diff --git a/src/FDM/SP/Balloon.cxx b/src/FDM/SP/Balloon.cxx new file mode 100644 index 000000000..62e4903b2 --- /dev/null +++ b/src/FDM/SP/Balloon.cxx @@ -0,0 +1,205 @@ +/***************************************************************************** + + Module: BalloonSimInterface.cxx + Author: Christian Mayer + Date started: 07.10.99 + Called by: + + -------- Copyright (C) 1999 Christian Mayer (fgfs@christianmayer.de) -------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License as published by the Free Software + Foundation; either version 2 of the License, or (at your option) any later + version. + + This program is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU General Public License for more + details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. + + Further information about the GNU General Public License can also be found on + the world wide web at http://www.gnu.org. + +FUNCTIONAL DESCRIPTION +------------------------------------------------------------------------------ +Interface to the hot air balloon simulator + +HISTORY +------------------------------------------------------------------------------ +01.09.1999 Christian Mayer Created +*****************************************************************************/ + +/****************************************************************************/ +/* INCLUDES */ +/****************************************************************************/ + +#ifdef HAVE_CONFIG_H +# include +#endif + +#include + +#include + +#include +#include +#include +#include + +#include +#include
+#include
+ +#include "Balloon.h" + +/****************************************************************************/ +/********************************** CODE ************************************/ +/****************************************************************************/ + + +FGBalloonSim::FGBalloonSim( double dt ) { + //set the dt of the model + current_balloon.set_dt(dt); +} + + +FGBalloonSim::~FGBalloonSim() { +} + + +// Initialize the BalloonSim flight model, dt is the time increment for +// each subsequent iteration through the EOM +void FGBalloonSim::init() { + + //do init common to all the FDM's + common_init(); + + //now do init specific to the Balloon + + sgVec3 temp; + + SG_LOG( SG_FLIGHT, SG_INFO, "Starting initializing BalloonSim" ); + + SG_LOG( SG_FLIGHT, SG_INFO, " created a balloon" ); + + //set position + sgSetVec3( temp, + get_Latitude(), + get_Longitude(), + get_Altitude() * SG_FEET_TO_METER); + current_balloon.setPosition( temp ); + + //set Euler angles (?) + sgSetVec3( temp, + get_Phi(), + get_Theta(), + get_Psi() ); + current_balloon.setHPR( temp ); + + //set velocities + sgSetVec3( temp, + fgGetDouble("/sim/presets/uBody-fps"), + fgGetDouble("/sim/presets/vBody-fps"), + fgGetDouble("/sim/presets/wBody-fps") ); + current_balloon.setVelocity( temp ); + + SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing BalloonSim" ); +} + + +// Run an iteration of the EOM (equations of motion) +void FGBalloonSim::update( double dt ) { + double save_alt = 0.0; + + if (is_suspended()) + return; + + int multiloop = _calc_multiloop(dt); + + // lets try to avoid really screwing up the BalloonSim model + if ( get_Altitude() < -9000 ) { + save_alt = get_Altitude(); + set_Altitude( 0.0 ); + } + + // set control positions + current_balloon.set_burner_strength ( globals->get_controls()->get_throttle(0) ); + //not more implemented yet + + // Inform BalloonSim of the local terrain altitude + current_balloon.setGroundLevel ( get_Runway_altitude() * SG_FEET_TO_METER); + + // old -- FGInterface_2_JSBsim() not needed except for Init() + // translate FG to JSBsim structure + // FGInterface_2_JSBsim(f); + // printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048); + // printf("Altitude = %.2f\n", Altitude * 0.3048); + // printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048); + + /* FDMExec.GetState()->Setsim_time(State->Getsim_time() + + State->Getdt() * multiloop); */ + + for ( int i = 0; i < multiloop; i++ ) { + current_balloon.update(); + } + + // translate BalloonSim back to FG structure so that the + // autopilot (and the rest of the sim can use the updated + // values + + copy_from_BalloonSim(); + + /*sgVec3 temp, temp2; + current_balloon.getPosition( temp ); + current_balloon.getVelocity( temp2 ); + SG_LOG( SG_FLIGHT, SG_INFO, "T: " << current_balloon.getTemperature() << + " alt: " << temp[2] << + " gr_alt: " << get_Runway_altitude() << + " burner: " << controls.get_elevator() << + " v[2]: " << temp2[2]); */ + + // but lets restore our original bogus altitude when we are done + if ( save_alt < -9000.0 ) { + set_Altitude( save_alt ); + } +} + + +// Convert from the FGInterface struct to the BalloonSim +bool FGBalloonSim::copy_to_BalloonSim() { + return true; +} + + +// Convert from the BalloonSim to the FGInterface struct +bool FGBalloonSim::copy_from_BalloonSim() { + + sgVec3 temp; + + // Velocities + current_balloon.getVelocity( temp ); + _set_Velocities_Local( temp[0], temp[1], temp[2] ); + + /* ***FIXME*** */ _set_V_equiv_kts( sgLengthVec3 ( temp ) ); + + _set_Omega_Body( 0.0, 0.0, 0.0 ); + + // Positions + current_balloon.getPosition( temp ); + //temp[0]: geocentric latitude + //temp[1]: longitude + //temp[2]: altitude (meters) + + _updateGeocentricPosition( temp[0], temp[1], temp[2] * SG_METER_TO_FEET ); + + current_balloon.getHPR( temp ); + set_Euler_Angles( temp[0], temp[1], temp[2] ); + + return true; +} + + diff --git a/src/FDM/SP/Balloon.h b/src/FDM/SP/Balloon.h new file mode 100644 index 000000000..869b20a19 --- /dev/null +++ b/src/FDM/SP/Balloon.h @@ -0,0 +1,87 @@ +/***************************************************************************** + + Header: BalloonSimInterface.h + Author: Christian Mayer + Date started: 07.10.99 + + -------- Copyright (C) 1999 Christian Mayer (fgfs@christianmayer.de) -------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License as published by the Free Software + Foundation; either version 2 of the License, or (at your option) any later + version. + + This program is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU General Public License for more + details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. + + Further information about the GNU General Public License can also be found on + the world wide web at http://www.gnu.org. + +FUNCTIONAL DESCRIPTION +------------------------------------------------------------------------------ +interface to the the hot air balloon simulator + +HISTORY +------------------------------------------------------------------------------ +07.10.1999 Christian Mayer Created +*****************************************************************************/ + +/****************************************************************************/ +/* SENTRY */ +/****************************************************************************/ +#ifndef BalloonSimInterface_H +#define BalloonSimInterface_H + +/****************************************************************************/ +/* INCLUDES */ +/****************************************************************************/ + +#include +#include + +#include "BalloonSim.h" + +/****************************************************************************/ +/* DEFINES */ +/****************************************************************************/ + +/****************************************************************************/ +/* DECLARATIONS */ +/****************************************************************************/ + + +class FGBalloonSim: public FGInterface { + + balloon current_balloon; + +public: + + FGBalloonSim( double dt ); + ~FGBalloonSim(); + + // copy FDM state to BalloonSim structures + bool copy_to_BalloonSim(); + + // copy FDM state from BalloonSim structures + bool copy_from_BalloonSim(); + + // reset flight params to a specific position + void init(); + + // update position based on inputs, positions, velocities, etc. + void update( double dt ); +}; + + +/****************************************************************************/ +#endif /*BalloonSimInterface_H*/ + + + + diff --git a/src/FDM/SP/BalloonSim.cpp b/src/FDM/SP/BalloonSim.cpp new file mode 100644 index 000000000..a966d6cbb --- /dev/null +++ b/src/FDM/SP/BalloonSim.cpp @@ -0,0 +1,345 @@ +/***************************************************************************** + + Module: BalloonSim.cpp + Author: Christian Mayer + Date started: 01.09.99 + Called by: + + -------- Copyright (C) 1999 Christian Mayer (fgfs@christianmayer.de) -------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License as published by the Free Software + Foundation; either version 2 of the License, or (at your option) any later + version. + + This program is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU General Public License for more + details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. + + Further information about the GNU General Public License can also be found on + the world wide web at http://www.gnu.org. + +FUNCTIONAL