From David Megginson:
The files in the attached tarball make the following changes to FlightGear: - rename the existing FGInterface::init() method to FGInterface::_setup to get it out of the way - move *all* FDM initialization code out of src/Main/fg_init.cxx and into FGInterface::init(), and clean up fg_init.cxx a little (especially by removing the zillions of attempts to place the plane on the ground at various locations in the code) - modify FGInterface::bind() so that no values are picked up automatically at bind time (they are set previously by init() instead) - modify the init() methods of the classes derived from FGInterface (i.e. larcsim, jsbsim, balloon, magic, and ada) to invoke FGInterface::init() explicitly before doing their own setup I don't claim that the code in FGInterface::init() is optimal (or even correct), but it seems to work for on-ground starts with both LaRCSim and JSBSim on runways pointing various directions from near sea level to about 700' ASL (the range I happened to test). I expect that Jon and Tony will want to look at the code and refactor and correct it now that they can see what's going on in one place. Here's a quick outline of what is invoked: cur_fdm_state = new <whatever>(dt); cur_fdm_state->init(); cur_fdm_state->bind(); The constructor allocates memory and sets default values only (with the help of the FGInterface::_setup() method). The init() method pull any required properties out of the property tree and sets up the initial state of the FDM. The bind() method takes ownership of FDM-related properties so that the FDM can publish them to the rest of the sim. Note that bind() and init() are virtual, so any implementation in a subclass will hide the implementation in FGInterface; that's why subclass implementations of init() and bind() have to invoke FGInterface::init() and FGInterface::bind() explicitly, probably at the start, so that they get the basic initialization.
This commit is contained in:
curt
parent
397a83d69f
commit
65f6e343ab
8 changed files with 227 additions and 282 deletions
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@ -154,6 +154,11 @@ FGADA::~FGADA() {
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// Initialize the ADA flight model, dt is the time increment
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// for each subsequent iteration through the EOM
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void FGADA::init() {
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// explicitly call the superclass's
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// init() method first.
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FGInterface::init();
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// cout << "FGADA::init()" << endl;
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char Buffer[numberofbytes];
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@ -75,6 +75,10 @@ FGBalloonSim::~FGBalloonSim() {
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// Initialize the BalloonSim flight model, dt is the time increment for
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// each subsequent iteration through the EOM
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void FGBalloonSim::init() {
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// explicitly call the superclass's
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// init method first.
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FGInterface::init();
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sgVec3 temp;
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SG_LOG( SG_FLIGHT, SG_INFO, "Starting initializing BalloonSim" );
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@ -109,34 +109,14 @@ FGJSBsim::~FGJSBsim(void) {
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// each subsequent iteration through the EOM
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void FGJSBsim::init() {
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// Explicitly call the superclass's
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// init method first.
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FGInterface::init();
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bool result;
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SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
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#if 0
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SGPath aircraft_path( globals->get_fg_root() );
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aircraft_path.append( "Aircraft" );
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SGPath engine_path( globals->get_fg_root() );
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engine_path.append( "Engine" );
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fdmex->GetState()->Setdt( get_delta_t() );
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result = fdmex->LoadModel( aircraft_path.str(),
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engine_path.str(),
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fgGetString("/sim/aircraft") );
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if (result) {
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SG_LOG( SG_FLIGHT, SG_INFO, " loaded aircraft " << fgGetString("/sim/aircraft") );
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} else {
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SG_LOG( SG_FLIGHT, SG_INFO, " aircraft "
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<< fgGetString("/sim/aircraft")
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<< " does not exist" );
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exit(-1);
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}
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#endif
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fdmex->GetAtmosphere()->UseInternal();
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SG_LOG( SG_FLIGHT, SG_INFO, " Initializing JSBSim with:" );
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@ -177,24 +157,6 @@ void FGJSBsim::init() {
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SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
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<< fdmex->GetPosition()->GetLongitude() << " deg" );
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// for debug only
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/* SG_LOG( SG_FLIGHT, SG_DEBUG, " FGJSBSim::get_Altitude(): " << get_Altitude() );
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SG_LOG( SG_FLIGHT, SG_DEBUG, " FGJSBSim::get_Sea_level_radius(): " << get_Sea_level_radius() );
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SG_LOG( SG_FLIGHT, SG_DEBUG, " scenery.cur_radius*SG_METER_TO_FEET: "
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<< scenery.cur_radius*SG_METER_TO_FEET );
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SG_LOG( SG_FLIGHT, SG_DEBUG, " Calculated Terrain ASL: " << endl
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<< " " << "scenery.cur_radius*SG_METER_TO_FEET -get_Sea_level_radius()= "
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<< scenery.cur_radius*SG_METER_TO_FEET - get_Sea_level_radius() );
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SG_LOG( SG_FLIGHT, SG_DEBUG, " Calculated Aircraft AGL: " << endl
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<< " " << "get_Altitude() + get_Sea_level_radius() - scenery.cur_radius*SG_METER_TO_FEET= "
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<< get_Altitude() + get_Sea_level_radius()- scenery.cur_radius*SG_METER_TO_FEET );
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SG_LOG( SG_FLIGHT, SG_DEBUG, " fgGetDouble("/position/altitude"): "
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<< fgGetDouble("/position/altitude") );
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SG_LOG( SG_FLIGHT, SG_DEBUG, " FGBFI::getAltitude(): "
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<< FGBFI::getAltitude() ); */
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SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
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SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
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@ -67,6 +67,10 @@ FGLaRCsim::~FGLaRCsim(void) {
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// each subsequent iteration through the EOM
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void FGLaRCsim::init() {
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// Explicitly call the superclass's
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// init method first.
