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Updating FGFS <=> FDM interface.

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curt 1999-10-11 23:09:07 +00:00
parent 98af0b8924
commit b86e6ddc11
10 changed files with 576 additions and 482 deletions
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2
src/Aircraft/aircraft.cxx
View file

@ -36,7 +36,7 @@ fgAIRCRAFT current_aircraft;
void fgAircraftInit( void ) { void fgAircraftInit( void ) {
FG_LOG( FG_AIRCRAFT, FG_INFO, "Initializing Aircraft structure" ); FG_LOG( FG_AIRCRAFT, FG_INFO, "Initializing Aircraft structure" );
current_aircraft.fdm_state = &cur_fdm_state; current_aircraft.fdm_state = cur_fdm_state;
current_aircraft.controls = &controls; current_aircraft.controls = &controls;
} }

26
src/Autopilot/autopilot.cxx
View file

@ -142,7 +142,7 @@ extern char *coord_format_lon(float);
static inline double get_ground_speed( void ) { static inline double get_ground_speed( void ) {
// starts in ft/s so we convert to kts // starts in ft/s so we convert to kts
double ft_s = current_aircraft.fdm_state->get_V_ground_speed() double ft_s = cur_fdm_state->get_V_ground_speed()
* current_options.get_speed_up();; * current_options.get_speed_up();;
double kts = ft_s * FEET_TO_METER * 3600 * METER_TO_NM; double kts = ft_s * FEET_TO_METER * 3600 * METER_TO_NM;
return kts; return kts;
@ -209,50 +209,50 @@ static inline void MakeTargetLatLonStr( fgAPDataPtr APData, double lat, double l
} }
static inline double get_speed( void ) { static inline double get_speed( void ) {
return( current_aircraft.fdm_state->get_V_equiv_kts() ); return( cur_fdm_state->get_V_equiv_kts() );
} }
static inline double get_aoa( void ) { static inline double get_aoa( void ) {
return( current_aircraft.fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG ); return( cur_fdm_state->get_Gamma_vert_rad() * RAD_TO_DEG );
} }
static inline double fgAPget_latitude( void ) { static inline double fgAPget_latitude( void ) {
return( current_aircraft.fdm_state->get_Latitude() * RAD_TO_DEG ); return( cur_fdm_state->get_Latitude() * RAD_TO_DEG );
} }
static inline double fgAPget_longitude( void ) { static inline double fgAPget_longitude( void ) {
return( current_aircraft.fdm_state->get_Longitude() * RAD_TO_DEG ); return( cur_fdm_state->get_Longitude() * RAD_TO_DEG );
} }
static inline double fgAPget_roll( void ) { static inline double fgAPget_roll( void ) {
return( current_aircraft.fdm_state->get_Phi() * RAD_TO_DEG ); return( cur_fdm_state->get_Phi() * RAD_TO_DEG );
} }
static inline double get_pitch( void ) { static inline double get_pitch( void ) {
return( current_aircraft.fdm_state->get_Theta() ); return( cur_fdm_state->get_Theta() );
} }
double fgAPget_heading( void ) { double fgAPget_heading( void ) {
return( current_aircraft.fdm_state->get_Psi() * RAD_TO_DEG ); return( cur_fdm_state->get_Psi() * RAD_TO_DEG );
} }
static inline double fgAPget_altitude( void ) { static inline double fgAPget_altitude( void ) {
return( current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER ); return( cur_fdm_state->get_Altitude() * FEET_TO_METER );
} }
static inline double fgAPget_climb( void ) { static inline double fgAPget_climb( void ) {
// return in meters per minute // return in meters per minute
return( current_aircraft.fdm_state->get_Climb_Rate() * FEET_TO_METER * 60 ); return( cur_fdm_state->get_Climb_Rate() * FEET_TO_METER * 60 );
} }
static inline double get_sideslip( void ) { static inline double get_sideslip( void ) {
return( current_aircraft.fdm_state->get_Beta() ); return( cur_fdm_state->get_Beta() );
} }
static inline double fgAPget_agl( void ) { static inline double fgAPget_agl( void ) {
double agl; double agl;
agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER agl = cur_fdm_state->get_Altitude() * FEET_TO_METER
- scenery.cur_elev; - scenery.cur_elev;
return( agl ); return( agl );
@ -607,7 +607,7 @@ void NewAltitudeInit(void)
char NewAltitudeLabel[] = "Enter New Altitude"; char NewAltitudeLabel[] = "Enter New Altitude";
char *s; char *s;
float alt = current_aircraft.fdm_state->get_Altitude(); float alt = cur_fdm_state->get_Altitude();
if ( current_options.get_units() == fgOPTIONS::FG_UNITS_METERS) { if ( current_options.get_units() == fgOPTIONS::FG_UNITS_METERS) {
alt *= FEET_TO_METER; alt *= FEET_TO_METER;

