Working on incorporating the LaRCsim flight model.
This commit is contained in:
curt
parent
6145613736
commit
3698b6ec3d
11 changed files with 894 additions and 87 deletions
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@ -24,10 +24,13 @@
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**************************************************************************/
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#include <math.h>
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#include <stdio.h>
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#include "aircraft.h"
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#define FG_LON_2_DEG(RAD) ((RAD) * 180.0 / M_PI)
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#define FG_LAT_2_DEG(RAD) (-1.0 * (RAD) * 180.0 / M_PI)
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/* Display various parameters to stdout */
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void aircraft_debug(int type) {
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@ -37,17 +40,22 @@ void aircraft_debug(int type) {
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f = ¤t_aircraft.flight;
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c = ¤t_aircraft.controls;
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printf("Pos = (%.2f,%.2f,%.2f) Dir = %.2f\n",
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f->pos_x, f->pos_y, f->pos_z, f->Psi);
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printf("Pos = (%.2f,%.2f,%.2f) Dir = %.2f Mach = %.2f\n",
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FG_LAT_2_DEG(FG_Latitude) * 3600.0,
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FG_LON_2_DEG(FG_Longitude) * 3600.0,
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FG_Altitude, FG_Psi, FG_Mach_number);
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printf("Elev = %.2f, Aileron = %.2f, Rudder = %.2f\n",
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c->elev, c->aileron, c->rudder);
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}
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/* $Log$
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/* Revision 1.2 1997/05/23 15:40:29 curt
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/* Added GNU copyright headers.
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/* Revision 1.3 1997/05/29 22:39:56 curt
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/* Working on incorporating the LaRCsim flight model.
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/*
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* Revision 1.2 1997/05/23 15:40:29 curt
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* Added GNU copyright headers.
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*
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* Revision 1.1 1997/05/16 15:58:24 curt
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* Initial revision.
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*
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40
FDM/flight.c
40
FDM/flight.c
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@ -23,20 +23,48 @@
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* (Log is kept at end of this file)
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**************************************************************************/
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#include <stdio.h>
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#include "flight.h"
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/* Initialize the flight model parameters */
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int fgFlightModelInit(int model);
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int fgFlightModelInit(int model, struct flight_params *f, double dt) {
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int result;
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if ( model == FG_LARCSIM ) {
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fgFlight_2_LaRCsim(f); /* translate FG to LaRCsim structure */
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fgLaRCsimInit(dt);
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printf("FG pos = %.2f\n", FG_Latitude);
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fgLaRCsim_2_Flight(f); /* translate LaRCsim back to FG structure */
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} else {
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printf("Unimplemented flight model == %d\n", model);
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}
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return(result);
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}
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/* Run an iteration of the flight model */
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int fgFlightModelUpdate(int model);
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/* Run multiloop iterations of the flight model */
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int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop) {
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int result;
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if ( model == FG_LARCSIM ) {
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fgFlight_2_LaRCsim(f); /* translate FG to LaRCsim structure */
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fgLaRCsimUpdate(multiloop);
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fgLaRCsim_2_Flight(f); /* translate LaRCsim back to FG structure */
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} else {
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printf("Unimplemented flight model == %d\n", model);
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}
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return(result);
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}
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/* $Log$
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/* Revision 1.1 1997/05/29 02:35:04 curt
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/* Initial revision.
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/* Revision 1.2 1997/05/29 22:39:57 curt
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/* Working on incorporating the LaRCsim flight model.
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/*
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* Revision 1.1 1997/05/29 02:35:04 curt
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* Initial revision.
