fly/flightgear
1
0
Fork 0
Code Activity

Directly updating the right properties doesn't work when not uing --fdm=null, create a separate branch instead.

Browse source
This commit is contained in:
ehofman 2004-10-20 09:21:08 +00:00
parent 96e24a3e8d
commit dfb822e461
2 changed files with 48 additions and 29 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

71
src/FDM/SP/ACMS.cxx
View file

@ -25,6 +25,17 @@
#include "ACMS.hxx" #include "ACMS.hxx"
FGACMS::FGACMS( double dt ) FGACMS::FGACMS( double dt )
: _alt (fgGetNode("/fdm/acms/position/altitude-ft", true)),
_speed (fgGetNode("/fdm/acms/velocities/airspeed-kt", true)),
_climb_rate( fgGetNode("/fdm/acms/velocities/vertical-speed-fps", true)),
_pitch (fgGetNode("/fdm/acms/orientation/pitch-rad", true)),
_roll (fgGetNode("/fdm/acms/orientation/roll-rad", true)),
_heading(fgGetNode("/fdm/acms/orientation/heading-rad", true)),
_acc_lat(fgGetNode("/fdm/acms/accelerations/ned/east-accel-fps_sec", true)),
_acc_lon(fgGetNode("/fdm/acms/accelerations/ned/north-accel-fps_sec", true)),
_acc_down(fgGetNode("/fdm/acms/accelerations/ned/down-accel-fps_sec", true)),
_temp (fgGetNode("/fdm/acms/environment/temperature-degc", true)),
_wow (fgGetNode("/fdm/acms/gear/wow", true))
{ {
// set_delta_t( dt ); // set_delta_t( dt );
} }
@ -40,56 +51,58 @@ void FGACMS::init() {
common_init(); common_init();
} }
// Run an iteration of the EOM (equations of motion) // Run an iteration of the EOM (equations of motion)
void FGACMS::update( double dt ) { void FGACMS::update( double dt ) {
double pitch = get_Theta(); if (is_suspended())
double roll = get_Phi(); return;
double heading = get_Psi() * SG_DEGREES_TO_RADIANS;
double alt = get_Altitude();
double sl_radius, lat_geoc; double pitch = _pitch->getDoubleValue();
sgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc ); double roll = _roll->getDoubleValue();
double heading = _heading->getDoubleValue();
double alt = _alt->getDoubleValue();
double lon_acc = get_V_north(); set_Theta(pitch);
double lat_acc = get_V_east(); set_Phi(roll);
double vert_acc = get_V_down(); set_Psi(heading);
set_Altitude(alt);
_set_Climb_Rate( _climb_rate->getDoubleValue() );
double accel_heading = atan( lon_acc/lat_acc );
double accel_pitch = atan( vert_acc/accel_heading );
double accel = sqrt(sqrt(lon_acc*lon_acc + lat_acc*lat_acc) double acc_lat = _acc_lat->getDoubleValue();
+ vert_acc*vert_acc); double acc_lon = _acc_lon->getDoubleValue();
double acc_down = _acc_down->getDoubleValue();
_set_Accels_Local( acc_lon, acc_lat, acc_down );
double velocity = get_V_true_kts() * accel / (SG_METER_TO_NM * 3600.0); sgVec3 accel_ned;
double speed = cos (pitch) * velocity; // meters/sec sgSetVec3(accel_ned, acc_lon, acc_lat, acc_down);
double dist = speed * dt; double accel = sgLengthVec3 (accel_ned) * SG_FEET_TO_METER;
double kts = velocity * 6076.11549 * 3600.0;
double climb_rate = fgGetDouble("/velocities/climb-rate", 0); double velocity = (_speed->getDoubleValue() * SG_FEET_TO_METER) * accel;
double climb = climb_rate * dt; double dist = cos (pitch) * velocity * dt;
double kts = velocity * SG_MPS_TO_KMH * SG_KMH_TO_MPS * SG_MPS_TO_KT;
_set_Alpha( pitch - accel_pitch);
_set_Beta( heading - accel_heading);
_set_Climb_Rate( climb_rate );
_set_V_equiv_kts( kts ); _set_V_equiv_kts( kts );
_set_V_calibrated_kts( kts ); _set_V_calibrated_kts( kts );
_set_V_ground_speed( kts ); _set_V_ground_speed( kts );
_set_Altitude( get_Altitude() + climb );
// update (lon/lat) position // update (lon/lat) position
double lat2, lon2, az2; double lat2, lon2, az2;
geo_direct_wgs_84 ( get_Altitude(), geo_direct_wgs_84 ( get_Altitude(),
get_Latitude() * SGD_RADIANS_TO_DEGREES, get_Latitude() * SGD_RADIANS_TO_DEGREES,
get_Longitude() * SGD_RADIANS_TO_DEGREES, get_Longitude() * SGD_RADIANS_TO_DEGREES,
get_Psi() * SGD_RADIANS_TO_DEGREES, heading * SGD_RADIANS_TO_DEGREES,
dist, &lat2, &lon2, &az2 ); dist, &lat2, &lon2, &az2 );
_set_Geocentric_Position( lat_geoc, get_Longitude(),
sl_radius + get_Altitude() + climb );
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET);
_set_Longitude( lon2 * SGD_DEGREES_TO_RADIANS ); _set_Longitude( lon2 * SGD_DEGREES_TO_RADIANS );
_set_Latitude( lat2 * SGD_DEGREES_TO_RADIANS ); _set_Latitude( lat2 * SGD_DEGREES_TO_RADIANS );
double sl_radius, lat_geoc;
sgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc );
_set_Euler_Angles( roll, pitch, heading );
_set_Euler_Rates(0,0,0);
_set_Geocentric_Position( lat_geoc, get_Longitude(), sl_radius);
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET);
} }

6
src/FDM/SP/ACMS.hxx
View file

@ -40,6 +40,12 @@ public:
// update position based on properties // update position based on properties
void update( double dt ); void update( double dt );
private:
SGPropertyNode *_alt, *_speed, *_climb_rate;
SGPropertyNode *_pitch, *_roll, *_heading;
SGPropertyNode *_acc_lat, *_acc_lon, *_acc_down;
SGPropertyNode *_temp, *_wow;
}; };