185
src/FDM/JSBSim.cxx
View file

@ -48,14 +48,10 @@
#include "JSBsim.hxx" #include "JSBsim.hxx"
// The default aircraft
FGFDMExec FDMExec;
// Initialize the JSBsim flight model, dt is the time increment for // Initialize the JSBsim flight model, dt is the time increment for
// each subsequent iteration through the EOM // each subsequent iteration through the EOM
int fgJSBsimInit(double dt, FGInterface& f) { int FGJSBsim::init( double dt ) {
FG_LOG( FG_FLIGHT, FG_INFO, "Starting initializing JSBsim" ); FG_LOG( FG_FLIGHT, FG_INFO, "Starting and initializing JSBsim" );
FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" ); FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" );
@ -75,12 +71,12 @@ int fgJSBsimInit(double dt, FGInterface& f) {
current_options.get_uBody(), current_options.get_uBody(),
current_options.get_vBody(), current_options.get_vBody(),
current_options.get_wBody(), current_options.get_wBody(),
f.get_Phi(), get_Phi(),
f.get_Theta(), get_Theta(),
f.get_Psi(), get_Psi(),
f.get_Latitude(), get_Latitude(),
f.get_Longitude(), get_Longitude(),
f.get_Altitude() get_Altitude()
); );
// FDMExec.GetState()->Setlatitude(f.get_Latitude()); // FDMExec.GetState()->Setlatitude(f.get_Latitude());
@ -97,18 +93,22 @@ int fgJSBsimInit(double dt, FGInterface& f) {
FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" ); FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" );
copy_from_JSBsim();
return 1; return 1;
} }
// Run an iteration of the EOM (equations of motion) // Run an iteration of the EOM (equations of motion)
int fgJSBsimUpdate(FGInterface& f, int multiloop) { int FGJSBsim::update( int multiloop ) {
double save_alt = 0.0; double save_alt = 0.0;
double time_step = (1.0 / current_options.get_model_hz()) * multiloop;
double start_elev = get_Altitude();
// lets try to avoid really screwing up the JSBsim model // lets try to avoid really screwing up the JSBsim model
if ( f.get_Altitude() < -9000 ) { if ( get_Altitude() < -9000 ) {
save_alt = f.get_Altitude(); save_alt = get_Altitude();
f.set_Altitude( 0.0 ); set_Altitude( 0.0 );
} }
// copy control positions into the JSBsim structure // copy control positions into the JSBsim structure
@ -123,7 +123,7 @@ int fgJSBsimUpdate(FGInterface& f, int multiloop) {
// FCS->SetBrake( controls.get_brake( 0 ) ); // FCS->SetBrake( controls.get_brake( 0 ) );
// Inform JSBsim of the local terrain altitude // Inform JSBsim of the local terrain altitude
// Runway_altitude = f.get_Runway_altitude(); // Runway_altitude = get_Runway_altitude();
// old -- FGInterface_2_JSBsim() not needed except for Init() // old -- FGInterface_2_JSBsim() not needed except for Init()
// translate FG to JSBsim structure // translate FG to JSBsim structure
@ -146,11 +146,17 @@ int fgJSBsimUpdate(FGInterface& f, int multiloop) {
// autopilot (and the rest of the sim can use the updated // autopilot (and the rest of the sim can use the updated
// values // values
fgJSBsim_2_FGInterface(f); copy_from_JSBsim();
// but lets restore our original bogus altitude when we are done // but lets restore our original bogus altitude when we are done
if ( save_alt < -9000.0 ) { if ( save_alt < -9000.0 ) {
f.set_Altitude( save_alt ); set_Altitude( save_alt );
}
double end_elev = get_Altitude();
if ( time_step > 0.0 ) {
// feet per second
set_Climb_Rate( (end_elev - start_elev) / time_step );
} }
return 1; return 1;
@ -158,47 +164,46 @@ int fgJSBsimUpdate(FGInterface& f, int multiloop) {
// Convert from the FGInterface struct to the JSBsim generic_ struct // Convert from the FGInterface struct to the JSBsim generic_ struct
int FGInterface_2_JSBsim (FGInterface& f) { int FGJSBsim::copy_to_JSBsim() {
return 1; return 1;
} }
// Convert from the JSBsim generic_ struct to the FGInterface struct // Convert from the JSBsim generic_ struct to the FGInterface struct
int fgJSBsim_2_FGInterface (FGInterface& f) { int FGJSBsim::copy_from_JSBsim() {
// Velocities // Velocities
f.set_Velocities_Local( FDMExec.GetPosition()->GetVn(), set_Velocities_Local( FDMExec.GetPosition()->GetVn(),
FDMExec.GetPosition()->GetVe(), FDMExec.GetPosition()->GetVe(),
FDMExec.GetPosition()->GetVd() ); FDMExec.GetPosition()->GetVd() );
// f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground, // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
// V_down_rel_ground ); // V_down_rel_ground );
// f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass, // set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
// V_down_airmass ); // V_down_airmass );
// f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass, // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
// V_east_rel_airmass, V_down_rel_airmass ); // V_east_rel_airmass, V_down_rel_airmass );
// f.set_Velocities_Gust( U_gust, V_gust, W_gust ); // set_Velocities_Gust( U_gust, V_gust, W_gust );
// f.set_Velocities_Wind_Body( U_body, V_body, W_body ); // set_Velocities_Wind_Body( U_body, V_body, W_body );
// f.set_V_rel_wind( V_rel_wind ); // set_V_rel_wind( V_rel_wind );
// f.set_V_true_kts( V_true_kts ); // set_V_true_kts( V_true_kts );
// f.set_V_rel_ground( V_rel_ground ); // set_V_rel_ground( V_rel_ground );
// f.set_V_inertial( V_inertial ); // set_V_inertial( V_inertial );
// f.set_V_ground_speed( V_ground_speed ); // set_V_ground_speed( V_ground_speed );
// f.set_V_equiv( V_equiv ); // set_V_equiv( V_equiv );
/* ***FIXME*** */ f.set_V_equiv_kts( FDMExec.GetState()->GetVt() ); /* ***FIXME*** */ set_V_equiv_kts( FDMExec.GetState()->GetVt() );
// f.set_V_calibrated( V_calibrated ); // set_V_calibrated( V_calibrated );
// f.set_V_calibrated_kts( V_calibrated_kts ); // set_V_calibrated_kts( V_calibrated_kts );
f.set_Omega_Body( FDMExec.GetRotation()->GetP(), set_Omega_Body( FDMExec.GetRotation()->GetP(),
FDMExec.GetRotation()->GetQ(), FDMExec.GetRotation()->GetQ(),
FDMExec.GetRotation()->GetR() ); FDMExec.GetRotation()->GetR() );
// f.set_Omega_Local( P_local, Q_local, R_local ); // set_Omega_Local( P_local, Q_local, R_local );
// f.set_Omega_Total( P_total, Q_total, R_total ); // set_Omega_Total( P_total, Q_total, R_total );
// f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot ); // set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
// ***FIXME*** f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot ); // ***FIXME*** set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
// Positions // Positions
double lat_geoc = FDMExec.GetState()->Getlatitude(); double lat_geoc = FDMExec.GetState()->Getlatitude();
@ -216,72 +221,72 @@ int fgJSBsim_2_FGInterface (FGInterface& f) {
<< " sl_radius2 = " << sl_radius2 * METER_TO_FEET << " sl_radius2 = " << sl_radius2 * METER_TO_FEET
<< " Equator = " << EQUATORIAL_RADIUS_FT ); << " Equator = " << EQUATORIAL_RADIUS_FT );
f.set_Geocentric_Position( lat_geoc, lon, set_Geocentric_Position( lat_geoc, lon,
sl_radius2 * METER_TO_FEET + alt ); sl_radius2 * METER_TO_FEET + alt );
f.set_Geodetic_Position( lat_geod, lon, alt ); set_Geodetic_Position( lat_geod, lon, alt );
f.set_Euler_Angles( FDMExec.GetRotation()->Getphi(), set_Euler_Angles( FDMExec.GetRotation()->Getphi(),
FDMExec.GetRotation()->Gettht(), FDMExec.GetRotation()->Gettht(),
FDMExec.GetRotation()->Getpsi() ); FDMExec.GetRotation()->Getpsi() );
// Miscellaneous quantities // Miscellaneous quantities
// f.set_T_Local_to_Body(T_local_to_body_m); // set_T_Local_to_Body(T_local_to_body_m);
// f.set_Gravity( Gravity ); // set_Gravity( Gravity );
// f.set_Centrifugal_relief( Centrifugal_relief ); // set_Centrifugal_relief( Centrifugal_relief );
f.set_Alpha( FDMExec.GetTranslation()->Getalpha() ); set_Alpha( FDMExec.GetTranslation()->Getalpha() );
f.set_Beta( FDMExec.GetTranslation()->Getbeta() ); set_Beta( FDMExec.GetTranslation()->Getbeta() );
// f.set_Alpha_dot( Alpha_dot ); // set_Alpha_dot( Alpha_dot );
// f.set_Beta_dot( Beta_dot ); // set_Beta_dot( Beta_dot );
// f.set_Cos_alpha( Cos_alpha ); // set_Cos_alpha( Cos_alpha );
// f.set_Sin_alpha( Sin_alpha ); // set_Sin_alpha( Sin_alpha );
// f.set_Cos_beta( Cos_beta ); // set_Cos_beta( Cos_beta );
// f.set_Sin_beta( Sin_beta ); // set_Sin_beta( Sin_beta );
// f.set_Cos_phi( Cos_phi ); // set_Cos_phi( Cos_phi );
// f.set_Sin_phi( Sin_phi ); // set_Sin_phi( Sin_phi );
// f.set_Cos_theta( Cos_theta ); // set_Cos_theta( Cos_theta );
// f.set_Sin_theta( Sin_theta ); // set_Sin_theta( Sin_theta );
// f.set_Cos_psi( Cos_psi ); // set_Cos_psi( Cos_psi );
// f.set_Sin_psi( Sin_psi ); // set_Sin_psi( Sin_psi );
// ***ATTENDTOME*** f.set_Gamma_vert_rad( Gamma_vert_rad ); // ***ATTENDTOME*** set_Gamma_vert_rad( Gamma_vert_rad );
// f.set_Gamma_horiz_rad( Gamma_horiz_rad ); // set_Gamma_horiz_rad( Gamma_horiz_rad );
// f.set_Sigma( Sigma ); // set_Sigma( Sigma );
// f.set_Density( Density ); // set_Density( Density );
// f.set_V_sound( V_sound ); // set_V_sound( V_sound );
// f.set_Mach_number( Mach_number ); // set_Mach_number( Mach_number );
// f.set_Static_pressure( Static_pressure ); // set_Static_pressure( Static_pressure );
// f.set_Total_pressure( Total_pressure ); // set_Total_pressure( Total_pressure );
// f.set_Impact_pressure( Impact_pressure ); // set_Impact_pressure( Impact_pressure );
// f.set_Dynamic_pressure( Dynamic_pressure ); // set_Dynamic_pressure( Dynamic_pressure );
// f.set_Static_temperature( Static_temperature ); // set_Static_temperature( Static_temperature );
// f.set_Total_temperature( Total_temperature ); // set_Total_temperature( Total_temperature );
/* **FIXME*** */ f.set_Sea_level_radius( sl_radius2 * METER_TO_FEET ); /* **FIXME*** */ set_Sea_level_radius( sl_radius2 * METER_TO_FEET );
/* **FIXME*** */ f.set_Earth_position_angle( 0.0 ); /* **FIXME*** */ set_Earth_position_angle( 0.0 );
/* ***FIXME*** */ f.set_Runway_altitude( 0.0 ); /* ***FIXME*** */ set_Runway_altitude( 0.0 );
// f.set_Runway_latitude( Runway_latitude ); // set_Runway_latitude( Runway_latitude );
// f.set_Runway_longitude( Runway_longitude ); // set_Runway_longitude( Runway_longitude );
// f.set_Runway_heading( Runway_heading ); // set_Runway_heading( Runway_heading );
// f.set_Radius_to_rwy( Radius_to_rwy ); // set_Radius_to_rwy( Radius_to_rwy );
// f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy); // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
// f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy ); // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
// f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy, // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
// D_pilot_above_rwy ); // D_pilot_above_rwy );
// f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy ); // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
f.set_sin_lat_geocentric( lat_geoc ); set_sin_lat_geocentric( lat_geoc );
f.set_cos_lat_geocentric( lat_geoc ); set_cos_lat_geocentric( lat_geoc );
f.set_sin_cos_longitude( lon ); set_sin_cos_longitude( lon );
f.set_sin_cos_latitude( lat_geod ); set_sin_cos_latitude( lat_geod );
return 0; return 1;
} }

24
src/FDM/JSBSim.hxx
View file

@ -30,17 +30,25 @@
#include <Aircraft/aircraft.hxx> #include <Aircraft/aircraft.hxx>
class FGJSBsim: public FGInterface {
// The aircraft for this instance
FGFDMExec FDMExec;
public:
// copy FDM state to LaRCsim structures
int copy_to_JSBsim();
// copy FDM state from LaRCsim structures
int copy_from_JSBsim();
// reset flight params to a specific position // reset flight params to a specific position
int fgJSBsimInit(double dt, FGInterface& f); int init( double dt );
// update position based on inputs, positions, velocities, etc. // update position based on inputs, positions, velocities, etc.
int fgJSBsimUpdate(FGInterface& f, int multiloop); int update( int multiloop );
};
// Convert from the FGInterface struct to the JSBsim generic_ struct
int FGInterface_2_JSBsim (FGInterface& f);
// Convert from the JSBsim generic_ struct to the FGInterface struct
int fgJSBsim_2_FGInterface (FGInterface& f);
#endif // _JSBSIM_HXX #endif // _JSBSIM_HXX