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FGInterface::init();
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speed_up = fgGetValue("/sim/speed-up", true);
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ls_set_model_dt( get_delta_t() );
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@ -44,6 +44,9 @@ FGMagicCarpet::~FGMagicCarpet() {
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// Initialize the Magic Carpet flight model, dt is the time increment
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// for each subsequent iteration through the EOM
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void FGMagicCarpet::init() {
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// explicitly call the superclass's
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// init method first
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FGInterface::init();
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}
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@ -74,12 +74,12 @@ FGEngInterface::~FGEngInterface(void) {
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// Constructor
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FGInterface::FGInterface() {
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init();
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_setup();
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}
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FGInterface::FGInterface( double dt ) {
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init();
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_setup();
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delta_t = dt;
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remainder = elapsed = multi_loop = 0;
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}
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@ -90,8 +90,13 @@ FGInterface::~FGInterface() {
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}
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/**
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* Set default values for the state of the FDM.
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*
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* This method is invoked by the constructors.
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*/
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void
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FGInterface::init ()
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FGInterface::_setup ()
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{
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init_vec( d_pilot_rp_body_v );
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init_vec( d_cg_rp_body_v );
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@ -160,6 +165,93 @@ FGInterface::init ()
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altitude_agl=0;
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}
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/**
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* Initialize the state of the FDM.
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*
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* Subclasses of FGInterface may do their own, additional initialization,
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* but normally they should invoke this method explicitly first as
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* FGInterface::init() to make sure the basic structures are set up
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* properly.
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*/
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void
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FGInterface::init ()
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{
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SG_LOG(SG_FLIGHT, SG_INFO, "Start initializing FGInterface");
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stamp();
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set_remainder(0);
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// Set initial position
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SG_LOG(SG_FLIGHT, SG_INFO, "...initializing position...");
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set_Longitude(fgGetDouble("/position/longitude") * SGD_DEGREES_TO_RADIANS);
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set_Latitude(fgGetDouble("/position/latitude") * SGD_DEGREES_TO_RADIANS);
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double ground_elev_m = scenery.cur_elev + 1;
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double ground_elev_ft = ground_elev_m * METERS_TO_FEET;
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if (fgGetBool("/sim/startup/onground") ||
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fgGetDouble("/position/altitude") < ground_elev_ft)
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fgSetDouble("/position/altitude", ground_elev_ft);
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set_Altitude(fgGetDouble("/position/altitude"));
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// Set ground elevation
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SG_LOG(SG_FLIGHT, SG_INFO,
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"...initializing ground elevation to "
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<< ground_elev_ft << "ft...");
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fgFDMSetGroundElevation("jsb", ground_elev_m);
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// Set sea-level radius
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SG_LOG(SG_FLIGHT, SG_INFO, "...initializing sea-level radius...");
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double sea_level_radius_meters;
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double lat_geoc;
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sgGeodToGeoc(get_Latitude(), get_Altitude(),
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&sea_level_radius_meters, &lat_geoc);
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set_Sea_level_radius(sea_level_radius_meters * SG_METER_TO_FEET);
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// Set initial velocities
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SG_LOG(SG_FLIGHT, SG_INFO, "...initializing velocities...");
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if (!fgHasValue("/sim/startup/speed-set")) {
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set_V_calibrated_kts(0.0);
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} else {
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const string speedset = fgGetString("/sim/startup/speed-set");
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if (speedset == "knots" || speedset == "KNOTS") {
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set_V_calibrated_kts(fgGetDouble("/velocities/airspeed"));
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} else if (speedset == "mach" || speedset == "MACH") {
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set_Mach_number(fgGetDouble("/velocities/mach"));
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} else if (speedset == "UVW" || speedset == "uvw") {
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set_Velocities_Wind_Body(fgGetDouble("/velocities/uBody"),
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fgGetDouble("/velocities/vBody"),
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fgGetDouble("/velocities/wBody"));
