; struct flight_params *f;
f = &current_aircraft.flight; f = &current_aircraft.flight;
@ -120,8 +131,13 @@ static void fgUpdateViewParams() {
glMatrixMode(GL_MODELVIEW); glMatrixMode(GL_MODELVIEW);
glLoadIdentity(); glLoadIdentity();
gluLookAt(f->pos_x, f->pos_y, f->pos_z,
f->pos_x + cos(f->Psi), f->pos_y + sin(f->Psi), f->pos_z, pos_x = FG_LAT_2_DEG(FG_Latitude) * 3600.0;
pos_y = FG_LON_2_DEG(FG_Longitude) * 3600.0;
pos_z = FG_Altitude;
gluLookAt(pos_x, pos_y, pos_z,
pos_x + cos(FG_Psi), pos_y + sin(FG_Psi), pos_z,
0.0, 0.0, 1.0); 0.0, 0.0, 1.0);
} }
@ -159,7 +175,11 @@ static struct itimerval t, ot;
/* This routine catches the SIGALRM */ /* This routine catches the SIGALRM */
void fgTimerCatch() { void fgTimerCatch() {
struct flight_params *f;
static double lastSimtime = -99.9; static double lastSimtime = -99.9;
int Overrun;
f = &current_aircraft.flight;
/* printf("In fgTimerCatch()\n"); */ /* printf("In fgTimerCatch()\n"); */
@ -171,7 +191,7 @@ void fgTimerCatch() {
} */ } */
/* update the flight model */ /* update the flight model */
fgSlewUpdate(); fgFlightModelUpdate(FG_LARCSIM, f, DEFAULT_MULTILOOP);
lastSimtime = Simtime; lastSimtime = Simtime;
signal(SIGALRM, fgTimerCatch); signal(SIGALRM, fgTimerCatch);
@ -260,6 +280,10 @@ static void fgReshape( int width, int height ) {
**************************************************************************/ **************************************************************************/
int main( int argc, char *argv[] ) { int main( int argc, char *argv[] ) {
struct flight_params *f;
f = &current_aircraft.flight;
/* parse the scenery file */ /* parse the scenery file */
parse_scenery(argv[1]); parse_scenery(argv[1]);
@ -271,13 +295,13 @@ int main( int argc, char *argv[] ) {
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE ); glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
/* Define initial window size */ /* Define initial window size */
glutInitWindowSize(640, 400); glutInitWindowSize(640, 480);
/* Initialize the main window */ /* Initialize the main window */
glutCreateWindow("Terrain Demo"); glutCreateWindow("Terrain Demo");
#elif MESA_TK #elif MESA_TK
/* Define initial window size */ /* Define initial window size */
tkInitPosition(0, 0, 640, 400); tkInitPosition(0, 0, 640, 480);
/* Define Display Parameters */ /* Define Display Parameters */
tkInitDisplayMode( TK_RGB | TK_DEPTH | TK_DOUBLE | TK_DIRECT ); tkInitDisplayMode( TK_RGB | TK_DEPTH | TK_DOUBLE | TK_DIRECT );
@ -291,10 +315,51 @@ int main( int argc, char *argv[] ) {
/* setup view parameters, only makes GL calls */ /* setup view parameters, only makes GL calls */
fgInitVisuals(); fgInitVisuals();
/* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
/* Initial Position */
FG_Latitude = FG_DEG_2_LAT( -398673.28 / 3600.0 );
FG_Longitude = FG_DEG_2_LON( 120625.64 / 3600.0 );
FG_Altitude = 3.758099E+00;
printf("Initial position is: (%.4f, %.4f, %.2f)\n", FG_Latitude,
FG_Longitude, FG_Altitude);
/* Initial Velocity */
FG_V_north = 0.0 /* 7.287719E+00 */;
FG_V_east = 0.0 /* 1.521770E+03 */;
FG_V_down = 0.0 /* -1.265722E-05 */;
/* Initial Orientation */
FG_Phi = -2.658474E-06;
FG_Theta = 7.401790E-03;
FG_Psi = 1.391358E-03;
/* Initial Angular B rates */
FG_P_body = 7.206685E-05;
FG_Q_body = 0.000000E+00;
FG_R_body = 9.492658E-05;
FG_Earth_position_angle = 0.000000E+00;
/* Mass properties and geometry values */
FG_Mass = 8.547270E+01;
FG_I_xx = 1.048000E+03;
FG_I_yy = 3.000000E+03;
FG_I_zz = 3.530000E+03;
FG_I_xz = 0.000000E+00;
/* CG position w.r.t. ref. point */
FG_Dx_cg = 0.000000E+00;
FG_Dy_cg = 0.000000E+00;
FG_Dz_cg = 0.000000E+00;
/* Set initial position and slew parameters */ /* Set initial position and slew parameters */
/* fgSlewInit(-398391.3, 120070.4, 244, 3.1415); */ /* GLOBE Airport */ /* fgSlewInit(-398391.3, 120070.4, 244, 3.1415); */ /* GLOBE Airport */
/* fgSlewInit(-335340,162540, 15, 4.38); */ /* fgSlewInit(-335340,162540, 15, 4.38); */
fgSlewInit(-398673.28,120625.64, 53, 4.38); /* fgSlewInit(-398673.28,120625.64, 53, 4.38); */
fgFlightModelInit(FG_LARCSIM, f, 1.0 / DEFAULT_MODEL_HZ);
/* build all objects */ /* build all objects */
fgSceneryInit(); fgSceneryInit();
@ -343,9 +408,12 @@ int main( int argc, char *argv[] ) {
/* $Log$ /* $Log$
/* Revision 1.6 1997/05/29 12:31:39 curt /* Revision 1.7 1997/05/29 22:39:49 curt
/* Minor tweaks, moving towards general flight model integration. /* Working on incorporating the LaRCsim flight model.
/* /*
* Revision 1.6 1997/05/29 12:31:39 curt
* Minor tweaks, moving towards general flight model integration.
*
* Revision 1.5 1997/05/29 02:33:23 curt * Revision 1.5 1997/05/29 02:33:23 curt
* Updated to reflect changing interfaces in other "modules." * Updated to reflect changing interfaces in other "modules."
* *