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*
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*/
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364
FDM/flight.h
364
FDM/flight.h
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@ -42,35 +42,377 @@
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/* Define a structure containing the shared flight model parameters */
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struct flight_params {
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double pos_x, pos_y, pos_z; /* temporary position variables */
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double vel_x, vel_y, vel_z; /* temporary velocity variables */
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/* struct flight_params {
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double pos_x, pos_y, pos_z;
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double vel_x, vel_y, vel_z;
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double Phi; /* Roll angle */
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double Theta; /* Pitch angle */
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double Psi; /* Heading angle */
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double Phi;
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double Theta;
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double Psi;
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double vel_Phi;
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double vel_Theta;
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double vel_Psi;
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}; */
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typedef double FG_VECTOR_3[3];
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/* This is based heavily on LaRCsim/ls_generic.h */
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struct flight_params {
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/*================== Mass properties and geometry values ==================*/
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double mass, i_xx, i_yy, i_zz, i_xz; /* Inertias */
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#define FG_Mass f->mass
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#define FG_I_xx f->i_xx
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#define FG_I_yy f->i_yy
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#define FG_I_zz f->i_zz
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#define FG_I_xz f->i_xz
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FG_VECTOR_3 d_pilot_rp_body_v; /* Pilot location rel to ref pt */
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#define FG_D_pilot_rp_body_v f->d_pilot_rp_body_v
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#define FG_Dx_pilot f->d_pilot_rp_body_v[0]
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#define FG_Dy_pilot f->d_pilot_rp_body_v[1]
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#define FG_Dz_pilot f->d_pilot_rp_body_v[2]
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FG_VECTOR_3 d_cg_rp_body_v; /* CG position w.r.t. ref. point */
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#define FG_D_cg_rp_body_v f->d_cg_rp_body_v
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#define FG_Dx_cg f->d_cg_rp_body_v[0]
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#define FG_Dy_cg f->d_cg_rp_body_v[1]
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#define FG_Dz_cg f->d_cg_rp_body_v[2]
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/*================================ Forces =================================*/
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FG_VECTOR_3 f_body_total_v;
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#define FG_F_body_total_v f->f_body_total_v
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#define FG_F_X f->f_body_total_v[0]
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#define FG_F_Y f->f_body_total_v[1]
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#define FG_F_Z f->f_body_total_v[2]
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FG_VECTOR_3 f_local_total_v;
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#define FG_F_local_total_v f->f_local_total_v
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#define FG_F_north f->f_local_total_v[0]
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#define FG_F_east f->f_local_total_v[1]
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#define FG_F_down f->f_local_total_v[2]
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FG_VECTOR_3 f_aero_v;
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#define FG_F_aero_v f->f_aero_v
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#define FG_F_X_aero f->f_aero_v[0]
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#define FG_F_Y_aero f->f_aero_v[1]
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#define FG_F_Z_aero f->f_aero_v[2]
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FG_VECTOR_3 f_engine_v;
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#define FG_F_engine_v f->f_engine_v
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#define FG_F_X_engine f->f_engine_v[0]
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#define FG_F_Y_engine f->f_engine_v[1]
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#define FG_F_Z_engine f->f_engine_v[2]
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FG_VECTOR_3 f_gear_v;
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#define FG_F_gear_v f->f_gear_v
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#define FG_F_X_gear f->f_gear_v[0]
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#define FG_F_Y_gear f->f_gear_v[1]
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#define FG_F_Z_gear f->f_gear_v[2]
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/*================================ Moments ================================*/
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FG_VECTOR_3 m_total_rp_v;
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#define FG_M_total_rp_v f->m_total_rp_v
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#define FG_M_l_rp f->m_total_rp_v[0]
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#define FG_M_m_rp f->m_total_rp_v[1]
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#define FG_M_n_rp f->m_total_rp_v[2]
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FG_VECTOR_3 m_total_cg_v;
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#define FG_M_total_cg_v f->m_total_cg_v
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#define FG_M_l_cg f->m_total_cg_v[0]
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#define FG_M_m_cg f->m_total_cg_v[1]
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#define FG_M_n_cg f->m_total_cg_v[2]
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FG_VECTOR_3 m_aero_v;