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} else if (speedset == "NED" || speedset == "ned") {
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set_Velocities_Local(fgGetDouble("/velocities/speed-north"),
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fgGetDouble("/velocities/speed-east"),
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fgGetDouble("/velocities/speed-down"));
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} else {
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SG_LOG(SG_FLIGHT, SG_ALERT,
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"Unrecognized value for /sim/startup/speed-set: " << speedset);
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set_V_calibrated_kts(0.0);
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}
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}
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// Set initial Euler angles
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SG_LOG(SG_FLIGHT, SG_INFO, "...initializing Euler angles...");
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set_Euler_Angles
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(fgGetDouble("/orientation/roll") * SGD_DEGREES_TO_RADIANS,
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fgGetDouble("/orientation/pitch") * SGD_DEGREES_TO_RADIANS,
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fgGetDouble("/orientation/heading") * SGD_DEGREES_TO_RADIANS);
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SG_LOG(SG_FLIGHT, SG_INFO, "End initializing FGInterface");
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}
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/**
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* Bind getters and setters to properties.
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*
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* The bind() method will be invoked after init(). Note that unlike
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* the usual implementations of FGSubsystem::bind(), this method does
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* not automatically pick up existing values for the properties at
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* bind time; instead, all values are set explicitly in the init()
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* method.
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*/
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void
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FGInterface::bind ()
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{
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@ -192,48 +284,40 @@ FGInterface::bind ()
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// Orientation
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fgTie("/orientation/roll", this,
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&FGInterface::get_Phi_deg,
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&FGInterface::set_Phi_deg,
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true);
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&FGInterface::set_Phi_deg);
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fgTie("/orientation/pitch", this,
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&FGInterface::get_Theta_deg,
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&FGInterface::set_Theta_deg,
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true);
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&FGInterface::set_Theta_deg);
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fgTie("/orientation/heading", this,
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&FGInterface::get_Psi_deg,
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&FGInterface::set_Psi_deg,
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true);
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&FGInterface::set_Psi_deg);
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// Calibrated airspeed
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fgTie("/velocities/airspeed", this,
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&FGInterface::get_V_calibrated_kts,
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&FGInterface::set_V_calibrated_kts,
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true);
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&FGInterface::set_V_calibrated_kts);
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// Local velocities
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fgTie("/velocities/speed-north", this,
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&FGInterface::get_V_north); // read-only
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&FGInterface::get_V_north,
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&FGInterface::set_V_north);
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fgTie("/velocities/speed-east", this,
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&FGInterface::get_V_east,
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&FGInterface::set_V_east,
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true);
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&FGInterface::set_V_east);
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fgTie("/velocities/speed-down", this,
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&FGInterface::get_V_down,
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&FGInterface::set_V_down,
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true);
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&FGInterface::set_V_down);
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// Relative wind
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fgTie("/velocities/uBody", this,
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&FGInterface::get_uBody,
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&FGInterface::set_uBody,
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true);
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&FGInterface::set_uBody);
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fgTie("/velocities/vBody", this,
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&FGInterface::get_vBody,
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&FGInterface::set_vBody,
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true);
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&FGInterface::set_vBody);
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fgTie("/velocities/wBody", this,
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&FGInterface::get_wBody,
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&FGInterface::set_wBody,
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true);
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&FGInterface::set_wBody);
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// Climb and slip (read-only)
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fgTie("/velocities/vertical-speed", this,
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@ -242,6 +326,13 @@ FGInterface::bind ()
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&FGInterface::get_Beta); // read-only
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}
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/**
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* Unbind any properties bound to this FDM.
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*
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* This method allows the FDM to release properties so that a new
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* FDM can bind them instead.