580
src/FDM/LaRCsim.cxx
View file

@ -36,21 +36,52 @@
// Initialize the LaRCsim flight model, dt is the time increment for // Initialize the LaRCsim flight model, dt is the time increment for
// each subsequent iteration through the EOM // each subsequent iteration through the EOM
int fgLaRCsimInit(double dt) { int FGLaRCsim::init( double dt ) {
// cout << "FGLaRCsim::init()" << endl;
double save_alt = 0.0;
if ( get_Altitude() < -9000.0 ) {
save_alt = get_Altitude();
set_Altitude( 0.0 );
}
// translate FG to LaRCsim structure
copy_to_LaRCsim();
// actual LaRCsim top level init
ls_toplevel_init( dt ); ls_toplevel_init( dt );
return(1); FG_LOG( FG_FLIGHT, FG_INFO, "FG pos = " <<
get_Latitude() );
// translate LaRCsim back to FG structure
copy_from_LaRCsim();
// but lets restore our original bogus altitude when we are done
if ( save_alt < -9000.0 ) {
set_Altitude( save_alt );
}
// set valid time for this record
stamp_time();
return 1;
} }
// Run an iteration of the EOM (equations of motion) // Run an iteration of the EOM (equations of motion)
int fgLaRCsimUpdate(FGInterface& f, int multiloop) { int FGLaRCsim::update( int multiloop ) {
// cout << "FGLaRCsim::update()" << endl;
double save_alt = 0.0; double save_alt = 0.0;
double time_step = (1.0 / current_options.get_model_hz()) * multiloop;
double start_elev = get_Altitude();
// lets try to avoid really screwing up the LaRCsim model // lets try to avoid really screwing up the LaRCsim model
if ( f.get_Altitude() < -9000.0 ) { if ( get_Altitude() < -9000.0 ) {
save_alt = f.get_Altitude(); save_alt = get_Altitude();
f.set_Altitude( 0.0 ); set_Altitude( 0.0 );
} }
// copy control positions into the LaRCsim structure // copy control positions into the LaRCsim structure
@ -62,7 +93,7 @@ int fgLaRCsimUpdate(FGInterface& f, int multiloop) {
Brake_pct = controls.get_brake( 0 ); Brake_pct = controls.get_brake( 0 );
// Inform LaRCsim of the local terrain altitude // Inform LaRCsim of the local terrain altitude
Runway_altitude = f.get_Runway_altitude(); Runway_altitude = get_Runway_altitude();
// old -- FGInterface_2_LaRCsim() not needed except for Init() // old -- FGInterface_2_LaRCsim() not needed except for Init()
// translate FG to LaRCsim structure // translate FG to LaRCsim structure
@ -79,11 +110,17 @@ int fgLaRCsimUpdate(FGInterface& f, int multiloop) {
// translate LaRCsim back to FG structure so that the // translate LaRCsim back to FG structure so that the
// autopilot (and the rest of the sim can use the updated // autopilot (and the rest of the sim can use the updated
// values // values
fgLaRCsim_2_FGInterface(f); copy_from_LaRCsim();
// but lets restore our original bogus altitude when we are done // but lets restore our original bogus altitude when we are done
if ( save_alt < -9000.0 ) { if ( save_alt < -9000.0 ) {
f.set_Altitude( save_alt ); set_Altitude( save_alt );
}
double end_elev = get_Altitude();
if ( time_step > 0.0 ) {
// feet per second
set_Climb_Rate( (end_elev - start_elev) / time_step );
} }
return 1; return 1;
@ -91,240 +128,239 @@ int fgLaRCsimUpdate(FGInterface& f, int multiloop) {
// Convert from the FGInterface struct to the LaRCsim generic_ struct // Convert from the FGInterface struct to the LaRCsim generic_ struct
int FGInterface_2_LaRCsim (FGInterface& f) { int FGLaRCsim::copy_to_LaRCsim () {
Mass = get_Mass();
I_xx = get_I_xx();
I_yy = get_I_yy();
I_zz = get_I_zz();
I_xz = get_I_xz();
// Dx_pilot = get_Dx_pilot();
// Dy_pilot = get_Dy_pilot();
// Dz_pilot = get_Dz_pilot();
Dx_cg = get_Dx_cg();
Dy_cg = get_Dy_cg();
Dz_cg = get_Dz_cg();
// F_X = get_F_X();
// F_Y = get_F_Y();
// F_Z = get_F_Z();
// F_north = get_F_north();
// F_east = get_F_east();
// F_down = get_F_down();
// F_X_aero = get_F_X_aero();
// F_Y_aero = get_F_Y_aero();
// F_Z_aero = get_F_Z_aero();
// F_X_engine = get_F_X_engine();
// F_Y_engine = get_F_Y_engine();
// F_Z_engine = get_F_Z_engine();
// F_X_gear = get_F_X_gear();
// F_Y_gear = get_F_Y_gear();
// F_Z_gear = get_F_Z_gear();
// M_l_rp = get_M_l_rp();
// M_m_rp = get_M_m_rp();
// M_n_rp = get_M_n_rp();
// M_l_cg = get_M_l_cg();
// M_m_cg = get_M_m_cg();
// M_n_cg = get_M_n_cg();
// M_l_aero = get_M_l_aero();
// M_m_aero = get_M_m_aero();
// M_n_aero = get_M_n_aero();
// M_l_engine = get_M_l_engine();
// M_m_engine = get_M_m_engine();
// M_n_engine = get_M_n_engine();
// M_l_gear = get_M_l_gear();
// M_m_gear = get_M_m_gear();
// M_n_gear = get_M_n_gear();
// V_dot_north = get_V_dot_north();
// V_dot_east = get_V_dot_east();
// V_dot_down = get_V_dot_down();
// U_dot_body = get_U_dot_body();
// V_dot_body = get_V_dot_body();
// W_dot_body = get_W_dot_body();
// A_X_cg = get_A_X_cg();
// A_Y_cg = get_A_Y_cg();
// A_Z_cg = get_A_Z_cg();
// A_X_pilot = get_A_X_pilot();
// A_Y_pilot = get_A_Y_pilot();
// A_Z_pilot = get_A_Z_pilot();
// N_X_cg = get_N_X_cg();
// N_Y_cg = get_N_Y_cg();
// N_Z_cg = get_N_Z_cg();
// N_X_pilot = get_N_X_pilot();
// N_Y_pilot = get_N_Y_pilot();
// N_Z_pilot = get_N_Z_pilot();
// P_dot_body = get_P_dot_body();
// Q_dot_body = get_Q_dot_body();
// R_dot_body = get_R_dot_body();
V_north = get_V_north();
V_east = get_V_east();
V_down = get_V_down();
// V_north_rel_ground = get_V_north_rel_ground();
// V_east_rel_ground = get_V_east_rel_ground();
// V_down_rel_ground = get_V_down_rel_ground();
// V_north_airmass = get_V_north_airmass();
// V_east_airmass = get_V_east_airmass();
// V_down_airmass = get_V_down_airmass();
// V_north_rel_airmass = get_V_north_rel_airmass();
// V_east_rel_airmass = get_V_east_rel_airmass();
// V_down_rel_airmass = get_V_down_rel_airmass();
// U_gust = get_U_gust();
// V_gust = get_V_gust();
// W_gust = get_W_gust();
// U_body = get_U_body();
// V_body = get_V_body();
// W_body = get_W_body();
// V_rel_wind = get_V_rel_wind();
// V_true_kts = get_V_true_kts();
// V_rel_ground = get_V_rel_ground();
// V_inertial = get_V_inertial();
// V_ground_speed = get_V_ground_speed();
// V_equiv = get_V_equiv();
// V_equiv_kts = get_V_equiv_kts();
// V_calibrated = get_V_calibrated();
// V_calibrated_kts = get_V_calibrated_kts();
P_body = get_P_body();
Q_body = get_Q_body();
R_body = get_R_body();
// P_local = get_P_local();
// Q_local = get_Q_local();
// R_local = get_R_local();
// P_total = get_P_total();
// Q_total = get_Q_total();
// R_total = get_R_total();
// Phi_dot = get_Phi_dot();
// Theta_dot = get_Theta_dot();
// Psi_dot = get_Psi_dot();
// Latitude_dot = get_Latitude_dot();
// Longitude_dot = get_Longitude_dot();
// Radius_dot = get_Radius_dot();
Lat_geocentric = get_Lat_geocentric();
Lon_geocentric = get_Lon_geocentric();
Radius_to_vehicle = get_Radius_to_vehicle();
Latitude = get_Latitude();
Longitude = get_Longitude();
Altitude = get_Altitude();
Phi = get_Phi();
Theta = get_Theta();
Psi = get_Psi();
// T_local_to_body_11 = get_T_local_to_body_11();
// T_local_to_body_12 = get_T_local_to_body_12();
// T_local_to_body_13 = get_T_local_to_body_13();
// T_local_to_body_21 = get_T_local_to_body_21();
// T_local_to_body_22 = get_T_local_to_body_22();
// T_local_to_body_23 = get_T_local_to_body_23();
// T_local_to_body_31 = get_T_local_to_body_31();
// T_local_to_body_32 = get_T_local_to_body_32();
// T_local_to_body_33 = get_T_local_to_body_33();
// Gravity = get_Gravity();
// Centrifugal_relief = get_Centrifugal_relief();
// Alpha = get_Alpha();
// Beta = get_Beta();
// Alpha_dot = get_Alpha_dot();
// Beta_dot = get_Beta_dot();
// Cos_alpha = get_Cos_alpha();
// Sin_alpha = get_Sin_alpha();
// Cos_beta = get_Cos_beta();
// Sin_beta = get_Sin_beta();
// Cos_phi = get_Cos_phi();
// Sin_phi = get_Sin_phi();
// Cos_theta = get_Cos_theta();
// Sin_theta = get_Sin_theta();
// Cos_psi = get_Cos_psi();
// Sin_psi = get_Sin_psi();
// Gamma_vert_rad = get_Gamma_vert_rad();
// Gamma_horiz_rad = get_Gamma_horiz_rad();
// Sigma = get_Sigma();
// Density = get_Density();
// V_sound = get_V_sound();
// Mach_number = get_Mach_number();
// Static_pressure = get_Static_pressure();
// Total_pressure = get_Total_pressure();
// Impact_pressure = get_Impact_pressure();
// Dynamic_pressure = get_Dynamic_pressure();
// Static_temperature = get_Static_temperature();