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#define FG_M_aero_v f->m_aero_v
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#define FG_M_l_aero f->m_aero_v[0]
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#define FG_M_m_aero f->m_aero_v[1]
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#define FG_M_n_aero f->m_aero_v[2]
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FG_VECTOR_3 m_engine_v;
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#define FG_M_engine_v f->m_engine_v
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#define FG_M_l_engine f->m_engine_v[0]
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#define FG_M_m_engine f->m_engine_v[1]
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#define FG_M_n_engine f->m_engine_v[2]
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FG_VECTOR_3 m_gear_v;
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#define FG_M_gear_v f->m_gear_v
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#define FG_M_l_gear f->m_gear_v[0]
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#define FG_M_m_gear f->m_gear_v[1]
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#define FG_M_n_gear f->m_gear_v[2]
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/*============================== Accelerations ============================*/
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FG_VECTOR_3 v_dot_local_v;
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#define FG_V_dot_local_v f->v_dot_local_v
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#define FG_V_dot_north f->v_dot_local_v[0]
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#define FG_V_dot_east f->v_dot_local_v[1]
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#define FG_V_dot_down f->v_dot_local_v[2]
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FG_VECTOR_3 v_dot_body_v;
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#define FG_V_dot_body_v f->v_dot_body_v
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#define FG_U_dot_body f->v_dot_body_v[0]
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#define FG_V_dot_body f->v_dot_body_v[1]
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#define FG_W_dot_body f->v_dot_body_v[2]
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FG_VECTOR_3 a_cg_body_v;
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#define FG_A_cg_body_v f->a_cg_body_v
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#define FG_A_X_cg f->a_cg_body_v[0]
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#define FG_A_Y_cg f->a_cg_body_v[1]
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#define FG_A_Z_cg f->a_cg_body_v[2]
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FG_VECTOR_3 a_pilot_body_v;
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#define FG_A_pilot_body_v f->a_pilot_body_v
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#define FG_A_X_pilot f->a_pilot_body_v[0]
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#define FG_A_Y_pilot f->a_pilot_body_v[1]
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#define FG_A_Z_pilot f->a_pilot_body_v[2]
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FG_VECTOR_3 n_cg_body_v;
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#define FG_N_cg_body_v f->n_cg_body_v
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#define FG_N_X_cg f->n_cg_body_v[0]
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#define FG_N_Y_cg f->n_cg_body_v[1]
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#define FG_N_Z_cg f->n_cg_body_v[2]
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FG_VECTOR_3 n_pilot_body_v;
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#define FG_N_pilot_body_v f->n_pilot_body_v
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#define FG_N_X_pilot f->n_pilot_body_v[0]
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#define FG_N_Y_pilot f->n_pilot_body_v[1]
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#define FG_N_Z_pilot f->n_pilot_body_v[2]
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FG_VECTOR_3 omega_dot_body_v;
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#define FG_Omega_dot_body_v f->omega_dot_body_v
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#define FG_P_dot_body f->omega_dot_body_v[0]
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#define FG_Q_dot_body f->omega_dot_body_v[1]
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#define FG_R_dot_body f->omega_dot_body_v[2]
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/*============================== Velocities ===============================*/
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FG_VECTOR_3 v_local_v;
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#define FG_V_local_v f->v_local_v
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#define FG_V_north f->v_local_v[0]
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#define FG_V_east f->v_local_v[1]
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#define FG_V_down f->v_local_v[2]
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FG_VECTOR_3 v_local_rel_ground_v; /* V rel w.r.t. earth surface */
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#define FG_V_local_rel_ground_v f->v_local_rel_ground_v
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#define FG_V_north_rel_ground f->v_local_rel_ground_v[0]
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#define FG_V_east_rel_ground f->v_local_rel_ground_v[1]
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#define FG_V_down_rel_ground f->v_local_rel_ground_v[2]
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FG_VECTOR_3 v_local_airmass_v; /* velocity of airmass (steady winds) */
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#define FG_V_local_airmass_v f->v_local_airmass_v
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#define FG_V_north_airmass f->v_local_airmass_v[0]
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#define FG_V_east_airmass f->v_local_airmass_v[1]
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#define FG_V_down_airmass f->v_local_airmass_v[2]
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FG_VECTOR_3 v_local_rel_airmass_v; /* velocity of veh. relative to */
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/* airmass */
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#define FG_V_local_rel_airmass_v f->v_local_rel_airmass_v
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#define FG_V_north_rel_airmass f->v_local_rel_airmass_v[0]
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#define FG_V_east_rel_airmass f->v_local_rel_airmass_v[1]
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#define FG_V_down_rel_airmass f->v_local_rel_airmass_v[2]
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FG_VECTOR_3 v_local_gust_v; /* linear turbulence components, L frame */