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*/
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void
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FGInterface::unbind ()
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{
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@ -266,6 +357,10 @@ FGInterface::unbind ()
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fgUntie("/velocities/side-slip");
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}
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/**
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* Update the state of the FDM (i.e. run the equations of motion).
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*/
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void
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FGInterface::update ()
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{
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@ -282,6 +282,12 @@ private:
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// SGTimeStamp next_stamp; // time this record is valid
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protected:
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// deliberately not virtual so that
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// FGInterface constructor will call
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// the right version
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void _setup();
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void _busdump(void);
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void _updatePosition( double lat_geoc, double lon, double alt );
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void _updateWeather( void );
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@ -404,48 +404,6 @@ bool fgSetPosFromAirportIDandHdg( const string& id, double tgt_hdg ) {
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}
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// Set initial position and orientation
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bool fgInitPosition( void ) {
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FGInterface *f = current_aircraft.fdm_state;
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string id = fgGetString("/sim/startup/airport-id");
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// set initial position from default or command line coordinates
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f->set_Longitude( fgGetDouble("/position/longitude") * SGD_DEGREES_TO_RADIANS );
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f->set_Latitude( fgGetDouble("/position/latitude") * SGD_DEGREES_TO_RADIANS );
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SG_LOG( SG_GENERAL, SG_INFO,
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"scenery.cur_elev = " << scenery.cur_elev );
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SG_LOG( SG_GENERAL, SG_INFO,
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"/position/altitude = " << fgGetDouble("/position/altitude") );
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// if we requested on ground startups
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if ( fgGetBool( "/sim/startup/onground" ) ) {
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fgSetDouble( "/position/altitude", (scenery.cur_elev + 1)
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* METERS_TO_FEET );
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}
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// if requested altitude is below ground level
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if ( fgGetDouble( "/position/altitude" ) < (scenery.cur_elev + 1)
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* METERS_TO_FEET ) {
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fgSetDouble( "/position/altitude",
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(scenery.cur_elev + 1) * METERS_TO_FEET );
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}
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SG_LOG( SG_GENERAL, SG_INFO,
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"starting altitude is = " <<
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fgGetDouble("/position/altitude") );
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f->set_Altitude( fgGetDouble("/position/altitude") );
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SG_LOG( SG_GENERAL, SG_INFO,
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"Initial position is: ("
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<< (f->get_Longitude() * SGD_RADIANS_TO_DEGREES) << ", "
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<< (f->get_Latitude() * SGD_RADIANS_TO_DEGREES) << ", "
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<< (f->get_Altitude() * SG_FEET_TO_METER) << ")" );
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return true;
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}
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// General house keeping initializations
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bool fgInitGeneral( void ) {
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string root;
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@ -486,40 +444,6 @@ bool fgInitGeneral( void ) {
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}
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// set initial aircraft speed
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void
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fgVelocityInit( void )
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{
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if (!fgHasValue("/sim/startup/speed-set")) {
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current_aircraft.fdm_state->set_V_calibrated_kts(0.0);
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return;
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}
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const string speedset = fgGetString("/sim/startup/speed-set");
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if (speedset == "knots" || speedset == "KNOTS") {
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current_aircraft.fdm_state
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->set_V_calibrated_kts(fgGetDouble("/velocities/airspeed"));
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} else if (speedset == "mach" || speedset == "MACH") {
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current_aircraft.fdm_state
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->set_Mach_number(fgGetDouble("/velocities/mach"));
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} else if (speedset == "UVW" || speedset == "uvw") {
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current_aircraft.fdm_state
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->set_Velocities_Wind_Body(fgGetDouble("/velocities/uBody"),
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fgGetDouble("/velocities/vBody"),
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fgGetDouble("/velocities/wBody"));
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} else if (speedset == "NED" || speedset == "ned") {
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current_aircraft.fdm_state
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->set_Velocities_Local(fgGetDouble("/velocities/speed-north"),
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fgGetDouble("/velocities/speed-east"),
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fgGetDouble("/velocities/speed-down"));
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} else {
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SG_LOG(SG_GENERAL, SG_ALERT,
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"Unrecognized value for /sim/startup/speed-set: " << speedset);
|
||||
current_aircraft.fdm_state->set_V_calibrated_kts(0.0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// This is the top level init routine which calls all the other
|
||||
// initialization routines. If you are adding a subsystem to flight
|
||||
// gear, its initialization call should located in this routine.
|
||||
|
|
@ -530,7 +454,11 @@ bool fgInitSubsystems( void ) {
|
|||
SG_LOG( SG_GENERAL, SG_INFO, "Initialize Subsystems");
|
||||
SG_LOG( SG_GENERAL, SG_INFO, "========== ==========");
|
||||
|
||||
// Initialize the material property lib
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the material property subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
SGPath mpath( globals->get_fg_root() );
|
||||
mpath.append( "materials" );
|
||||
if ( material_lib.load( mpath.str() ) ) {
|
||||
|
|
@ -539,7 +467,11 @@ bool fgInitSubsystems( void ) {
|
|||
exit(-1);
|
||||
}
|
||||
|
||||
// Initialize the Scenery Management subsystem
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the scenery management subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
if ( fgSceneryInit() ) {
|
||||
// Material lib initialized ok.
|
||||
} else {
|
||||
|
|
@ -560,6 +492,11 @@ bool fgInitSubsystems( void ) {
|
|||
"Current terrain elevation after tile mgr init " <<
|
||||
scenery.cur_elev );
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the flight model subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
double dt = 1.0 / fgGetInt("/sim/model-hz");
|
||||
// cout << "dt = " << dt << endl;
|
||||
|
||||
|
|
@ -583,70 +520,18 @@ bool fgInitSubsystems( void ) {
|
|||
<< ", can't init aircraft");
|
||||
exit(-1);
|
||||
}
|
||||
cur_fdm_state->stamp();
|
||||
cur_fdm_state->set_remainder( 0 );
|
||||
|
||||
cur_fdm_state->init();
|
||||
cur_fdm_state->bind();
|
||||
|
||||
// allocates structures so must happen before any of the flight
|
||||
// model or control parameters are set
|
||||
fgAircraftInit(); // In the future this might not be the case.
|
||||
|
||||
fgFDMSetGroundElevation( fgGetString("/sim/flight-model"),
|
||||
scenery.cur_elev );
|
||||
|
||||
// set the initial position
|
||||
fgInitPosition();
|
||||
|
||||
// Calculate ground elevation at starting point (we didn't have
|
||||
// tmp_abs_view_pos calculated when fgTileMgrUpdate() was called above
|
||||
//
|
||||
// calculalate a cartesian point somewhere along the line between
|
||||
// the center of the earth and our view position. Doesn't have to
|
||||
// be the exact elevation (this is good because we don't know it
|
||||
// yet :-)
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the event manager subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
// now handled inside of the fgTileMgrUpdate()
|
||||
|
||||
// Reset our altitude if we are below ground
|
||||
SG_LOG( SG_GENERAL, SG_DEBUG, "Current altitude = "
|
||||
<< cur_fdm_state->get_Altitude() );
|
||||
SG_LOG( SG_GENERAL, SG_DEBUG, "Current runway altitude = " <<
|
||||
cur_fdm_state->get_Runway_altitude() );
|
||||
|
||||
if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() +
|
||||
3.758099) {
|
||||
cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
|
||||
3.758099 );
|
||||
}
|
||||
|
||||
SG_LOG( SG_GENERAL, SG_INFO,
|
||||
"Updated position (after elevation adj): ("
|
||||
<< (cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES) << ", "
|
||||
<< (cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES) << ", "
|
||||
<< (cur_fdm_state->get_Altitude() * SG_FEET_TO_METER) << ")" );
|
||||
|
||||
// We need to calculate a few sea_level_radius here so we can pass
|
||||
// the correct value to the view class
|
||||
double sea_level_radius_meters;
|
||||
double lat_geoc;
|
||||
sgGeodToGeoc( cur_fdm_state->get_Latitude(),
|
||||
cur_fdm_state->get_Altitude(),
|
||||
&sea_level_radius_meters, &lat_geoc);
|
||||
cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
|
||||
SG_METER_TO_FEET );
|
||||
|
||||
// The following section sets up the flight model EOM parameters
|
||||
// and should really be read in from one or more files.