// Total_temperature = get_Total_temperature();
Sea_level_radius = get_Sea_level_radius();
Earth_position_angle = get_Earth_position_angle();
Runway_altitude = get_Runway_altitude();
// Runway_latitude = get_Runway_latitude();
// Runway_longitude = get_Runway_longitude();
// Runway_heading = get_Runway_heading();
// Radius_to_rwy = get_Radius_to_rwy();
// D_cg_north_of_rwy = get_D_cg_north_of_rwy();
// D_cg_east_of_rwy = get_D_cg_east_of_rwy();
// D_cg_above_rwy = get_D_cg_above_rwy();
// X_cg_rwy = get_X_cg_rwy();
// Y_cg_rwy = get_Y_cg_rwy();
// H_cg_rwy = get_H_cg_rwy();
// D_pilot_north_of_rwy = get_D_pilot_north_of_rwy();
// D_pilot_east_of_rwy = get_D_pilot_east_of_rwy();
// D_pilot_above_rwy = get_D_pilot_above_rwy();
// X_pilot_rwy = get_X_pilot_rwy();
// Y_pilot_rwy = get_Y_pilot_rwy();
// H_pilot_rwy = get_H_pilot_rwy();
Mass = f.get_Mass(); return 1;
I_xx = f.get_I_xx();
I_yy = f.get_I_yy();
I_zz = f.get_I_zz();
I_xz = f.get_I_xz();
// Dx_pilot = f.get_Dx_pilot();
// Dy_pilot = f.get_Dy_pilot();
// Dz_pilot = f.get_Dz_pilot();
Dx_cg = f.get_Dx_cg();
Dy_cg = f.get_Dy_cg();
Dz_cg = f.get_Dz_cg();
// F_X = f.get_F_X();
// F_Y = f.get_F_Y();
// F_Z = f.get_F_Z();
// F_north = f.get_F_north();
// F_east = f.get_F_east();
// F_down = f.get_F_down();
// F_X_aero = f.get_F_X_aero();
// F_Y_aero = f.get_F_Y_aero();
// F_Z_aero = f.get_F_Z_aero();
// F_X_engine = f.get_F_X_engine();
// F_Y_engine = f.get_F_Y_engine();
// F_Z_engine = f.get_F_Z_engine();
// F_X_gear = f.get_F_X_gear();
// F_Y_gear = f.get_F_Y_gear();
// F_Z_gear = f.get_F_Z_gear();
// M_l_rp = f.get_M_l_rp();
// M_m_rp = f.get_M_m_rp();
// M_n_rp = f.get_M_n_rp();
// M_l_cg = f.get_M_l_cg();
// M_m_cg = f.get_M_m_cg();
// M_n_cg = f.get_M_n_cg();
// M_l_aero = f.get_M_l_aero();
// M_m_aero = f.get_M_m_aero();
// M_n_aero = f.get_M_n_aero();
// M_l_engine = f.get_M_l_engine();
// M_m_engine = f.get_M_m_engine();
// M_n_engine = f.get_M_n_engine();
// M_l_gear = f.get_M_l_gear();
// M_m_gear = f.get_M_m_gear();
// M_n_gear = f.get_M_n_gear();
// V_dot_north = f.get_V_dot_north();
// V_dot_east = f.get_V_dot_east();
// V_dot_down = f.get_V_dot_down();
// U_dot_body = f.get_U_dot_body();
// V_dot_body = f.get_V_dot_body();
// W_dot_body = f.get_W_dot_body();
// A_X_cg = f.get_A_X_cg();
// A_Y_cg = f.get_A_Y_cg();
// A_Z_cg = f.get_A_Z_cg();
// A_X_pilot = f.get_A_X_pilot();
// A_Y_pilot = f.get_A_Y_pilot();
// A_Z_pilot = f.get_A_Z_pilot();
// N_X_cg = f.get_N_X_cg();
// N_Y_cg = f.get_N_Y_cg();
// N_Z_cg = f.get_N_Z_cg();
// N_X_pilot = f.get_N_X_pilot();
// N_Y_pilot = f.get_N_Y_pilot();
// N_Z_pilot = f.get_N_Z_pilot();
// P_dot_body = f.get_P_dot_body();
// Q_dot_body = f.get_Q_dot_body();
// R_dot_body = f.get_R_dot_body();
V_north = f.get_V_north();
V_east = f.get_V_east();
V_down = f.get_V_down();
// V_north_rel_ground = f.get_V_north_rel_ground();
// V_east_rel_ground = f.get_V_east_rel_ground();
// V_down_rel_ground = f.get_V_down_rel_ground();
// V_north_airmass = f.get_V_north_airmass();
// V_east_airmass = f.get_V_east_airmass();
// V_down_airmass = f.get_V_down_airmass();
// V_north_rel_airmass = f.get_V_north_rel_airmass();
// V_east_rel_airmass = f.get_V_east_rel_airmass();
// V_down_rel_airmass = f.get_V_down_rel_airmass();
// U_gust = f.get_U_gust();
// V_gust = f.get_V_gust();
// W_gust = f.get_W_gust();
// U_body = f.get_U_body();
// V_body = f.get_V_body();
// W_body = f.get_W_body();
// V_rel_wind = f.get_V_rel_wind();
// V_true_kts = f.get_V_true_kts();
// V_rel_ground = f.get_V_rel_ground();
// V_inertial = f.get_V_inertial();
// V_ground_speed = f.get_V_ground_speed();
// V_equiv = f.get_V_equiv();
// V_equiv_kts = f.get_V_equiv_kts();
// V_calibrated = f.get_V_calibrated();
// V_calibrated_kts = f.get_V_calibrated_kts();
P_body = f.get_P_body();
Q_body = f.get_Q_body();
R_body = f.get_R_body();
// P_local = f.get_P_local();
// Q_local = f.get_Q_local();
// R_local = f.get_R_local();
// P_total = f.get_P_total();
// Q_total = f.get_Q_total();
// R_total = f.get_R_total();
// Phi_dot = f.get_Phi_dot();
// Theta_dot = f.get_Theta_dot();
// Psi_dot = f.get_Psi_dot();
// Latitude_dot = f.get_Latitude_dot();
// Longitude_dot = f.get_Longitude_dot();
// Radius_dot = f.get_Radius_dot();
Lat_geocentric = f.get_Lat_geocentric();
Lon_geocentric = f.get_Lon_geocentric();
Radius_to_vehicle = f.get_Radius_to_vehicle();
Latitude = f.get_Latitude();
Longitude = f.get_Longitude();
Altitude = f.get_Altitude();
Phi = f.get_Phi();
Theta = f.get_Theta();
Psi = f.get_Psi();
// T_local_to_body_11 = f.get_T_local_to_body_11();
// T_local_to_body_12 = f.get_T_local_to_body_12();
// T_local_to_body_13 = f.get_T_local_to_body_13();
// T_local_to_body_21 = f.get_T_local_to_body_21();
// T_local_to_body_22 = f.get_T_local_to_body_22();
// T_local_to_body_23 = f.get_T_local_to_body_23();
// T_local_to_body_31 = f.get_T_local_to_body_31();
// T_local_to_body_32 = f.get_T_local_to_body_32();
// T_local_to_body_33 = f.get_T_local_to_body_33();
// Gravity = f.get_Gravity();
// Centrifugal_relief = f.get_Centrifugal_relief();
// Alpha = f.get_Alpha();
// Beta = f.get_Beta();
// Alpha_dot = f.get_Alpha_dot();
// Beta_dot = f.get_Beta_dot();
// Cos_alpha = f.get_Cos_alpha();
// Sin_alpha = f.get_Sin_alpha();
// Cos_beta = f.get_Cos_beta();
// Sin_beta = f.get_Sin_beta();
// Cos_phi = f.get_Cos_phi();
// Sin_phi = f.get_Sin_phi();
// Cos_theta = f.get_Cos_theta();
// Sin_theta = f.get_Sin_theta();
// Cos_psi = f.get_Cos_psi();
// Sin_psi = f.get_Sin_psi();
// Gamma_vert_rad = f.get_Gamma_vert_rad();
// Gamma_horiz_rad = f.get_Gamma_horiz_rad();
// Sigma = f.get_Sigma();
// Density = f.get_Density();
// V_sound = f.get_V_sound();
// Mach_number = f.get_Mach_number();
// Static_pressure = f.get_Static_pressure();
// Total_pressure = f.get_Total_pressure();
// Impact_pressure = f.get_Impact_pressure();
// Dynamic_pressure = f.get_Dynamic_pressure();
// Static_temperature = f.get_Static_temperature();
// Total_temperature = f.get_Total_temperature();
Sea_level_radius = f.get_Sea_level_radius();
Earth_position_angle = f.get_Earth_position_angle();
Runway_altitude = f.get_Runway_altitude();
// Runway_latitude = f.get_Runway_latitude();
// Runway_longitude = f.get_Runway_longitude();
// Runway_heading = f.get_Runway_heading();
// Radius_to_rwy = f.get_Radius_to_rwy();
// D_cg_north_of_rwy = f.get_D_cg_north_of_rwy();
// D_cg_east_of_rwy = f.get_D_cg_east_of_rwy();
// D_cg_above_rwy = f.get_D_cg_above_rwy();
// X_cg_rwy = f.get_X_cg_rwy();
// Y_cg_rwy = f.get_Y_cg_rwy();
// H_cg_rwy = f.get_H_cg_rwy();
// D_pilot_north_of_rwy = f.get_D_pilot_north_of_rwy();
// D_pilot_east_of_rwy = f.get_D_pilot_east_of_rwy();
// D_pilot_above_rwy = f.get_D_pilot_above_rwy();
// X_pilot_rwy = f.get_X_pilot_rwy();
// Y_pilot_rwy = f.get_Y_pilot_rwy();
// H_pilot_rwy = f.get_H_pilot_rwy();
return( 0 );
} }
// Convert from the LaRCsim generic_ struct to the FGInterface struct // Convert from the LaRCsim generic_ struct to the FGInterface struct
int fgLaRCsim_2_FGInterface (FGInterface& f) { int FGLaRCsim::copy_from_LaRCsim() {
// Mass properties and geometry values // Mass properties and geometry values
f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz ); set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
// f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot ); // set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg ); set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
// Forces // Forces
// f.set_Forces_Body_Total( F_X, F_Y, F_Z ); // set_Forces_Body_Total( F_X, F_Y, F_Z );
// f.set_Forces_Local_Total( F_north, F_east, F_down ); // set_Forces_Local_Total( F_north, F_east, F_down );
// f.set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero ); // set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
// f.set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine ); // set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
// f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear ); // set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
// Moments // Moments