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#define FG_V_local_gust_v f->v_local_gust_v
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#define FG_U_gust f->v_local_gust_v[0]
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#define FG_V_gust f->v_local_gust_v[1]
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#define FG_W_gust f->v_local_gust_v[2]
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FG_VECTOR_3 v_wind_body_v; /* Wind-relative velocities in body axis */
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#define FG_V_wind_body_v f->v_wind_body_v
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#define FG_U_body f->v_wind_body_v[0]
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#define FG_V_body f->v_wind_body_v[1]
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#define FG_W_body f->v_wind_body_v[2]
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double v_rel_wind, v_true_kts, v_rel_ground, v_inertial;
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double v_ground_speed, v_equiv, v_equiv_kts;
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double v_calibrated, v_calibrated_kts;
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#define FG_V_rel_wind f->v_rel_wind
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#define FG_V_true_kts f->v_true_kts
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#define FG_V_rel_ground f->v_rel_ground
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#define FG_V_inertial f->v_inertial
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#define FG_V_ground_speed f->v_ground_speed
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#define FG_V_equiv f->v_equiv
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#define FG_V_equiv_kts f->v_equiv_kts
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#define FG_V_calibrated f->v_calibrated
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#define FG_V_calibrated_kts f->v_calibrated_kts
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FG_VECTOR_3 omega_body_v; /* Angular B rates */
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#define FG_Omega_body_v f->omega_body_v
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#define FG_P_body f->omega_body_v[0]
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#define FG_Q_body f->omega_body_v[1]
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#define FG_R_body f->omega_body_v[2]
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FG_VECTOR_3 omega_local_v; /* Angular L rates */
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#define FG_Omega_local_v f->omega_local_v
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#define FG_P_local f->omega_local_v[0]
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#define FG_Q_local f->omega_local_v[1]
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#define FG_R_local f->omega_local_v[2]
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FG_VECTOR_3 omega_total_v; /* Diff btw B & L */
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#define FG_Omega_total_v f->omega_total_v
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#define FG_P_total f->omega_total_v[0]
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#define FG_Q_total f->omega_total_v[1]
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#define FG_R_total f->omega_total_v[2]
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FG_VECTOR_3 euler_rates_v;
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#define FG_Euler_rates_v f->euler_rates_v
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#define FG_Phi_dot f->euler_rates_v[0]
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#define FG_Theta_dot f->euler_rates_v[1]
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#define FG_Psi_dot f->euler_rates_v[2]
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FG_VECTOR_3 geocentric_rates_v; /* Geocentric linear velocities */
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#define FG_Geocentric_rates_v f->geocentric_rates_v
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#define FG_Latitude_dot f->geocentric_rates_v[0]
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#define FG_Longitude_dot f->geocentric_rates_v[1]
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#define FG_Radius_dot f->geocentric_rates_v[2]
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/*=============================== Positions ===============================*/
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FG_VECTOR_3 geocentric_position_v;
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#define FG_Geocentric_position_v f->geocentric_position_v
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#define FG_Lat_geocentric f->geocentric_position_v[0]
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#define FG_Lon_geocentric f->geocentric_position_v[1]
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#define FG_Radius_to_vehicle f->geocentric_position_v[2]
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FG_VECTOR_3 geodetic_position_v;
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#define FG_Geodetic_position_v f->geodetic_position_v
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#define FG_Latitude f->geodetic_position_v[0]
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#define FG_Longitude f->geodetic_position_v[1]
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#define FG_Altitude f->geodetic_position_v[2]
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FG_VECTOR_3 euler_angles_v;
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#define FG_Euler_angles_v f->euler_angles_v
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#define FG_Phi f->euler_angles_v[0]
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#define FG_Theta f->euler_angles_v[1]
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#define FG_Psi f->euler_angles_v[2]
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/*======================= Miscellaneous quantities ========================*/
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double t_local_to_body_m[3][3]; /* Transformation matrix L to B */
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#define FG_T_local_to_body_m f->t_local_to_body_m
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#define FG_T_local_to_body_11 f->t_local_to_body_m[0][0]
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#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 */
|
||||
|
||||
/* 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 */
|
||||
int fgFlightModelUpdate(int model);
|
||||
/* Run multiloop iterations of the flight model */
|
||||
int fgFlightModelUpdate(int model, struct flight_params *f, int multiloop);
|
||||
|
||||
|
||||
#endif FLIGHT_H
|
||||
|
||||
|
||||
/* $Log$
|
||||
/* Revision 1.3 1997/05/29 02:32:25 curt
|
||||
/* Starting to build generic flight model interface.