DESCRIPTION +------------------------------------------------------------------------------ +A hot air balloon simulator + +HISTORY +------------------------------------------------------------------------------ +01.09.1999 Christian Mayer Created +03.10.1999 Christian Mayer cleaned the code by moveing WeatherDatabase + calls inside the update() +*****************************************************************************/ + +/****************************************************************************/ +/* INCLUDES */ +/****************************************************************************/ + +#ifdef HAVE_CONFIG_H +# include "config.h" +#endif + +#include +// #include +#include + +#include + +#include + +#include "BalloonSim.h" + +#include + +/****************************************************************************/ +/********************************** CODE ************************************/ +/****************************************************************************/ + +/****************************************************************************/ +/* */ +/* Constructor: */ +/* Set the balloon model to some values that seem reasonable as I haven't */ +/* got much original values */ +/* */ +/****************************************************************************/ +balloon::balloon() +{ + dt = 0.1; + ground_level = 3400.0; + + sgSetVec3(gravity_vector, 0.0, 0.0, -9.81); + sgSetVec3(velocity, 0.0, 0.0, 0.0); + sgSetVec3(position, 0.0, 0.0, 0.0); + sgSetVec3(hpr, 0.0, 0.0, 0.0); + + /************************************************************************/ + /* My balloon has a radius of 8.8 metres as that gives a envelope */ + /* volume of about 2854 m^3 which is about 77000 ft^3, a very common */ + /* size for hot air balloons */ + /************************************************************************/ + + balloon_envelope_area = 4.0 * (8.8 * 8.8) * SGD_PI; + balloon_envelope_volume = (4.0/3.0) * (8.8 * 8.8 * 8.8) * SGD_PI; + + wind_facing_area_of_balloon = SGD_PI * (8.8 * 8.8); + wind_facing_area_of_basket = 2.0; //guessed: 2 m^2 + + cw_envelope=0.45; //a sphere in this case + cw_basket=0.8; + + weight_of_total_fuel = 40.0; //big guess + weight_of_envelope = 200.0; //big guess + weight_of_basket = 40.0; //big guess + weight_of_cargo = 750.0; //big guess + + fuel_left=1.0; + max_flow_of_fuel_per_second=10.0*1.0/3600.0; //assuming 10% of one hour of total burn time + current_burner_strength = 0.0; //the throttle + + lambda = 0.15; //for plasic + l_of_the_envelope = 1.0/1000.0; //the thickness of the envelope (in m): 1mm + + T = 273.16 + 130.6; //Temperature in the envelope => still at ground level +} + +void balloon::update() +{ + /************************************************************************/ + /* I'm simplifying the balloon by reducing the simulation to two */ + /* points: */ + /* the center of the basket (CB) and the center of the envelope (CE) */ + /* */ + /* ce */ + /* I */ + /* I */ + /* cg (=center of gravity) */ + /* I */ + /* cb */ + /* */ + /* On each center are forces acting: gravity and wind resitance. CE */ + /* additionally got the lift (=> I need to calculate the weight of the */ + /* air inside, too) */ + /* */ + /* The weight of the air in the envelope is dependant of the tempera- */ + /* ture. This temperature is decreasing over the time that is dependant */ + /* of the insulation of the envelope material (lambda), the gas used */ + /* (air) and the wind speed. For a plane surface it's for air: */ + /* */ + /* alpha = 4.8 + 3.4*v with v < 5.0 m/s */ + /* */ + /* The value k that takes all of that into account is defined as: */ + /* */ + /* 1 / k = 1 / alpha1 + 1 / alpha2 + l / lambda */ + /* */ + /* with 'l' beeing the 'length' i.e. thickness of the insulator, alpha1 */ + /* the air inside and alpha2 the air outside of the envelope. So our k */ + /* is: */ + /* */ + /* k = 1 / [1/4.8 + 1/(4.8+3.4v) + l/lambda] */ + /* */ + /* The energy lost by this process is defined as: */ + /* */ + /* dQ = k * A * t * dT */ + /* */ + /* with Q being the energy, k that value defined above, A the total */ + /* area of the envelope, t the time (in hours) and dT the temperature */ + /* difference between the inside and the outside. */ + /* To get the temperature of the air in the inside I need the formula: */ + /* */ + /* dQ = cAir * m * dT */ + /* */ + /* with cAir being the specific heat capacity(?) of air (= 1.00 kcal / */ + /* kg * degree), m the mass of the air and dT the temperature change. */ + /* As the envelope is