// f.set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp ); // set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
// f.set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg ); // set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
// f.set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero ); // set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
// f.set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine ); // set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
// f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear ); // set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
// Accelerations // Accelerations
// f.set_Accels_Local( V_dot_north, V_dot_east, V_dot_down ); // set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
f.set_Accels_Body( U_dot_body, V_dot_body, W_dot_body ); set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
f.set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg ); set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
f.set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot ); set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
// f.set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg ); // set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
// f.set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot ); // set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
// f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body ); // set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
// Velocities // Velocities
f.set_Velocities_Local( V_north, V_east, V_down ); set_Velocities_Local( V_north, V_east, V_down );
// f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground, // set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
// V_down_rel_ground ); // V_down_rel_ground );
// f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass, // set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
// V_down_airmass ); // V_down_airmass );
// f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass, // set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
// V_east_rel_airmass, V_down_rel_airmass ); // V_east_rel_airmass, V_down_rel_airmass );
// f.set_Velocities_Gust( U_gust, V_gust, W_gust ); // set_Velocities_Gust( U_gust, V_gust, W_gust );
f.set_Velocities_Wind_Body( U_body, V_body, W_body ); set_Velocities_Wind_Body( U_body, V_body, W_body );
// f.set_V_rel_wind( V_rel_wind ); // set_V_rel_wind( V_rel_wind );
// f.set_V_true_kts( V_true_kts ); // set_V_true_kts( V_true_kts );
// f.set_V_rel_ground( V_rel_ground ); // set_V_rel_ground( V_rel_ground );
// f.set_V_inertial( V_inertial ); // set_V_inertial( V_inertial );
f.set_V_ground_speed( V_ground_speed ); set_V_ground_speed( V_ground_speed );
// f.set_V_equiv( V_equiv ); // set_V_equiv( V_equiv );
f.set_V_equiv_kts( V_equiv_kts ); set_V_equiv_kts( V_equiv_kts );
// f.set_V_calibrated( V_calibrated ); // set_V_calibrated( V_calibrated );
// f.set_V_calibrated_kts( V_calibrated_kts ); // set_V_calibrated_kts( V_calibrated_kts );
f.set_Omega_Body( P_body, Q_body, R_body ); set_Omega_Body( P_body, Q_body, R_body );
// f.set_Omega_Local( P_local, Q_local, R_local ); // set_Omega_Local( P_local, Q_local, R_local );
// f.set_Omega_Total( P_total, Q_total, R_total ); // set_Omega_Total( P_total, Q_total, R_total );
// f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot ); // set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot ); set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << Longitude FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << Longitude
<< " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
@ -340,76 +376,76 @@ int fgLaRCsim_2_FGInterface (FGInterface& f) {
while ( tmp_lon > FG_PI ) { tmp_lon -= FG_2PI; } while ( tmp_lon > FG_PI ) { tmp_lon -= FG_2PI; }
// Positions // Positions
f.set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc, set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
Radius_to_vehicle ); Radius_to_vehicle );
f.set_Geodetic_Position( Latitude, tmp_lon, Altitude ); set_Geodetic_Position( Latitude, tmp_lon, Altitude );
f.set_Euler_Angles( Phi, Theta, Psi ); set_Euler_Angles( Phi, Theta, Psi );
// Miscellaneous quantities // Miscellaneous quantities
f.set_T_Local_to_Body(T_local_to_body_m); set_T_Local_to_Body(T_local_to_body_m);
// f.set_Gravity( Gravity ); // set_Gravity( Gravity );
// f.set_Centrifugal_relief( Centrifugal_relief ); // set_Centrifugal_relief( Centrifugal_relief );
f.set_Alpha( Alpha ); set_Alpha( Alpha );
f.set_Beta( Beta ); set_Beta( Beta );
// f.set_Alpha_dot( Alpha_dot ); // set_Alpha_dot( Alpha_dot );
// f.set_Beta_dot( Beta_dot ); // set_Beta_dot( Beta_dot );
// f.set_Cos_alpha( Cos_alpha ); // set_Cos_alpha( Cos_alpha );
// f.set_Sin_alpha( Sin_alpha ); // set_Sin_alpha( Sin_alpha );
// f.set_Cos_beta( Cos_beta ); // set_Cos_beta( Cos_beta );
// f.set_Sin_beta( Sin_beta ); // set_Sin_beta( Sin_beta );
f.set_Cos_phi( Cos_phi ); set_Cos_phi( Cos_phi );
// f.set_Sin_phi( Sin_phi ); // set_Sin_phi( Sin_phi );
f.set_Cos_theta( Cos_theta ); set_Cos_theta( Cos_theta );
// f.set_Sin_theta( Sin_theta ); // set_Sin_theta( Sin_theta );
// f.set_Cos_psi( Cos_psi ); // set_Cos_psi( Cos_psi );
// f.set_Sin_psi( Sin_psi ); // set_Sin_psi( Sin_psi );
f.set_Gamma_vert_rad( Gamma_vert_rad ); set_Gamma_vert_rad( Gamma_vert_rad );
// f.set_Gamma_horiz_rad( Gamma_horiz_rad ); // set_Gamma_horiz_rad( Gamma_horiz_rad );
// f.set_Sigma( Sigma ); // set_Sigma( Sigma );
// f.set_Density( Density ); // set_Density( Density );
// f.set_V_sound( V_sound ); // set_V_sound( V_sound );
// f.set_Mach_number( Mach_number ); // set_Mach_number( Mach_number );
// f.set_Static_pressure( Static_pressure ); // set_Static_pressure( Static_pressure );
// f.set_Total_pressure( Total_pressure ); // set_Total_pressure( Total_pressure );
// f.set_Impact_pressure( Impact_pressure ); // set_Impact_pressure( Impact_pressure );
// f.set_Dynamic_pressure( Dynamic_pressure ); // set_Dynamic_pressure( Dynamic_pressure );
// f.set_Static_temperature( Static_temperature ); // set_Static_temperature( Static_temperature );
// f.set_Total_temperature( Total_temperature ); // set_Total_temperature( Total_temperature );
f.set_Sea_level_radius( Sea_level_radius ); set_Sea_level_radius( Sea_level_radius );
f.set_Earth_position_angle( Earth_position_angle ); set_Earth_position_angle( Earth_position_angle );
f.set_Runway_altitude( Runway_altitude ); set_Runway_altitude( Runway_altitude );
// f.set_Runway_latitude( Runway_latitude ); // set_Runway_latitude( Runway_latitude );
// f.set_Runway_longitude( Runway_longitude ); // set_Runway_longitude( Runway_longitude );
// f.set_Runway_heading( Runway_heading ); // set_Runway_heading( Runway_heading );
// f.set_Radius_to_rwy( Radius_to_rwy ); // set_Radius_to_rwy( Radius_to_rwy );
// f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy); // set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
// f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy ); // set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
// f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy, // set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
// D_pilot_above_rwy ); // D_pilot_above_rwy );
// f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy ); // set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
f.set_sin_lat_geocentric(Lat_geocentric); set_sin_lat_geocentric(Lat_geocentric);
f.set_cos_lat_geocentric(Lat_geocentric); set_cos_lat_geocentric(Lat_geocentric);
f.set_sin_cos_longitude(Longitude); set_sin_cos_longitude(Longitude);
f.set_sin_cos_latitude(Latitude); set_sin_cos_latitude(Latitude);
// printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc); // printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
// printf("sin_lat %f cos_lat %f\n", // printf("sin_lat %f cos_lat %f\n",
// f.get_sin_latitude(), f.get_cos_latitude()); // get_sin_latitude(), get_cos_latitude());
// printf("sin_lon %f cos_lon %f\n", // printf("sin_lon %f cos_lon %f\n",
// f.get_sin_longitude(), f.get_cos_longitude()); // get_sin_longitude(), get_cos_longitude());
return 0; return 1;
} }