View file

@ -67,7 +67,8 @@ LIBS = $(INTERFACE_LIBS) $(GRAPHICS_LIBS) -lm -lfl
CFILES = GLmain.c $(INTERFACE_FILES) mesh2GL.c CFILES = GLmain.c $(INTERFACE_FILES) mesh2GL.c
OFILES = $(CFILES:.c=.o) OFILES = $(CFILES:.c=.o)
AFILES = ../flight/libflight.a ../flight/slew/libslew.a \ AFILES = ../flight/libflight.a ../flight/slew/libslew.a \
../aircraft/libaircraft.a ../scenery/libscenery.a ../flight/LaRCsim/libLaRCsim.a ../aircraft/libaircraft.a \
../scenery/libscenery.a
@ -103,6 +104,9 @@ mesh2GL.o: mesh2GL.c ../scenery/mesh.h
#--------------------------------------------------------------------------- #---------------------------------------------------------------------------
# $Log$ # $Log$
# Revision 1.7 1997/05/29 22:39:50 curt
# Working on incorporating the LaRCsim flight model.
#
# Revision 1.6 1997/05/29 02:33:23 curt # Revision 1.6 1997/05/29 02:33:23 curt
# Updated to reflect changing interfaces in other "modules." # Updated to reflect changing interfaces in other "modules."
# #

View file

@ -59,7 +59,7 @@ GLint mesh2GL(struct mesh *m) {
int i, j, istep, jstep, iend, jend; int i, j, istep, jstep, iend, jend;
float temp; float temp;
istep = jstep = 8; /* Detail level 1 -- 1200 ... */ istep = jstep = 100; /* Detail level 1 -- 1200 ... */
mesh = glGenLists(1); mesh = glGenLists(1);
glNewList(mesh, GL_COMPILE); glNewList(mesh, GL_COMPILE);
@ -119,9 +119,12 @@ GLint mesh2GL(struct mesh *m) {
/* $Log$ /* $Log$
/* Revision 1.8 1997/05/29 12:31:40 curt /* Revision 1.9 1997/05/29 22:39:51 curt
/* Minor tweaks, moving towards general flight model integration. /* Working on incorporating the LaRCsim flight model.
/* /*
* Revision 1.8 1997/05/29 12:31:40 curt
* Minor tweaks, moving towards general flight model integration.
*
* Revision 1.7 1997/05/29 02:33:24 curt * Revision 1.7 1997/05/29 02:33:24 curt
* Updated to reflect changing interfaces in other "modules." * Updated to reflect changing interfaces in other "modules."
* *

View file

@ -32,6 +32,10 @@
#include "../../controls/controls.h" #include "../../controls/controls.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846 /* pi */
#endif
#ifndef PI2 #ifndef PI2
#define PI2 (M_PI + M_PI) #define PI2 (M_PI + M_PI)
#endif #endif
@ -43,7 +47,7 @@ void fgSlewInit(double pos_x, double pos_y, double pos_z, double heading) {
f = &current_aircraft.flight; f = &current_aircraft.flight;
f->pos_x = pos_x; /* f->pos_x = pos_x;
f->pos_y = pos_y; f->pos_y = pos_y;
f->pos_z = pos_z; f->pos_z = pos_z;
@ -59,7 +63,7 @@ void fgSlewInit(double pos_x, double pos_y, double pos_z, double heading) {
f->vel_Theta = 0.0; f->vel_Theta = 0.0;
f->vel_Psi = 0.0; f->vel_Psi = 0.0;
f->Psi = heading; f->Psi = heading; */
} }
@ -71,7 +75,7 @@ void fgSlewUpdate() {
f = &current_aircraft.flight; f = &current_aircraft.flight;
c = &current_aircraft.controls; c = &current_aircraft.controls;
f->Psi += ( c->aileron / 8 ); /* f->Psi += ( c->aileron / 8 );
if ( f->Psi > PI2 ) { if ( f->Psi > PI2 ) {
f->Psi -= PI2; f->Psi -= PI2;
} else if ( f->Psi < 0 ) { } else if ( f->Psi < 0 ) {
@ -81,14 +85,17 @@ void fgSlewUpdate() {
f->vel_x = -c->elev; f->vel_x = -c->elev;
f->pos_x = f->pos_x + (cos(f->Psi) * f->vel_x); f->pos_x = f->pos_x + (cos(f->Psi) * f->vel_x);
f->pos_y = f->pos_y + (sin(f->Psi) * f->vel_x); f->pos_y = f->pos_y + (sin(f->Psi) * f->vel_x); */
} }
/* $Log$ /* $Log$
/* Revision 1.2 1997/05/29 12:30:19 curt /* Revision 1.3 1997/05/29 22:40:00 curt
/* Some initial mods to work better in a timer environment. /* Working on incorporating the LaRCsim flight model.
/* /*
* Revision 1.2 1997/05/29 12:30:19 curt
* Some initial mods to work better in a timer environment.
*
* Revision 1.1 1997/05/29 02:29:42 curt * Revision 1.1 1997/05/29 02:29:42 curt
* Moved to their own directory. * Moved to their own directory.
* *