open I'm assuming that the same air pressure is */ + /* inside and outside of it (practical there should be a slightly */ + /* higher air pressure in the inside or the envelope would collapse). */ + /* So it's easy to calculate the density of the air inside: */ + /* */ + /* rho = p / R * T */ + /* */ + /* with p being the pressure, R the gas constant(?) which is for air */ + /* 287.14 N * m / kg * K and T the absolute temperature. */ + /* */ + /* The value returned by this function is the displacement of the CB */ + /************************************************************************/ + + /************************************************************************/ + /* NOTE: This is the simplified version: I'm assuming that the whole */ + /* balloon consists only of the envelope.I will improove the simulation */ + /* later, but currently was my main concern to get it going... */ + /************************************************************************/ + + // I realy don't think there is a solution for this without WeatherCM + // but this is a hack, and it's working -- EMH + double mAir = 1; + float Q = 0; + + // gain of energy by heating: + if (fuel_left > 0.0) //but only with some fuel left ;-) + { + float fuel_burning = current_burner_strength * max_flow_of_fuel_per_second * dt * weight_of_total_fuel; //in kg + + //convert to cubemetres (I'm wrongly assuming 'normal' conditions; but that's correct for my special case) + float cube_metres_burned = fuel_burning / 2.2; //2.2 is the density for propane + + fuel_left -= fuel_burning / weight_of_total_fuel; + + // get energy through burning. + Q += 22250.0 * cube_metres_burned; //22250 for propan, 29500 would be butane and if you dare: 2580 would be hydrogen... + } + + // calculate the new temperature in the inside: + T += Q / (1.00 * mAir); + + //calculate the masses of the envelope and the basket + float mEnvelope = mAir + weight_of_envelope; + float mBasket = weight_of_total_fuel*fuel_left + weight_of_basket + weight_of_cargo; + + float mTotal = mEnvelope + mBasket; + + //calulate the forces + sgVec3 fTotal, fFriction, fLift; + + sgScaleVec3(fTotal, gravity_vector, mTotal); + + //sgAddVec3(fTotal, fLift); //FIXME: uninitialized fLift + //sgAddVec3(fTotal, fFriction); //FIXME: uninitialized fFriction + + //claculate acceleration: a = F / m + sgVec3 aTotal, vTotal, dTotal; + + sgScaleVec3(aTotal, fTotal, 1.0 / mTotal); + + //integrate the displacement: d = 0.5 * a * dt**2 + v * dt + d + sgScaleVec3(vTotal, velocity, dt); + sgScaleVec3(dTotal, aTotal, 0.5*dt*dt); sgAddVec3(dTotal, vTotal); + + //integrate the velocity to 'velocity': v = a * dt + v + sgScaleVec3(vTotal, aTotal, dt); sgAddVec3(velocity, vTotal); + + /************************************************************************/ + /* VERY WRONG STUFF: it's just here to get some results to start with */ + /************************************************************************/ + + // care for the ground + if (position[2] < (ground_level+0.001) ) + position[2] = ground_level; + + //return results + sgAddVec3(position, dTotal); + + //cout << "BallonSim: T: " << (T-273.16) << " alt: " << position[2] << " ground: " << ground_level << " throttle: " << current_burner_strength << "\n"; +} + +void balloon::set_burner_strength(const float bs) +{ + if ((bs>=0.0) && (bs<=1.0)) + current_burner_strength = bs; +} + +void balloon::getVelocity(sgVec3 v) const +{ + sgCopyVec3(v, velocity); +} + +void balloon::setVelocity(const sgVec3 v) +{ + sgCopyVec3(velocity, v); +} + +void balloon::getPosition(sgVec3 v) const +{ + sgCopyVec3(v, position); +} + +void balloon::setPosition(const sgVec3 v) +{ + sgCopyVec3(position, v); +} + +void balloon::getHPR(sgVec3 angles) const //the balloon isn't allways exactly vertical +{ + sgCopyVec3(angles, hpr); +} + +void balloon::setHPR(const sgVec3 angles) //the balloon isn't allways exactly vertical +{ + sgCopyVec3(hpr, angles); +} + +void balloon::setGroundLevel(const float altitude) +{ + ground_level = altitude; +} + +float balloon::getTemperature(void) const +{ + return T; +} + +float balloon::getFuelLeft(void) const +{ + return fuel_left; +} + +/* +void main(void) +{ + bool burner = true; + balloon bal; + bool exit = false; + sgVec3 pos={0.0, 0.0, 0.0}; + char c; + float acc_dt = 0.0; + float alt; + +bool hysteresis = false; // moving up + for (;!exit;) + { + for (int i=0; i<100; i++) + { + bal.update(0.1); acc_dt += 0.1; + bal.getPosition(pos); + alt = pos[2]; + + if (alt > 3010) + { + hysteresis = true; + burner = false; + } + if ((alt < 2990) && (hysteresis == true)) + { + hysteresis = false; + burner = true; + } + if ((bal.getTemperature()-273.16)>250.0) + burner = false; //emergency + } + + // toogle burner + c = getch(); + if (c==' ') + burner=!burner; + //if (c=='s') + // show=!show; + + //printf("Position: (%f/%f/%f), dP: (%f/%f/%f), burner: ", pos[0], pos[1], pos[2], dp[0], dp[1], dp[2]); + printf("%f \t%f \t%f \t%f\n", acc_dt/60.0, bal.getTemperature()-273.16, pos[2], bal.getFuelLeft()); + if (burner==true) + { + //printf("on\n"); + bal.set_burner_strength(1.0); + } + else + { + //printf("off\n"); + bal.set_burner_strength(0.0); + } + + } +} +*/ diff --git a/src/FDM/SP/BalloonSim.h b/src/FDM/SP/BalloonSim.h new file mode 100644 index 000000000..d424fc697 --- /dev/null +++ b/src/FDM/SP/BalloonSim.h @@ -0,0 +1,115 @@ +/***************************************************************************** + + Header: BalloonSim.h + Author: Christian Mayer + Date started: 01.09.99 + + -------- Copyright (C) 1999 Christian Mayer (fgfs@christianmayer.de) -------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License as published by the Free Software + Foundation; either version 2 of the License, or (at your option) any later + version. + + This program is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU General Public License for more + details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. + + Further information about the GNU General Public License can also be found on + the world wide web at http://www.gnu.org. + +FUNCTIONAL DESCRIPTION +------------------------------------------------------------------------------ +Header for the hot air balloon simulator + +HISTORY +------------------------------------------------------------------------------ +01.09.1999 Christian Mayer Created +03.10.1999 Christian Mayer cleaned the code by moveing WeatherDatabase + calls inside the update() +*****************************************************************************/ + +/****************************************************************************/ +/* SENTRY */ +/****************************************************************************/ +#ifndef BalloonSim_H +#define BalloonSim_H + +/****************************************************************************/ +/* INCLUDES */ +/****************************************************************************/ +#include + +/****************************************************************************/ +/* DEFINES */ +/****************************************************************************/ + +/****************************************************************************/ +/* CLASS DECLARATION */ +/****************************************************************************/ +class balloon +{ +private: + float dt; //in s + + sgVec3 gravity_vector; //in m/s*s + sgVec3 hpr; //the balloon isn't allways exactly vertical (e.g. during gusts); normalized + sgVec3 velocity; //current velocity; it gets iterated at each 'update' + sgVec3 position; //current position in lat/lon/alt + + float balloon_envelope_area; //area of the envelope + float balloon_envelope_volume; //volume of the envelope + + float wind_facing_area_of_balloon; + float wind_facing_area_of_basket; + + float cw_envelope; //wind resistance of the envelope + float cw_basket; //wind resistance of the bakset + + //all weights in kg + float weight_of_total_fuel; + float weight_of_envelope; + float weight_of_basket; //weight of all the unmovable stuff such as the basket, the burner and the empty tanks + float weight_of_cargo; //passengers and anything left (e.g. sand bags that are thrown away to give additional lift) + + float fuel_left; //as a percentage + float max_flow_of_fuel_per_second; //in percent per second + float current_burner_strength; + + float lambda; //waermeuebergangskoeffizient (heat transmission coefficent?!?) for the envelope + float l_of_the_envelope; //the thickness of the envelope (in m) + + float T; //tempereature inside the balloon + + float ground_level; + +public: + balloon(); //constructor for initializing the balloon + + void update(); //dt = time in seconds since last call + void set_burner_strength(const float bs); + + void getVelocity(sgVec3 v) const; + void setVelocity(const sgVec3 v); + + void getPosition(sgVec3 v) const; + void setPosition(const sgVec3 v); + + void getHPR(sgVec3 angles) const; //the balloon isn't allways exactly vertical + void setHPR(const sgVec3 angles); //the balloon isn't allways exactly vertical + + void