|
||||
|
||||
// Initial Velocity
|
||||
fgVelocityInit();
|
||||
|
||||
// Initial Orientation
|
||||
// cur_fdm_state->
|
||||
// set_Euler_Angles( fgGetDouble("/orientation/roll") * SGD_DEGREES_TO_RADIANS,
|
||||
// fgGetDouble("/orientation/pitch") * SGD_DEGREES_TO_RADIANS,
|
||||
// fgGetDouble("/orientation/heading") * SGD_DEGREES_TO_RADIANS );
|
||||
|
||||
// Initialize the event manager
|
||||
global_events.Init();
|
||||
|
||||
// Output event stats every 60 seconds
|
||||
|
|
@ -655,6 +540,11 @@ bool fgInitSubsystems( void ) {
|
|||
&fgEVENT_MGR::PrintStats),
|
||||
fgEVENT::FG_EVENT_READY, 60000 );
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the view manager subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
// Initialize win_ratio parameters
|
||||
for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
|
||||
globals->get_viewmgr()->get_view(i)->
|
||||
|
|
@ -682,6 +572,11 @@ bool fgInitSubsystems( void ) {
|
|||
SG_LOG( SG_GENERAL, SG_DEBUG, " abs_view_pos = "
|
||||
<< globals->get_current_view()->get_abs_view_pos());
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the lighting subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
// fgUpdateSunPos() needs a few position and view parameters set
|
||||
// so it can calculate local relative sun angle and a few other
|
||||
// things for correctly orienting the sky.
|
||||
|
|
@ -700,10 +595,21 @@ bool fgInitSubsystems( void ) {
|
|||
fgMethodCallback<fgLIGHT>( &cur_light_params,
|
||||
&fgLIGHT::Update),
|
||||
fgEVENT::FG_EVENT_READY, 30000 );
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the local time subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
// update the current timezone each 30 minutes
|
||||
global_events.Register( "fgUpdateLocalTime()", fgUpdateLocalTime,
|
||||
fgEVENT::FG_EVENT_READY, 1800000);
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the weather subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
// Initialize the weather modeling subsystem
|
||||
#ifndef FG_OLD_WEATHER
|
||||
// Initialize the WeatherDatabase
|
||||
|
|
@ -733,7 +639,10 @@ bool fgInitSubsystems( void ) {
|
|||
current_weather.Init();
|
||||
#endif
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize vor/ndb/ils/fix list management and query systems
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
SG_LOG(SG_GENERAL, SG_INFO, "Loading Navaids");
|
||||
|
||||
SG_LOG(SG_GENERAL, SG_INFO, " VOR/NDB");
|
||||
|
|
@ -756,12 +665,22 @@ bool fgInitSubsystems( void ) {
|
|||
p_fix.append( "Navaids/default.fix" );
|
||||
current_fixlist->init( p_fix );
|
||||
|
||||
// Radio stack subsystem.
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the radio stack subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
// A textbook example of how FGSubsystem
|
||||
// should work...
|
||||
current_radiostack = new FGRadioStack;
|
||||
current_radiostack->init();
|
||||
current_radiostack->bind();
|
||||
|
||||
// Initialize the Cockpit subsystem
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the cockpit subsystem
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
if( fgCockpitInit( ¤t_aircraft )) {
|
||||
// Cockpit initialized ok.
|
||||
} else {
|
||||
|
|
@ -769,43 +688,20 @@ bool fgInitSubsystems( void ) {
|
|||
exit(-1);
|
||||
}
|
||||
|
||||
// Initialize the flight model subsystem data structures base on
|
||||
// above values
|
||||
|
||||
cur_fdm_state->init();
|
||||
cur_fdm_state->bind();
|
||||
// if ( cur_fdm_state->init( 1.0 / fgGetInt("/sim/model-hz") ) ) {
|
||||
// // fdm init successful
|
||||
// } else {
|
||||
// SG_LOG( SG_GENERAL, SG_ALERT, "FDM init() failed! Cannot continue." );
|
||||
// exit(-1);
|
||||
// }
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the joystick subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
// *ABCD* I'm just sticking this here for now, it should probably
|
||||
// move eventually
|
||||
scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER;
|
||||
|
||||
if ( cur_fdm_state->get_Altitude() <
|
||||
cur_fdm_state->get_Runway_altitude() + 3.758099)
|
||||
{
|
||||
cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
|
||||
3.758099 );
