Interface with Jon's submitted JSBsim changes.
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curt
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f4e3e8bc92
commit
397ca564b3
2 changed files with 46 additions and 23 deletions
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@ -22,9 +22,13 @@
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// (Log is kept at end of this file)
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#define FDM_MAIN
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#include <FDM/JSBsim/FGFDMExec.h>
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#undef FDM_MAIN
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#include <FDM/JSBsim/FGAircraft.h>
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#include <FDM/JSBsim/FGFCS.h>
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#include <FDM/JSBsim/FGPosition.h>
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#include <FDM/JSBsim/FGRotation.h>
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#include <FDM/JSBsim/FGState.h>
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#include <FDM/JSBsim/FGTranslation.h>
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#include "JSBsim.hxx"
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@ -35,21 +39,24 @@
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#include <Math/fg_geodesy.hxx>
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// The default aircraft
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FGFDMExec FDMExec;
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// Initialize the JSBsim flight model, dt is the time increment for
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// each subsequent iteration through the EOM
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int fgJSBsimInit(double dt) {
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FG_LOG( FG_FLIGHT, FG_INFO, "Starting initializing JSBsim" );
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FDMExec = new FGFDMExec();
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FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" );
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Aircraft->LoadAircraft("X15");
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FDMExec.GetAircraft()->LoadAircraft("X15");
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FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" );
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State->Reset("reset00");
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FDMExec.GetState()->Reset("reset00");
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FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
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State->Setdt(dt);
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FDMExec.GetState()->Setdt(dt);
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FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
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FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" );
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@ -69,12 +76,14 @@ int fgJSBsimUpdate(FGInterface& f, int multiloop) {
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}
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// copy control positions into the JSBsim structure
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FCS->SetDa( controls.get_aileron() );
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FCS->SetDe( controls.get_elevator() + controls.get_elevator_trim() );
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FCS->SetDr( controls.get_rudder() );
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FCS->SetDf( 0.0 );
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FCS->SetDs( 0.0 );
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FCS->SetThrottle( controls.get_throttle( 0 ) );
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FDMExec.GetFCS()->SetDa( controls.get_aileron() );
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FDMExec.GetFCS()->SetDe( controls.get_elevator()
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+ controls.get_elevator_trim() );
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FDMExec.GetFCS()->SetDr( controls.get_rudder() );
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FDMExec.GetFCS()->SetDf( 0.0 );
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FDMExec.GetFCS()->SetDs( 0.0 );
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FDMExec.GetFCS()->SetThrottle( FGControls::ALL_ENGINES,
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controls.get_throttle( 0 ) );
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// FCS->SetBrake( controls.get_brake( 0 ) );
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// Inform JSBsim of the local terrain altitude
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@ -87,8 +96,9 @@ int fgJSBsimUpdate(FGInterface& f, int multiloop) {
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// printf("Altitude = %.2f\n", Altitude * 0.3048);
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// printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
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State->Setsim_time(State->Getsim_time() + State->Getdt() * multiloop);
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FDMExec->Run();
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/* FDMExec.GetState()->Setsim_time(State->Getsim_time()
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+ State->Getdt() * multiloop); */
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FDMExec.Run();
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// printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
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// printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
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@ -119,7 +129,9 @@ int FGInterface_2_JSBsim (FGInterface& f) {
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int fgJSBsim_2_FGInterface (FGInterface& f) {
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// Velocities
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f.set_Velocities_Local( State->GetVn(), State->GetVe(), State->GetVd() );
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f.set_Velocities_Local( FDMExec.GetPosition()->GetVn(),
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FDMExec.GetPosition()->GetVe(),
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FDMExec.GetPosition()->GetVd() );
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// f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
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// V_down_rel_ground );
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// f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
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@ -136,11 +148,13 @@ int fgJSBsim_2_FGInterface (FGInterface& f) {
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// f.set_V_ground_speed( V_ground_speed );
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// f.set_V_equiv( V_equiv );
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/* ***FIXME*** */ f.set_V_equiv_kts( State->GetVt() );
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/* ***FIXME*** */ f.set_V_equiv_kts( FDMExec.GetState()->GetVt() );
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// f.set_V_calibrated( V_calibrated );
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// f.set_V_calibrated_kts( V_calibrated_kts );
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f.set_Omega_Body( State->GetP(), State->GetQ(), State->GetR() );
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f.set_Omega_Body( FDMExec.GetRotation()->GetP(),
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FDMExec.GetRotation()->GetQ(),
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FDMExec.GetRotation()->GetR() );
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// f.set_Omega_Local( P_local, Q_local, R_local );
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// f.set_Omega_Total( P_total, Q_total, R_total );
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@ -148,9 +162,9 @@ int fgJSBsim_2_FGInterface (FGInterface& f) {
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// ***FIXME*** f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
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// Positions
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double lat = State->Getlatitude();
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double lon = State->Getlongitude();
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double alt = State->Geth();
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double lat = FDMExec.GetState()->Getlatitude();
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double lon = FDMExec.GetState()->Getlongitude();
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double alt = FDMExec.GetState()->Geth();
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double lat_geoc, sl_radius;
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fgGeodToGeoc( lat, alt * FEET_TO_METER, &sl_radius, &lat_geoc );
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@ -161,15 +175,17 @@ int fgJSBsim_2_FGInterface (FGInterface& f) {
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f.set_Geocentric_Position( lat_geoc, lon, sl_radius * METER_TO_FEET + alt );
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f.set_Geodetic_Position( lat, lon, alt );
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f.set_Euler_Angles( State->Getphi(), State->Gettht(), State->Getpsi() );
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f.set_Euler_Angles( FDMExec.GetRotation()->Getphi(),
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FDMExec.GetRotation()->Gettht(),
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FDMExec.GetRotation()->Getpsi() );
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// Miscellaneous quantities
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// f.set_T_Local_to_Body(T_local_to_body_m);
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// f.set_Gravity( Gravity );
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// f.set_Centrifugal_relief( Centrifugal_relief );
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f.set_Alpha( State->Getalpha() );
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f.set_Beta( State->Getbeta() );
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f.set_Alpha( FDMExec.GetTranslation()->Getalpha() );
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f.set_Beta( FDMExec.GetTranslation()->Getbeta() );
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// f.set_Alpha_dot( Alpha_dot );
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// f.set_Beta_dot( Beta_dot );
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@ -222,6 +238,9 @@ int fgJSBsim_2_FGInterface (FGInterface& f) {
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// $Log$
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// Revision 1.2 1999/02/11 21:09:40 curt
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// Interface with Jon's submitted JSBsim changes.
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//
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// Revision 1.1 1999/02/05 21:29:38 curt
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// Incorporating Jon S. Berndt's flight model code.
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//
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@ -26,6 +26,7 @@
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#define _JSBSIM_HXX
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#include <FDM/JSBsim/FGFDMExec.h>
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#undef MAX_ENGINES
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#include <Aircraft/aircraft.hxx>
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@ -47,6 +48,9 @@ int fgJSBsim_2_FGInterface (FGInterface& f);
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// $Log$
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// Revision 1.2 1999/02/11 21:09:41 curt
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// Interface with Jon's submitted JSBsim changes.
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//
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// Revision 1.1 1999/02/05 21:29:38 curt
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// Incorporating Jon S. Berndt's flight model code.
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//
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