21
src/FDM/LaRCsim.hxx
View file

@ -30,17 +30,22 @@
#include "flight.hxx" #include "flight.hxx"
class FGLaRCsim: public FGInterface {
public:
// copy FDM state to LaRCsim structures
int copy_to_LaRCsim();
// copy FDM state from LaRCsim structures
int copy_from_LaRCsim();
// reset flight params to a specific position // reset flight params to a specific position
int fgLaRCsimInit(double dt); int init( double dt );
// update position based on inputs, positions, velocities, etc. // update position based on inputs, positions, velocities, etc.
int fgLaRCsimUpdate(FGInterface& f, int multiloop); int update( int multiloop );
};
// Convert from the FGInterface struct to the LaRCsim generic_ struct
int FGInterface_2_LaRCsim (FGInterface& f);
// Convert from the LaRCsim generic_ struct to the FGInterface struct
int fgLaRCsim_2_FGInterface (FGInterface& f);
#endif // _LARCSIM_HXX #endif // _LARCSIM_HXX

21
src/FDM/flight.cxx
View file

@ -41,10 +41,23 @@
// world time, so we introduce cur_fdm_state which is extrapolated by // world time, so we introduce cur_fdm_state which is extrapolated by
// the difference between sim time and real world time // the difference between sim time and real world time
FGInterface cur_fdm_state; FGInterface * cur_fdm_state;
FGInterface base_fdm_state; FGInterface base_fdm_state;
int FGInterface::init( double dt ) {
cout << "dummy init() ... SHOULDN'T BE CALLED!" << endl;
return 0;
}
int FGInterface::update( int multi_loop ) {
cout << "dummy update() ... SHOULDN'T BE CALLED!" << endl;
return 0;
}
FGInterface::~FGInterface() {
}
// Extrapolate fdm based on time_offset (in usec) // Extrapolate fdm based on time_offset (in usec)
void FGInterface::extrapolate( int time_offset ) { void FGInterface::extrapolate( int time_offset ) {
double dt = time_offset / 1000000.0; double dt = time_offset / 1000000.0;
@ -75,6 +88,7 @@ void FGInterface::extrapolate( int time_offset ) {
} }
#if 0
// Initialize the flight model parameters // Initialize the flight model parameters
int fgFDMInit(int model, FGInterface& f, double dt) { int fgFDMInit(int model, FGInterface& f, double dt) {
double save_alt = 0.0; double save_alt = 0.0;
@ -127,8 +141,10 @@ int fgFDMInit(int model, FGInterface& f, double dt) {
return 1; return 1;
} }
#endif
#if 0
// Run multiloop iterations of the flight model // Run multiloop iterations of the flight model
int fgFDMUpdate(int model, FGInterface& f, int multiloop, int time_offset) { int fgFDMUpdate(int model, FGInterface& f, int multiloop, int time_offset) {
double time_step, start_elev, end_elev; double time_step, start_elev, end_elev;
@ -173,6 +189,7 @@ int fgFDMUpdate(int model, FGInterface& f, int multiloop, int time_offset) {
return 1; return 1;
} }
#endif
// Set the altitude (force) // Set the altitude (force)
@ -199,7 +216,7 @@ void fgFDMForceAltitude(int model, double alt_meters) {
// Set the local ground elevation // Set the local ground elevation
void fgFDMSetGroundElevation(int model, double ground_meters) { void fgFDMSetGroundElevation(int model, double ground_meters) {
base_fdm_state.set_Runway_altitude( ground_meters * METER_TO_FEET ); base_fdm_state.set_Runway_altitude( ground_meters * METER_TO_FEET );
cur_fdm_state.set_Runway_altitude( ground_meters * METER_TO_FEET ); cur_fdm_state->set_Runway_altitude( ground_meters * METER_TO_FEET );
} }

6
src/FDM/flight.hxx
View file

@ -105,6 +105,10 @@ class FGInterface {
public: public:
virtual int init( double dt );
virtual int update( int multi_loop );
virtual ~FGInterface();
// Define the various supported flight models (many not yet implemented) // Define the various supported flight models (many not yet implemented)
enum { enum {
// Slew (in MS terminology) // Slew (in MS terminology)
@ -851,7 +855,7 @@ typedef fdm_state_list::iterator fdm_state_list_iterator;
typedef fdm_state_list::const_iterator const_fdm_state_list_iterator; typedef fdm_state_list::const_iterator const_fdm_state_list_iterator;
extern FGInterface cur_fdm_state; extern FGInterface * cur_fdm_state;
// General interface to the flight model routines // General interface to the flight model routines

