/***************************************************************************** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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 */ /****************************************************************************/ #include #ifdef FG_MATH_EXCEPTION_CLASH # include #endif #include STL_STRING #include #include #include #include #include #include #include
#include "Balloon.h" /****************************************************************************/ /********************************** CODE ************************************/ /****************************************************************************/ // Initialize the BalloonSim flight model, dt is the time increment for // each subsequent iteration through the EOM bool FGBalloonSim::init( double dt ) { sgVec3 temp; FG_LOG( FG_FLIGHT, FG_INFO, "Starting initializing BalloonSim" ); FG_LOG( FG_FLIGHT, FG_INFO, " created a balloon" ); //set the dt of the model current_balloon.set_dt(dt); //set position sgSetVec3( temp, get_Latitude(), get_Longitude(), get_Altitude() * 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, globals->get_options()->get_uBody(), globals->get_options()->get_vBody(), globals->get_options()->get_wBody() ); current_balloon.setVelocity( temp ); FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing BalloonSim" ); return true; } // Run an iteration of the EOM (equations of motion) bool FGBalloonSim::update( int multiloop ) { double save_alt = 0.0; // 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 ( controls.get_throttle(0) ); //not more implemented yet // Inform BalloonSim of the local terrain altitude current_balloon.setGroundLevel ( get_Runway_altitude() * 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 ); FG_LOG( FG_FLIGHT, FG_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 ); } return true; } // 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 ); double lat_geoc = temp[0]; double lon = temp[1]; double alt = temp[2] * METER_TO_FEET; double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc; sgGeocToGeod( lat_geoc, EQUATORIAL_RADIUS_M + alt * FEET_TO_METER, &lat_geod, &tmp_alt, &sl_radius1 ); sgGeodToGeoc( lat_geod, alt * FEET_TO_METER, &sl_radius2, &tmp_lat_geoc ); FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon << " lat_geod = " << lat_geod << " lat_geoc = " << lat_geoc << " alt = " << alt << " tmp_alt = " << tmp_alt * METER_TO_FEET << " sl_radius1 = " << sl_radius1 * METER_TO_FEET << " sl_radius2 = " << sl_radius2 * METER_TO_FEET << " Equator = " << EQUATORIAL_RADIUS_FT ); set_Geocentric_Position( lat_geoc, lon, sl_radius2 * METER_TO_FEET + alt ); set_Geodetic_Position( lat_geod, lon, alt ); current_balloon.getHPR( temp ); set_Euler_Angles( temp[0], temp[1], temp[2] ); set_Euler_Rates(0,0,0); set_Alpha( 0.0/*FDMExec.GetTranslation()->Getalpha()*/ ); set_Beta( 0.0/*FDMExec.GetTranslation()->Getbeta()*/ ); /* **FIXME*** */ set_Sea_level_radius( sl_radius2 * METER_TO_FEET ); /* **FIXME*** */ set_Earth_position_angle( 0.0 ); /* ***FIXME*** */ set_Runway_altitude( 0.0 ); set_sin_lat_geocentric( lat_geoc ); set_cos_lat_geocentric( lat_geoc ); set_sin_cos_longitude( lon ); set_sin_cos_latitude( lat_geod ); return true; }