|
||||
/* Revision 1.4 1997/05/29 22:39:57 curt
|
||||
/* 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
|
||||
* Added GNU copyright headers.
|
||||
*
|
||||
|
|
|
|||
|
|
@ -34,6 +34,9 @@
|
|||
|
||||
$Header$
|
||||
$Log$
|
||||
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
|
||||
Initial Flight Gear revision.
|
||||
|
||||
|
|
@ -85,6 +88,9 @@ static char rcsid[] = "$Id$";
|
|||
#include "ls_types.h"
|
||||
#include "ls_sym.h"
|
||||
|
||||
/* temp */
|
||||
#include "ls_generic.h"
|
||||
|
||||
#define MAX_NUMBER_OF_CONTINUOUS_STATES 100
|
||||
#define MAX_NUMBER_OF_DISCRETE_STATES 20
|
||||
#define HARDWIRED 13
|
||||
|
|
@ -175,7 +181,11 @@ void ls_init()
|
|||
|
||||
Simtime = 0;
|
||||
|
||||
printf("LS in init() pos = %.2f\n", Latitude);
|
||||
|
||||
ls_init_init();
|
||||
|
||||
printf("LS after init_init() pos = %.2f\n", Latitude);
|
||||
/* move the states to proper values */
|
||||
|
||||
/* commented out by CLO
|
||||
|
|
@ -192,7 +202,11 @@ void ls_init()
|
|||
|
||||
model_init();
|
||||
|
||||
printf("LS after model_init() pos = %.2f\n", Latitude);
|
||||
|
||||
ls_step(0.0, -1);
|
||||
|
||||
printf("LS after ls_step() pos = %.2f\n", Latitude);
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -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/stat.h>
|
||||
#include <stdlib.h>
|
||||
|
|
@ -240,6 +229,14 @@ $Original log: LaRCsim.c,v $
|
|||
#include <math.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 */
|
||||
|
||||
/* TAPE *Tape; */
|
||||
|
|
@ -497,14 +494,13 @@ int initialize;
|
|||
|
||||
|
||||
int ls_cockpit() {
|
||||
|
||||
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("%.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
|
||||
each subsequent iteration through the EOM */
|
||||
int fgLaRCsimInit(double dt) {
|
||||
|
||||
model_dt = dt;
|
||||
|
||||
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 */
|
||||
|
||||
if (speedup == 0.0) {
|
||||
|
|
@ -548,8 +519,12 @@ int fgLaRCsimInit(double dt) {
|
|||
return 1;
|
||||
}
|
||||
|
||||
printf("LS pre Init pos = %.2f\n", Latitude);
|
||||
|
||||
ls_init();
|
||||
|
||||
printf("LS post Init pos = %.2f\n", Latitude);
|
||||
|
||||
if (speedup > 0) {
|
||||
/* Initialize (get) cockpit (controls) settings */
|
||||
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
|
||||
*
|
||||
* $Log$
|
||||
* 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
|
||||
* Initial Flight Gear revision.
|
||||
*
|
||||
|
|
|
|||
|
|
@ -28,18 +28,24 @@
|
|||
#define LS_INTERFACE_H
|
||||
|
||||
|
||||
#include "../flight.h"
|
||||
|
||||
|
||||
/* reset flight params to a specific position */
|
||||
int fgLaRCsimInit(double dt);
|
||||
|
||||
/* update position based on inputs, positions, velocities, etc. */
|
||||
int fgLaRCsimUpdate();
|
||||
int fgLaRCsimUpdate(int multiloop);
|
||||
|
||||
|
||||
#endif LS_INTERFACE_H
|
||||
|
||||
|
||||
/* $Log$
|
||||
/* Revision 1.1 1997/05/29 00:09:58 curt
|
||||
/* Initial Flight Gear revision.
|
||||
/* Revision 1.2 1997/05/29 22:39:59 curt
|
||||
/* Working on incorporating the LaRCsim flight model.