130
src/Main/fg_init.cxx
View file

@ -56,6 +56,8 @@
#include <Astro/solarsystem.hxx> #include <Astro/solarsystem.hxx>
#include <Autopilot/autopilot.hxx> #include <Autopilot/autopilot.hxx>
#include <Cockpit/cockpit.hxx> #include <Cockpit/cockpit.hxx>
#include <FDM/LaRCsim.hxx>
#include <FDM/JSBsim.hxx>
#include <Include/fg_constants.h> #include <Include/fg_constants.h>
#include <Include/general.hxx> #include <Include/general.hxx>
#include <Joystick/joystick.hxx> #include <Joystick/joystick.hxx>
@ -225,6 +227,16 @@ bool fgInitSubsystems( void ) {
FG_LOG( FG_GENERAL, FG_INFO, "Initialize Subsystems"); FG_LOG( FG_GENERAL, FG_INFO, "Initialize Subsystems");
FG_LOG( FG_GENERAL, FG_INFO, "========== =========="); FG_LOG( FG_GENERAL, FG_INFO, "========== ==========");
if ( current_options.get_flight_model() == FGInterface::FG_LARCSIM ) {
cur_fdm_state = new FGLaRCsim;
} else if ( current_options.get_flight_model() == FGInterface::FG_JSBSIM ) {
cur_fdm_state = new FGJSBsim;
} else {
FG_LOG( FG_GENERAL, FG_ALERT,
"No flight model, can't init aircraft" );
exit(-1);
}
// allocates structures so must happen before any of the flight // allocates structures so must happen before any of the flight
// model or control parameters are set // model or control parameters are set
fgAircraftInit(); // In the future this might not be the case. fgAircraftInit(); // In the future this might not be the case.
@ -263,13 +275,13 @@ bool fgInitSubsystems( void ) {
// now handled inside of the fgTileMgrUpdate() // now handled inside of the fgTileMgrUpdate()
/* /*
geod_pos = Point3D( cur_fdm_state.get_Longitude(), cur_fdm_state.get_Latitude(), 0.0); geod_pos = Point3D( cur_fdm_state->get_Longitude(), cur_fdm_state->get_Latitude(), 0.0);
tmp_abs_view_pos = fgGeodToCart(geod_pos); tmp_abs_view_pos = fgGeodToCart(geod_pos);
FG_LOG( FG_GENERAL, FG_DEBUG, FG_LOG( FG_GENERAL, FG_DEBUG,
"Initial abs_view_pos = " << tmp_abs_view_pos ); "Initial abs_view_pos = " << tmp_abs_view_pos );
scenery.cur_elev = scenery.cur_elev =
fgTileMgrCurElev( cur_fdm_state.get_Longitude(), cur_fdm_state.get_Latitude(), fgTileMgrCurElev( cur_fdm_state->get_Longitude(), cur_fdm_state->get_Latitude(),
tmp_abs_view_pos ); tmp_abs_view_pos );
FG_LOG( FG_GENERAL, FG_DEBUG, FG_LOG( FG_GENERAL, FG_DEBUG,
"Altitude after update " << scenery.cur_elev ); "Altitude after update " << scenery.cur_elev );
@ -279,19 +291,19 @@ bool fgInitSubsystems( void ) {
scenery.cur_elev ); scenery.cur_elev );
// Reset our altitude if we are below ground // Reset our altitude if we are below ground
FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state.get_Altitude() ); FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state->get_Altitude() );
FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " << FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
cur_fdm_state.get_Runway_altitude() ); cur_fdm_state->get_Runway_altitude() );
if ( cur_fdm_state.get_Altitude() < cur_fdm_state.get_Runway_altitude() + 3.758099) { 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 ); cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
} }
FG_LOG( FG_GENERAL, FG_INFO, FG_LOG( FG_GENERAL, FG_INFO,
"Updated position (after elevation adj): (" "Updated position (after elevation adj): ("
<< (cur_fdm_state.get_Latitude() * RAD_TO_DEG) << ", " << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
<< (cur_fdm_state.get_Longitude() * RAD_TO_DEG) << ", " << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
<< (cur_fdm_state.get_Altitude() * FEET_TO_METER) << ")" ); << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
// We need to calculate a few more values here that would normally // We need to calculate a few more values here that would normally
// be calculated by the FDM so that the v->UpdateViewMath() // be calculated by the FDM so that the v->UpdateViewMath()
@ -300,43 +312,43 @@ bool fgInitSubsystems( void ) {
double sea_level_radius_meters; double sea_level_radius_meters;
double lat_geoc; double lat_geoc;
// Set the FG variables first // Set the FG variables first
fgGeodToGeoc( cur_fdm_state.get_Latitude(), cur_fdm_state.get_Altitude(), fgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
&sea_level_radius_meters, &lat_geoc); &sea_level_radius_meters, &lat_geoc);
cur_fdm_state.set_Geocentric_Position( lat_geoc, cur_fdm_state.get_Longitude(), cur_fdm_state->set_Geocentric_Position( lat_geoc, cur_fdm_state->get_Longitude(),
cur_fdm_state.get_Altitude() + cur_fdm_state->get_Altitude() +
(sea_level_radius_meters * METER_TO_FEET) ); (sea_level_radius_meters * METER_TO_FEET) );
cur_fdm_state.set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET ); cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
cur_fdm_state.set_sin_cos_longitude(cur_fdm_state.get_Longitude()); cur_fdm_state->set_sin_cos_longitude(cur_fdm_state->get_Longitude());
cur_fdm_state.set_sin_cos_latitude(cur_fdm_state.get_Latitude()); cur_fdm_state->set_sin_cos_latitude(cur_fdm_state->get_Latitude());
cur_fdm_state.set_sin_lat_geocentric(sin(lat_geoc)); cur_fdm_state->set_sin_lat_geocentric(sin(lat_geoc));
cur_fdm_state.set_cos_lat_geocentric(cos(lat_geoc)); cur_fdm_state->set_cos_lat_geocentric(cos(lat_geoc));
// The following section sets up the flight model EOM parameters // The following section sets up the flight model EOM parameters
// and should really be read in from one or more files. // and should really be read in from one or more files.
// Initial Velocity // Initial Velocity
cur_fdm_state.set_Velocities_Local( current_options.get_uBody(), cur_fdm_state->set_Velocities_Local( current_options.get_uBody(),
current_options.get_vBody(), current_options.get_vBody(),
current_options.get_wBody()); current_options.get_wBody());
// Initial Orientation // Initial Orientation
cur_fdm_state.set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD, cur_fdm_state->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
current_options.get_pitch() * DEG_TO_RAD, current_options.get_pitch() * DEG_TO_RAD,
current_options.get_heading() * DEG_TO_RAD ); current_options.get_heading() * DEG_TO_RAD );
// Initial Angular Body rates // Initial Angular Body rates
cur_fdm_state.set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 ); cur_fdm_state->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
cur_fdm_state.set_Earth_position_angle( 0.0 ); cur_fdm_state->set_Earth_position_angle( 0.0 );
// Mass properties and geometry values // Mass properties and geometry values
cur_fdm_state.set_Inertias( 8.547270E+01, cur_fdm_state->set_Inertias( 8.547270E+01,
1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 ); 1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
// CG position w.r.t. ref. point // CG position w.r.t. ref. point
cur_fdm_state.set_CG_Position( 0.0, 0.0, 0.0 ); cur_fdm_state->set_CG_Position( 0.0, 0.0, 0.0 );
// Initialize the event manager // Initialize the event manager
global_events.Init(); global_events.Init();
@ -348,14 +360,14 @@ bool fgInitSubsystems( void ) {
fgEVENT::FG_EVENT_READY, 60000 ); fgEVENT::FG_EVENT_READY, 60000 );
// Initialize the time dependent variables // Initialize the time dependent variables
t->init(cur_fdm_state); t->init(*cur_fdm_state);
t->update(cur_fdm_state); t->update(*cur_fdm_state);
// Initialize view parameters // Initialize view parameters
FG_LOG( FG_GENERAL, FG_DEBUG, "Before v->init()"); FG_LOG( FG_GENERAL, FG_DEBUG, "Before v->init()");
v->Init(); v->Init();
FG_LOG( FG_GENERAL, FG_DEBUG, "After v->init()"); FG_LOG( FG_GENERAL, FG_DEBUG, "After v->init()");
v->UpdateViewMath(cur_fdm_state); v->UpdateViewMath(*cur_fdm_state);
FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = " << v->get_abs_view_pos()); FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = " << v->get_abs_view_pos());
// v->UpdateWorldToEye(f); // v->UpdateWorldToEye(f);
@ -441,22 +453,23 @@ bool fgInitSubsystems( void ) {
// Initialize the flight model subsystem data structures base on // Initialize the flight model subsystem data structures base on
// above values // above values
fgFDMInit( current_options.get_flight_model(), cur_fdm_state, // fgFDMInit( current_options.get_flight_model(), cur_fdm_state,
1.0 / current_options.get_model_hz() ); // 1.0 / current_options.get_model_hz() );
cur_fdm_state->init( 1.0 / current_options.get_model_hz() );
// I'm just sticking this here for now, it should probably move // I'm just sticking this here for now, it should probably move
// eventually // eventually
scenery.cur_elev = cur_fdm_state.get_Runway_altitude() * FEET_TO_METER; scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
if ( cur_fdm_state.get_Altitude() < cur_fdm_state.get_Runway_altitude() + 3.758099) { 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 ); cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
} }
FG_LOG( FG_GENERAL, FG_INFO, FG_LOG( FG_GENERAL, FG_INFO,
"Updated position (after elevation adj): (" "Updated position (after elevation adj): ("
<< (cur_fdm_state.get_Latitude() * RAD_TO_DEG) << ", " << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
<< (cur_fdm_state.get_Longitude() * RAD_TO_DEG) << ", " << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
<< (cur_fdm_state.get_Altitude() * FEET_TO_METER) << ")" ); << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
// end of thing that I just stuck in that I should probably move // end of thing that I just stuck in that I should probably move
// Joystick support // Joystick support
@ -502,53 +515,53 @@ void fgReInitSubsystems( void )
scenery.cur_elev ); scenery.cur_elev );
// Reset our altitude if we are below ground // Reset our altitude if we are below ground
FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state.get_Altitude() ); FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state->get_Altitude() );
FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " << FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
cur_fdm_state.get_Runway_altitude() ); cur_fdm_state->get_Runway_altitude() );
if ( cur_fdm_state.get_Altitude() < cur_fdm_state.get_Runway_altitude() + 3.758099) { 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 ); cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
} }
double sea_level_radius_meters; double sea_level_radius_meters;
double lat_geoc; double lat_geoc;
// Set the FG variables first // Set the FG variables first
fgGeodToGeoc( cur_fdm_state.get_Latitude(), cur_fdm_state.get_Altitude(), fgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
&sea_level_radius_meters, &lat_geoc); &sea_level_radius_meters, &lat_geoc);
cur_fdm_state.set_Geocentric_Position( lat_geoc, cur_fdm_state.get_Longitude(), cur_fdm_state->set_Geocentric_Position( lat_geoc, cur_fdm_state->get_Longitude(),
cur_fdm_state.get_Altitude() + cur_fdm_state->get_Altitude() +
(sea_level_radius_meters * METER_TO_FEET) ); (sea_level_radius_meters * METER_TO_FEET) );
cur_fdm_state.set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET ); cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
cur_fdm_state.set_sin_cos_longitude(cur_fdm_state.get_Longitude()); cur_fdm_state->set_sin_cos_longitude(cur_fdm_state->get_Longitude());
cur_fdm_state.set_sin_cos_latitude(cur_fdm_state.get_Latitude()); cur_fdm_state->set_sin_cos_latitude(cur_fdm_state->get_Latitude());
cur_fdm_state.set_sin_lat_geocentric(sin(lat_geoc)); cur_fdm_state->set_sin_lat_geocentric(sin(lat_geoc));
cur_fdm_state.set_cos_lat_geocentric(cos(lat_geoc)); cur_fdm_state->set_cos_lat_geocentric(cos(lat_geoc));
// The following section sets up the flight model EOM parameters // The following section sets up the flight model EOM parameters
// and should really be read in from one or more files. // and should really be read in from one or more files.
// Initial Velocity // Initial Velocity
cur_fdm_state.set_Velocities_Local( current_options.get_uBody(), cur_fdm_state->set_Velocities_Local( current_options.get_uBody(),
current_options.get_vBody(), current_options.get_vBody(),
current_options.get_wBody()); current_options.get_wBody());
// Initial Orientation // Initial Orientation
cur_fdm_state.set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD, cur_fdm_state->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
current_options.get_pitch() * DEG_TO_RAD, current_options.get_pitch() * DEG_TO_RAD,
current_options.get_heading() * DEG_TO_RAD ); current_options.get_heading() * DEG_TO_RAD );
// Initial Angular Body rates // Initial Angular Body rates
cur_fdm_state.set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 ); cur_fdm_state->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
cur_fdm_state.set_Earth_position_angle( 0.0 ); cur_fdm_state->set_Earth_position_angle( 0.0 );
// Mass properties and geometry values // Mass properties and geometry values
cur_fdm_state.set_Inertias( 8.547270E+01, cur_fdm_state->set_Inertias( 8.547270E+01,
1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 ); 1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
// CG position w.r.t. ref. point // CG position w.r.t. ref. point
cur_fdm_state.set_CG_Position( 0.0, 0.0, 0.0 ); cur_fdm_state->set_CG_Position( 0.0, 0.0, 0.0 );
// Initialize view parameters // Initialize view parameters
// FG_LOG( FG_GENERAL, FG_DEBUG, "Before v->init()"); // FG_LOG( FG_GENERAL, FG_DEBUG, "Before v->init()");
@ -557,17 +570,18 @@ void fgReInitSubsystems( void )
v->set_goal_view_offset( 0.0 ); v->set_goal_view_offset( 0.0 );
FG_LOG( FG_GENERAL, FG_DEBUG, "After v->init()"); FG_LOG( FG_GENERAL, FG_DEBUG, "After v->init()");
v->UpdateViewMath(cur_fdm_state); v->UpdateViewMath(*cur_fdm_state);
FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = " << v->get_abs_view_pos()); FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = " << v->get_abs_view_pos());
// v->UpdateWorldToEye(f); // v->UpdateWorldToEye(f);
fgFDMInit( current_options.get_flight_model(), cur_fdm_state, // fgFDMInit( current_options.get_flight_model(), cur_fdm_state,
1.0 / current_options.get_model_hz() ); // 1.0 / current_options.get_model_hz() );
cur_fdm_state->init( 1.0 / current_options.get_model_hz() );
scenery.cur_elev = cur_fdm_state.get_Runway_altitude() * FEET_TO_METER; scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
if ( cur_fdm_state.get_Altitude() < cur_fdm_state.get_Runway_altitude() + 3.758099) { 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 ); cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
} }
controls.reset_all(); controls.reset_all();