setGroundLevel(const float altitude); + + float getTemperature(void) const; + float getFuelLeft(void) const; + + void set_dt(const float new_dt) { dt = new_dt; } +}; + +/****************************************************************************/ +#endif /*BalloonSim_H*/ diff --git a/src/FDM/SP/MagicCarpet.cxx b/src/FDM/SP/MagicCarpet.cxx new file mode 100644 index 000000000..f11573edf --- /dev/null +++ b/src/FDM/SP/MagicCarpet.cxx @@ -0,0 +1,121 @@ +// MagicCarpet.cxx -- interface to the "Magic Carpet" flight model +// +// Written by Curtis Olson, started October 1999. +// +// Copyright (C) 1999 Curtis L. Olson - http://www.flightgear.org/~curt +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of the +// License, or (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, but +// WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. +// +// $Id$ + + +#ifdef HAVE_CONFIG_H +# include +#endif + +#include +#include +#include + +#include +#include
+#include
+ +#include "MagicCarpet.hxx" + + +FGMagicCarpet::FGMagicCarpet( double dt ) { +// set_delta_t( dt ); +} + + +FGMagicCarpet::~FGMagicCarpet() { +} + + +// Initialize the Magic Carpet flight model, dt is the time increment +// for each subsequent iteration through the EOM +void FGMagicCarpet::init() { + common_init(); +} + + +// Run an iteration of the EOM (equations of motion) +void FGMagicCarpet::update( double dt ) { + // cout << "FGLaRCsim::update()" << endl; + + if (is_suspended()) + return; + + // int multiloop = _calc_multiloop(dt); + + double time_step = dt; + + // speed and distance traveled + double speed = globals->get_controls()->get_throttle( 0 ) * 2000; // meters/sec + if ( globals->get_controls()->get_brake_left() > 0.0 + || globals->get_controls()->get_brake_right() > 0.0 ) + { + speed = -speed; + } + + double dist = speed * time_step; + double kts = speed * SG_METER_TO_NM * 3600.0; + _set_V_equiv_kts( kts ); + _set_V_calibrated_kts( kts ); + _set_V_ground_speed( kts ); + + // angle of turn + double turn_rate = globals->get_controls()->get_aileron() * SGD_PI_4; // radians/sec + double turn = turn_rate * time_step; + + // update euler angles + _set_Euler_Angles( get_Phi(), get_Theta(), + fmod(get_Psi() + turn, SGD_2PI) ); + _set_Euler_Rates(0,0,0); + + // update (lon/lat) position + double lat2, lon2, az2; + if ( fabs( speed ) > SG_EPSILON ) { + geo_direct_wgs_84 ( get_Altitude(), + get_Latitude() * SGD_RADIANS_TO_DEGREES, + get_Longitude() * SGD_RADIANS_TO_DEGREES, + get_Psi() * SGD_RADIANS_TO_DEGREES, + dist, &lat2, &lon2, &az2 ); + + _set_Longitude( lon2 * SGD_DEGREES_TO_RADIANS ); + _set_Latitude( lat2 * SGD_DEGREES_TO_RADIANS ); + } + + // cout << "lon error = " << fabs(end.x()*SGD_RADIANS_TO_DEGREES - lon2) + // << " lat error = " << fabs(end.y()*SGD_RADIANS_TO_DEGREES - lat2) + // << endl; + + double sl_radius, lat_geoc; + sgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc ); + + // update altitude + double real_climb_rate = -globals->get_controls()->get_elevator() * 5000; // feet/sec + _set_Climb_Rate( real_climb_rate / 500.0 ); + double climb = real_climb_rate * time_step; + + _set_Geocentric_Position( lat_geoc, get_Longitude(), + sl_radius + get_Altitude() + climb ); + // cout << "sea level radius (ft) = " << sl_radius << endl; + // cout << "(setto) sea level radius (ft) = " << get_Sea_level_radius() << endl; + _update_ground_elev_at_pos(); + _set_Sea_level_radius( sl_radius * SG_METER_TO_FEET); + _set_Altitude( get_Altitude() + climb ); +} diff --git a/src/FDM/SP/MagicCarpet.hxx b/src/FDM/SP/MagicCarpet.hxx new file mode 100644 index 000000000..8124c81ae --- /dev/null +++ b/src/FDM/SP/MagicCarpet.hxx @@ -0,0 +1,46 @@ +// MagicCarpet.hxx -- interface to the "Magic Carpet" flight model +// +// Written by Curtis Olson, started October 1999. +// +// Copyright (C) 1999 Curtis L. Olson - http://www.flightgear.org/~curt +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License as +// published by the Free Software Foundation; either version 2 of the +// License, or (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, but +// WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. +// +// $Id$ + + +#ifndef _MAGICCARPET_HXX +#define _MAGICCARPET_HXX + + +#include + + +class FGMagicCarpet: public FGInterface { + +public: + FGMagicCarpet( double dt ); + ~FGMagicCarpet(); + + // reset flight params to a specific position + void init(); + + // update position based on inputs, positions, velocities, etc. + void update( double dt ); + +}; + + +#endif // _MAGICCARPET_HXX