|
||||
/*
|
||||
* Revision 1.1 1997/05/29 00:09:58 curt
|
||||
* Initial Flight Gear revision.
|
||||
*
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -71,8 +71,10 @@ void engine( SCALAR dt, int init )
|
|||
if (init || sim_control_.sim_type != cockpit)
|
||||
Throttle[3] = Throttle_pct;
|
||||
|
||||
F_X_engine = Throttle[3]*813.4/0.2;
|
||||
F_Z_engine = Throttle[3]*11.36/0.2;
|
||||
/* F_X_engine = Throttle[3]*813.4/0.2; */ /* original code */
|
||||
/* F_Z_engine = Throttle[3]*11.36/0.2; */ /* original code */
|
||||
F_X_engine = Throttle[3]*813.4/0.85;
|
||||
F_Z_engine = Throttle[3]*11.36/0.85;
|
||||
|
||||
Throttle_pct = Throttle[3];
|
||||
}
|
||||
|
|
|
|||
|
|
@ -28,7 +28,12 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#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
|
||||
#include <GL/glut.h>
|
||||
|
|
@ -42,6 +47,12 @@
|
|||
#include "../aircraft/aircraft.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
|
||||
being operated */
|
||||
struct aircraft_params current_aircraft;
|
||||
|
|
@ -62,9 +73,8 @@ double fogDensity = 2000.0;
|
|||
|
||||
/* Another hack */
|
||||
#define DEFAULT_MODEL_HZ 20
|
||||
#define DEFAULT_MULTILOOP 6
|
||||
double Simtime;
|
||||
int Overrun;
|
||||
int model_dt;
|
||||
|
||||
|
||||
/**************************************************************************
|
||||
|
|
@ -109,6 +119,7 @@ static void fgInitVisuals() {
|
|||
**************************************************************************/
|
||||
|
||||
static void fgUpdateViewParams() {
|
||||
double pos_x, pos_y, pos_z;
|
||||
struct flight_params *f;
|
||||
|
||||
f = ¤t_aircraft.flight;
|
||||
|
|
@ -120,8 +131,13 @@ static void fgUpdateViewParams() {
|
|||
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
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);
|
||||
}
|
||||
|
||||
|
|
@ -159,7 +175,11 @@ static struct itimerval t, ot;
|
|||
|
||||
/* This routine catches the SIGALRM */
|
||||
void fgTimerCatch() {
|
||||
struct flight_params *f;
|
||||
static double lastSimtime = -99.9;
|
||||
int Overrun;
|
||||
|
||||
f = ¤t_aircraft.flight;
|
||||
|
||||
/* printf("In fgTimerCatch()\n"); */
|
||||
|
||||
|
|
@ -171,7 +191,7 @@ void fgTimerCatch() {
|
|||
} */
|
||||
|
||||
/* update the flight model */
|
||||
fgSlewUpdate();
|
||||
fgFlightModelUpdate(FG_LARCSIM, f, DEFAULT_MULTILOOP);
|
||||
|
||||
lastSimtime = Simtime;
|
||||
signal(SIGALRM, fgTimerCatch);
|
||||
|
|
@ -260,6 +280,10 @@ static void fgReshape( int width, int height ) {
|
|||
**************************************************************************/
|
||||
|
||||
int main( int argc, char *argv[] ) {
|
||||
struct flight_params *f;
|
||||
|
||||
f = ¤t_aircraft.flight;
|
||||
|
||||
/* parse the scenery file */
|
||||
parse_scenery(argv[1]);
|
||||
|
||||
|
|
@ -271,13 +295,13 @@ int main( int argc, char *argv[] ) {
|
|||
glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
|
||||
|
||||
/* Define initial window size */
|
||||
glutInitWindowSize(640, 400);
|
||||
glutInitWindowSize(640, 480);
|
||||
|
||||
/* Initialize the main window */
|
||||
glutCreateWindow("Terrain Demo");
|
||||
#elif MESA_TK
|
||||
/* Define initial window size */
|
||||
tkInitPosition(0, 0, 640, 400);
|
||||
tkInitPosition(0, 0, 640, 480);
|
||||
|
||||
/* Define Display Parameters */
|
||||
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 */
|
||||
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 */
|
||||
/* fgSlewInit(-398391.3, 120070.4, 244, 3.1415); */ /* GLOBE Airport */
|
||||
/* 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 */
|
||||
fgSceneryInit();
|
||||
|
|
@ -343,9 +408,12 @@ int main( int argc, char *argv[] ) {
|
|||
|
||||
|
||||
/* $Log$
|
||||
/* Revision 1.6 1997/05/29 12:31:39 curt
|
||||
/* Minor tweaks, moving towards general flight model integration.