57
src/Main/main.cxx
View file

@ -251,7 +251,7 @@ static void fgRenderFrame( void ) {
// end of hack // end of hack
// update view volume parameters // update view volume parameters
current_view.UpdateViewParams(cur_fdm_state); current_view.UpdateViewParams(*cur_fdm_state);
// set the sun position // set the sun position
xglLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec ); xglLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
@ -431,8 +431,9 @@ static void fgRenderFrame( void ) {
// we've changed things elsewhere // we've changed things elsewhere
FGMaterialSlot m_slot; FGMaterialSlot m_slot;
FGMaterialSlot *m_ptr = &m_slot; FGMaterialSlot *m_ptr = &m_slot;
if ( material_mgr.find( "Default", m_ptr ) ); if ( material_mgr.find( "Default", m_ptr ) ) {
m_ptr->get_state()->force(); m_ptr->get_state()->force();
}
// draw the ssg scene // draw the ssg scene
ssgCullAndDraw( scene ); ssgCullAndDraw( scene );
@ -460,7 +461,7 @@ static void fgRenderFrame( void ) {
// Update internal time dependent calculations (i.e. flight model) // Update internal time dependent calculations (i.e. flight model)
void fgUpdateTimeDepCalcs(int multi_loop, int remainder) { void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
static fdm_state_list fdm_list; static fdm_state_list fdm_list;
FGInterface fdm_state; // FGInterface fdm_state;
fgLIGHT *l = &cur_light_params; fgLIGHT *l = &cur_light_params;
FGTime *t = FGTime::cur_time_params; FGTime *t = FGTime::cur_time_params;
// FGView *v = &current_view; // FGView *v = &current_view;
@ -471,32 +472,36 @@ void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
multi_loop = 1; multi_loop = 1;
} }
fdm_state = cur_fdm_state; // fdm_state = *cur_fdm_state;
if ( !t->getPause() ) { if ( !t->getPause() ) {
// run Autopilot system // run Autopilot system
fgAPRun(); fgAPRun();
// printf("updating flight model x %d\n", multi_loop); // printf("updating flight model x %d\n", multi_loop);
fgFDMUpdate( current_options.get_flight_model(), /* fgFDMUpdate( current_options.get_flight_model(),
fdm_state, fdm_state,
multi_loop * current_options.get_speed_up(), multi_loop * current_options.get_speed_up(),
remainder ); remainder ); */
cur_fdm_state->update( multi_loop * current_options.get_speed_up() );
} else { } else {
fgFDMUpdate( current_options.get_flight_model(), // fgFDMUpdate( current_options.get_flight_model(),
fdm_state, 0, remainder ); // fdm_state, 0, remainder );
cur_fdm_state->update( 0 );
} }
/*
fdm_list.push_back( fdm_state ); fdm_list.push_back( fdm_state );
while ( fdm_list.size() > 25 ) { while ( fdm_list.size() > 25 ) {
fdm_list.pop_front(); fdm_list.pop_front();
} }
if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FIRST_PERSON ) { if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FIRST_PERSON ) {
cur_fdm_state = fdm_state; *cur_fdm_state = fdm_state;
} else if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FOLLOW ) { } else if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FOLLOW ) {
cur_fdm_state = fdm_list.front(); *cur_fdm_state = fdm_list.front();
} }
*/
// update the view angle // update the view angle
for ( i = 0; i < multi_loop; i++ ) { for ( i = 0; i < multi_loop; i++ ) {
@ -535,7 +540,7 @@ void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
} }
double tmp = -(l->sun_rotation + FG_PI) double tmp = -(l->sun_rotation + FG_PI)
- (cur_fdm_state.get_Psi() - current_view.get_view_offset() ); - (cur_fdm_state->get_Psi() - current_view.get_view_offset() );
while ( tmp < 0.0 ) { while ( tmp < 0.0 ) {
tmp += FG_2PI; tmp += FG_2PI;
} }
@ -602,15 +607,15 @@ static void fgMainLoop( void ) {
/* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n", /* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n",
scenery.cur_elev, scenery.cur_elev,
cur_fdm_state.get_Runway_altitude() * FEET_TO_METER, cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
cur_fdm_state.get_Altitude() * FEET_TO_METER); */ cur_fdm_state->get_Altitude() * FEET_TO_METER); */
if ( scenery.cur_elev > -9990 ) { if ( scenery.cur_elev > -9990 ) {
if ( cur_fdm_state.get_Altitude() * FEET_TO_METER < if ( cur_fdm_state->get_Altitude() * FEET_TO_METER <
(scenery.cur_elev + alt_adjust_m - 3.0) ) { (scenery.cur_elev + alt_adjust_m - 3.0) ) {
// now set aircraft altitude above ground // now set aircraft altitude above ground
printf("Current Altitude = %.2f < %.2f forcing to %.2f\n", printf("Current Altitude = %.2f < %.2f forcing to %.2f\n",
cur_fdm_state.get_Altitude() * FEET_TO_METER, cur_fdm_state->get_Altitude() * FEET_TO_METER,
scenery.cur_elev + alt_adjust_m - 3.0, scenery.cur_elev + alt_adjust_m - 3.0,
scenery.cur_elev + alt_adjust_m ); scenery.cur_elev + alt_adjust_m );
fgFDMForceAltitude( current_options.get_flight_model(), fgFDMForceAltitude( current_options.get_flight_model(),
@ -618,7 +623,7 @@ static void fgMainLoop( void ) {
FG_LOG( FG_ALL, FG_DEBUG, FG_LOG( FG_ALL, FG_DEBUG,
"<*> resetting altitude to " "<*> resetting altitude to "
<< cur_fdm_state.get_Altitude() * FEET_TO_METER << " meters" ); << cur_fdm_state->get_Altitude() * FEET_TO_METER << " meters" );
} }
fgFDMSetGroundElevation( current_options.get_flight_model(), fgFDMSetGroundElevation( current_options.get_flight_model(),
scenery.cur_elev ); // meters scenery.cur_elev ); // meters
@ -626,11 +631,11 @@ static void fgMainLoop( void ) {
/* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n", /* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
scenery.cur_elev, scenery.cur_elev,
cur_fdm_state.get_Runway_altitude() * FEET_TO_METER, cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
cur_fdm_state.get_Altitude() * FEET_TO_METER); */ cur_fdm_state->get_Altitude() * FEET_TO_METER); */
// update "time" // update "time"
t->update(cur_fdm_state); t->update(*cur_fdm_state);
// Get elapsed time (in usec) for this past frame // Get elapsed time (in usec) for this past frame
elapsed = fgGetTimeInterval(); elapsed = fgGetTimeInterval();
@ -719,16 +724,16 @@ static void fgMainLoop( void ) {
double pitch = log((controls.get_throttle(0) * 14.0) + 1.0); double pitch = log((controls.get_throttle(0) * 14.0) + 1.0);
//fprintf(stderr, "pitch1: %f ", pitch); //fprintf(stderr, "pitch1: %f ", pitch);
if (controls.get_throttle(0) > 0.0 || cur_fdm_state.v_rel_wind > 40.0) { if (controls.get_throttle(0) > 0.0 || cur_fdm_state->v_rel_wind > 40.0) {
//fprintf(stderr, "rel_wind: %f ", cur_fdm_state.v_rel_wind); //fprintf(stderr, "rel_wind: %f ", cur_fdm_state->v_rel_wind);
// only add relative wind and AoA if prop is moving // only add relative wind and AoA if prop is moving
// or we're really flying at idle throttle // or we're really flying at idle throttle
if (pitch < 5.4) { // this needs tuning if (pitch < 5.4) { // this needs tuning
// prop tips not breaking sound barrier // prop tips not breaking sound barrier
pitch += log(cur_fdm_state.v_rel_wind + 0.8)/2; pitch += log(cur_fdm_state->v_rel_wind + 0.8)/2;
} else { } else {
// prop tips breaking sound barrier // prop tips breaking sound barrier
pitch += log(cur_fdm_state.v_rel_wind + 0.8)/10; pitch += log(cur_fdm_state->v_rel_wind + 0.8)/10;
} }
//fprintf(stderr, "pitch2: %f ", pitch); //fprintf(stderr, "pitch2: %f ", pitch);
//fprintf(stderr, "AoA: %f ", FG_Gamma_vert_rad); //fprintf(stderr, "AoA: %f ", FG_Gamma_vert_rad);
@ -736,7 +741,7 @@ static void fgMainLoop( void ) {
// Angle of Attack next... -x^3(e^x) is my best guess Just // Angle of Attack next... -x^3(e^x) is my best guess Just
// need to calculate some reasonable scaling factor and // need to calculate some reasonable scaling factor and
// then clamp it on the positive aoa (neg adj) side // then clamp it on the positive aoa (neg adj) side
double aoa = cur_fdm_state.get_Gamma_vert_rad() * 2.2; double aoa = cur_fdm_state->get_Gamma_vert_rad() * 2.2;
double tmp = 3.0; double tmp = 3.0;
double aoa_adj = pow(-aoa, tmp) * pow(M_E, aoa); double aoa_adj = pow(-aoa, tmp) * pow(M_E, aoa);
if (aoa_adj < -0.8) aoa_adj = -0.8; if (aoa_adj < -0.8) aoa_adj = -0.8;
@ -750,7 +755,7 @@ static void fgMainLoop( void ) {
//fprintf(stderr, "pitch4: %f\n", pitch); //fprintf(stderr, "pitch4: %f\n", pitch);
double volume = controls.get_throttle(0) * 1.15 + 0.3 + double volume = controls.get_throttle(0) * 1.15 + 0.3 +
log(cur_fdm_state.v_rel_wind + 1.0)/14.0; log(cur_fdm_state->v_rel_wind + 1.0)/14.0;
// fprintf(stderr, "volume: %f\n", volume); // fprintf(stderr, "volume: %f\n", volume);
pitch_envelope.setStep ( 0, 0.01, pitch ); pitch_envelope.setStep ( 0, 0.01, pitch );
@ -952,7 +957,7 @@ void fgReshape( int width, int height ) {
// the main loop, so this will now work without seg faulting // the main loop, so this will now work without seg faulting
// the system. // the system.
solarSystemRebuild(); solarSystemRebuild();
current_view.UpdateViewParams(cur_fdm_state); current_view.UpdateViewParams(*cur_fdm_state);
if ( current_options.get_panel_status() ) { if ( current_options.get_panel_status() ) {
FGPanel::OurPanel->ReInit(0, 0, 1024, 768); FGPanel::OurPanel->ReInit(0, 0, 1024, 768);
} }