|
||||
}
|
||||
|
||||
SG_LOG( SG_GENERAL, SG_INFO,
|
||||
"Updated position (after elevation adj): ("
|
||||
<< (cur_fdm_state->get_Latitude() * SGD_RADIANS_TO_DEGREES) << ", "
|
||||
<< (cur_fdm_state->get_Longitude() * SGD_RADIANS_TO_DEGREES) << ", "
|
||||
<< (cur_fdm_state->get_Altitude() * SG_FEET_TO_METER) << ")" );
|
||||
// *ABCD* end of thing that I just stuck in that I should probably
|
||||
// move
|
||||
|
||||
// Joystick support
|
||||
if ( ! fgJoystickInit() ) {
|
||||
SG_LOG( SG_GENERAL, SG_ALERT, "Error in Joystick initialization!" );
|
||||
}
|
||||
|
||||
// Autopilot init
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the autopilot subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
current_autopilot = new FGAutopilot;
|
||||
current_autopilot->init();
|
||||
|
||||
|
|
@ -815,7 +711,11 @@ bool fgInitSubsystems( void ) {
|
|||
NewHeadingInit();
|
||||
NewAltitudeInit();
|
||||
|
||||
// Initialize I/O channels
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize I/O subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
#if ! defined( macintosh )
|
||||
fgIOInit();
|
||||
#endif
|
||||
|
|
@ -833,12 +733,26 @@ bool fgInitSubsystems( void ) {
|
|||
current_panel->bind();
|
||||
}
|
||||
|
||||
// Initialize the BFI
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the BFI.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
FGBFI::init();
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Initialize the controls subsystem.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
controls.init();
|
||||
controls.bind();
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////
|
||||
// End of subsystem initialization.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
SG_LOG( SG_GENERAL, SG_INFO, endl);
|
||||
|
||||
// Save the initial state for future
|
||||
|
|
@ -873,43 +787,6 @@ void fgReInitSubsystems( void )
|
|||
exit(-1);
|
||||
}
|
||||
|
||||
// cout << "current scenery elev = " << scenery.cur_elev << endl;
|
||||
|
||||
fgFDMSetGroundElevation( fgGetString("/sim/flight-model"),
|
||||
scenery.cur_elev );
|
||||
fgInitPosition();
|
||||
|
||||
// Reset our altitude if we are below ground
|
||||
SG_LOG( SG_GENERAL, SG_DEBUG, "Current altitude = "
|
||||
<< cur_fdm_state->get_Altitude() );
|
||||
SG_LOG( SG_GENERAL, SG_DEBUG, "Current runway altitude = "
|
||||
<< cur_fdm_state->get_Runway_altitude() );
|
||||
|
||||
if ( cur_fdm_state->get_Altitude() <
|
||||
cur_fdm_state->get_Runway_altitude() + 3.758099)
|
||||
{
|
||||
cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
|
||||
3.758099 );
|
||||
}
|
||||
double sea_level_radius_meters;
|
||||
double lat_geoc;
|
||||
sgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
|
||||
&sea_level_radius_meters, &lat_geoc);
|
||||
cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters *
|
||||
SG_METER_TO_FEET );
|
||||
|
||||
// The following section sets up the flight model EOM parameters
|
||||
// and should really be read in from one or more files.
|
||||
|
||||
// Initial Velocity
|
||||
fgVelocityInit();
|
||||
|
||||
// Initial Orientation
|
||||
// cur_fdm_state->
|
||||
// set_Euler_Angles( fgGetDouble("/orientation/roll") * SGD_DEGREES_TO_RADIANS,
|
||||
// fgGetDouble("/orientation/pitch") * SGD_DEGREES_TO_RADIANS,
|
||||
// fgGetDouble("/orientation/heading") * SGD_DEGREES_TO_RADIANS );
|
||||
|
||||
// Initialize view parameters
|
||||
FGViewerRPH *pilot_view =
|
||||
(FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
|
||||
|
|
@ -934,17 +811,6 @@ void fgReInitSubsystems( void )
|
|||
<< globals->get_current_view()->get_abs_view_pos());
|
||||
|
||||
cur_fdm_state->init();
|
||||
// cur_fdm_state->bind();
|
||||
// cur_fdm_state->init( 1.0 / fgGetInt("/sim/model-hz") );
|
||||
|
||||
scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * SG_FEET_TO_METER;
|
||||
|
||||
if ( cur_fdm_state->get_Altitude() <
|
||||
cur_fdm_state->get_Runway_altitude() + 3.758099)
|
||||
{
|
||||
cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() +
|
||||
3.758099 );
|
||||
}
|
||||
|
||||
controls.reset_all();
|
||||
current_autopilot->reset();
|
||||
|
|
|
|||
Loading…
Reference in a new issue