|
||||
/* Revision 1.7 1997/05/29 22:39:49 curt
|
||||
/* 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
|
||||
* Updated to reflect changing interfaces in other "modules."
|
||||
*
|
||||
|
|
|
|||
|
|
@ -67,7 +67,8 @@ LIBS = $(INTERFACE_LIBS) $(GRAPHICS_LIBS) -lm -lfl
|
|||
CFILES = GLmain.c $(INTERFACE_FILES) mesh2GL.c
|
||||
OFILES = $(CFILES:.c=.o)
|
||||
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
|
|||
|
||||
#---------------------------------------------------------------------------
|
||||
# $Log$
|
||||
# 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
|
||||
# Updated to reflect changing interfaces in other "modules."
|
||||
#
|
||||
|
|
|
|||
|
|
@ -59,7 +59,7 @@ GLint mesh2GL(struct mesh *m) {
|
|||
int i, j, istep, jstep, iend, jend;
|
||||
float temp;
|
||||
|
||||
istep = jstep = 8; /* Detail level 1 -- 1200 ... */
|
||||
istep = jstep = 100; /* Detail level 1 -- 1200 ... */
|
||||
|
||||
mesh = glGenLists(1);
|
||||
glNewList(mesh, GL_COMPILE);
|
||||
|
|
@ -119,9 +119,12 @@ GLint mesh2GL(struct mesh *m) {
|
|||
|
||||
|
||||
/* $Log$
|
||||
/* Revision 1.8 1997/05/29 12:31:40 curt
|
||||
/* Minor tweaks, moving towards general flight model integration.
|
||||
/* Revision 1.9 1997/05/29 22:39:51 curt
|
||||
/* 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
|
||||
* Updated to reflect changing interfaces in other "modules."
|
||||
*
|
||||
|
|
|
|||
19
Slew/slew.c
19
Slew/slew.c
|
|
@ -32,6 +32,10 @@
|
|||
#include "../../controls/controls.h"
|
||||
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI 3.14159265358979323846 /* pi */
|
||||
#endif
|
||||
|
||||
#ifndef PI2
|
||||
#define PI2 (M_PI + M_PI)
|
||||
#endif
|
||||
|
|
@ -43,7 +47,7 @@ void fgSlewInit(double pos_x, double pos_y, double pos_z, double heading) {
|
|||
|
||||
f = ¤t_aircraft.flight;
|
||||
|
||||
f->pos_x = pos_x;
|
||||
/* f->pos_x = pos_x;
|
||||
f->pos_y = pos_y;
|
||||
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_Psi = 0.0;
|
||||
|
||||
f->Psi = heading;
|
||||
f->Psi = heading; */
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -71,7 +75,7 @@ void fgSlewUpdate() {
|
|||
f = ¤t_aircraft.flight;
|
||||
c = ¤t_aircraft.controls;
|
||||
|
||||
f->Psi += ( c->aileron / 8 );
|
||||
/* f->Psi += ( c->aileron / 8 );
|
||||
if ( f->Psi > PI2 ) {
|
||||
f->Psi -= PI2;
|
||||
} else if ( f->Psi < 0 ) {
|
||||
|
|
@ -81,14 +85,17 @@ void fgSlewUpdate() {
|
|||
f->vel_x = -c->elev;
|
||||
|
||||
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); */
|
||||
}
|
||||
|
||||
|
||||
/* $Log$
|
||||
/* Revision 1.2 1997/05/29 12:30:19 curt
|
||||
/* Some initial mods to work better in a timer environment.
|
||||
/* Revision 1.3 1997/05/29 22:40:00 curt
|
||||
/* 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
|
||||
* Moved to their own directory.
|
||||
*
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue