// LaRCsim.cxx -- interface to the LaRCsim flight model
//
// Written by Curtis Olson, started October 1998.
//
// Copyright (C) 1998 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., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include <math.h>
#include <string.h> // strcmp()
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/scene/model/location.hxx>
#include <simgear/scene/model/placement.hxx>
#include <Aircraft/aircraft.hxx>
#include <Aircraft/controls.hxx>
#include <FDM/flight.hxx>
#include <FDM/UIUCModel/uiuc_aircraft.h>
#include <Main/fg_props.hxx>
#include <Model/acmodel.hxx>
#include "ls_cockpit.h"
#include "ls_generic.h"
#include "ls_interface.h"
#include "ls_constants.h"
#include "IO360.hxx"
#include "LaRCsimIC.hxx"
#include "LaRCsim.hxx"
FGLaRCsim::FGLaRCsim( double dt ) {
// set_delta_t( dt );
speed_up = fgGetNode("/sim/speed-up", true);
aero = fgGetNode("/sim/aero", true);
uiuc_type = fgGetNode("/sim/uiuc-type", true);
ls_toplevel_init( 0.0, (char *)(aero->getStringValue()) );
lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
if ( !strcmp(aero->getStringValue(), "c172") ) {
copy_to_LaRCsim(); // initialize all of LaRCsim's vars
//this should go away someday -- formerly done in fg_init.cxx
Mass = 8.547270E+01;
I_xx = 1.048000E+03;
I_yy = 3.000000E+03;
I_zz = 3.530000E+03;
I_xz = 0.000000E+00;
}
if ( !strcmp(aero->getStringValue(), "basic") ) {
copy_to_LaRCsim(); // initialize all of LaRCsim's vars
//this should go away someday -- formerly done in fg_init.cxx
Mass = 2./32.174;
I_xx = 0.0454;
I_yy = 0.0191;
I_zz = 0.0721;
I_xz = 0;
// Mass = 8.547270E+01;
// I_xx = 1.048000E+03;
// I_yy = 3.000000E+03;
// I_zz = 3.530000E+03;
// I_xz = 0.000000E+00;
}
ls_set_model_dt(dt);
// Initialize our little engine that hopefully might
eng.init(dt);
// dcl - in passing dt to init rather than update I am assuming
// that the LaRCsim dt is fixed at one value (yes it is 120hz CLO)
}
FGLaRCsim::~FGLaRCsim(void) {
if ( lsic != NULL ) {
delete lsic;
lsic = NULL;
}
}
// Initialize the LaRCsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
void FGLaRCsim::init() {
//do init common to all FDM's
common_init();
}
// Run an iteration of the EOM (equations of motion)
void FGLaRCsim::update( double dt ) {
if (is_suspended())
return;
int multiloop = _calc_multiloop(dt);
// if flying c172-larcsim, do the following
if ( !strcmp(aero->getStringValue(), "c172") ) {
// set control inputs
// cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
eng.set_IAS( V_calibrated_kts );
eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
* 100.0 );
eng.set_Propeller_Lever_Pos( 100 );
eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
* 100.0 );
eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
eng.setStarterFlag( globals->get_controls()->get_starter(0) );
eng.set_p_amb( Static_pressure );
eng.set_T_amb( Static_temperature );
// update engine model
eng.update();
// Fake control-surface positions
fgSetDouble("/surface-positions/flap-pos-norm",
fgGetDouble("/controls/flight/flaps"));
// FIXME: ignoring trim
fgSetDouble("/surface-positions/elevator-pos-norm",
fgGetDouble("/controls/flight/elevator"));
// FIXME: ignoring trim
fgSetDouble("/surface-positions/left-aileron-pos-norm",
fgGetDouble("/controls/flight/aileron"));
// FIXME: ignoring trim
fgSetDouble("/surface-positions/right-aileron-pos-norm",
-1 * fgGetDouble("/controls/flight/aileron"));
// FIXME: ignoring trim
fgSetDouble("/surface-positions/rudder-pos-norm",
fgGetDouble("/controls/flight/rudder"));
// copy engine state values onto "bus"
fgSetDouble("/engines/engine/rpm", eng.get_RPM());
fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
fgSetDouble("/engines/engine/fuel-flow-gph",
eng.get_fuel_flow_gals_hr());
fgSetDouble("/engines/engine/oil-temperature-degf",
eng.get_oil_temp());
fgSetDouble("/engines/engine/running", eng.getRunningFlag());
fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
static const SGPropertyNode *fuel_freeze
= fgGetNode("/sim/freeze/fuel");
if ( ! fuel_freeze->getBoolValue() ) {
//Assume we are using both tanks equally for now
fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
* dt);
fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
* dt);
}
// Apparently the IO360 thrust model is not working.
// F_X_engine is zero here.
F_X_engine = eng.get_prop_thrust_lbs();
Flap_handle = 30.0 * globals->get_controls()->get_flaps();
}
// done with c172-larcsim if-block
if ( !strcmp(aero->getStringValue(), "basic") ) {
// set control inputs
// cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
eng.set_IAS( V_calibrated_kts );
eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
* 100.0 );
eng.set_Propeller_Lever_Pos( 100 );
eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
* 100.0 );
eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
eng.setStarterFlag( globals->get_controls()->get_starter(0) );
eng.set_p_amb( Static_pressure );
eng.set_T_amb( Static_temperature );
// update engine model
eng.update();
// Fake control-surface positions
fgSetDouble("/surface-positions/flap-pos-norm",
fgGetDouble("/controls/flight/flaps"));
// FIXME: ignoring trim
fgSetDouble("/surface-positions/elevator-pos-norm",
fgGetDouble("/controls/flight/elevator"));
// FIXME: ignoring trim
fgSetDouble("/surface-positions/left-aileron-pos-norm",
fgGetDouble("/controls/flight/aileron"));
// FIXME: ignoring trim
fgSetDouble("/surface-positions/right-aileron-pos-norm",
-1 * fgGetDouble("/controls/flight/aileron"));
// FIXME: ignoring trim
fgSetDouble("/surface-positions/rudder-pos-norm",
fgGetDouble("/controls/flight/rudder"));
// copy engine state values onto "bus"
fgSetDouble("/engines/engine/rpm", eng.get_RPM());
fgSetDouble("/engines/engine/mp-osi", eng.get_Manifold_Pressure());
fgSetDouble("/engines/engine/max-hp", eng.get_MaxHP());
fgSetDouble("/engines/engine/power-pct", eng.get_Percentage_Power());
fgSetDouble("/engines/engine/egt-degf", eng.get_EGT());
fgSetDouble("/engines/engine/cht-degf", eng.get_CHT());
fgSetDouble("/engines/engine/prop-thrust", eng.get_prop_thrust_SI());
fgSetDouble("/engines/engine/fuel-flow-gph",
eng.get_fuel_flow_gals_hr());
fgSetDouble("/engines/engine/oil-temperature-degf",
eng.get_oil_temp());
fgSetDouble("/engines/engine/running", eng.getRunningFlag());
fgSetDouble("/engines/engine/cranking", eng.getCrankingFlag());
static const SGPropertyNode *fuel_freeze
= fgGetNode("/sim/freeze/fuel");
if ( ! fuel_freeze->getBoolValue() ) {
//Assume we are using both tanks equally for now
fgSetDouble("/consumables/fuel/tank[0]/level-gal_us",
fgGetDouble("/consumables/fuel/tank[0]/level-gal_us")
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
* dt);
fgSetDouble("/consumables/fuel/tank[1]/level-gal_us",
fgGetDouble("/consumables/fuel/tank[1]/level-gal_us")
- (eng.get_fuel_flow_gals_hr() / (2 * 3600))
* dt);
}
// Apparently the IO360 thrust model is not working.
// F_X_engine is zero here.
F_X_engine = eng.get_prop_thrust_lbs();
Flap_handle = 30.0 * globals->get_controls()->get_flaps();
}
// done with basic-larcsim if-block
double save_alt = 0.0;
// lets try to avoid really screwing up the LaRCsim model
if ( get_Altitude() < -9000.0 ) {
save_alt = get_Altitude();
set_Altitude( 0.0 );
}
// copy control positions into the LaRCsim structure
Lat_control = globals->get_controls()->get_aileron() / speed_up->getIntValue();
Long_control = globals->get_controls()->get_elevator();
Long_trim = globals->get_controls()->get_elevator_trim();
Rudder_pedal = globals->get_controls()->get_rudder() / speed_up->getIntValue();
// IO360.cxx for the C172 thrust is broken (not sure why).
// So force C172 to use engine model in c172_engine.c instead of the IO360.cxx.
// if ( !strcmp(aero->getStringValue(), "c172") ) {
// Use_External_Engine = 1;
// } else {
// Use_External_Engine = 0;
// }
Use_External_Engine = 0;
Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
Brake_pct[0] = globals->get_controls()->get_brake_right();
Brake_pct[1] = globals->get_controls()->get_brake_left();
// Inform LaRCsim of the local terrain altitude
Runway_altitude
= get_groundlevel_m(Latitude, Longitude, Altitude * SG_FEET_TO_METER)
* SG_METER_TO_FEET;
// Weather
/* V_north_airmass = get_V_north_airmass();
V_east_airmass = get_V_east_airmass();
V_down_airmass = get_V_down_airmass(); */
// old -- FGInterface_2_LaRCsim() not needed except for Init()
// translate FG to LaRCsim structure
// FGInterface_2_LaRCsim(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);
// for engine functions (sounds and instruments)
// drive the rpm gauge
fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
// manifold air pressure, which drives the sound (see *sound.xml file)
fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
// make the engine cranking and running sounds when fgfs starts up
fgSetDouble("/engines/engine/cranking", 1);
fgSetDouble("/engines/engine/running", 1);
// if flying uiuc, set some properties and over-ride some previous ones
if ( !strcmp(aero->getStringValue(), "uiuc")) {
// surface positions and other general properties
fgSetDouble("/surface-positions/flight/rudder-pos-norm", fgGetDouble("/controls/flight/rudder"));
fgSetDouble("/surface-positions/flight/elevator-pos-norm", fgGetDouble("/controls/flight/elevator")); // FIXME: ignoring trim
fgSetDouble("/surface-positions/flight/right-aileron-pos-norm", -1 * fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
fgSetDouble("/surface-positions/flight/left-aileron-pos-norm", fgGetDouble("/controls/flight/aileron")); // FIXME: ignoring trim
// used by Instruments/accel.xml
fgSetDouble("/accelerations/pilot-g", -N_Z_cg);
Flap_handle = flap_max * globals->get_controls()->get_flaps();
// flaps with transition occuring in uiuc_aerodeflections.cpp
if (use_flaps) {
fgSetDouble("/surface-positions/flight/flap-pos-norm", flap_pos_norm);
}
// spoilers with transition occurring in uiuc_aerodeflections.cpp
if(use_spoilers) {
Spoiler_handle = spoiler_max * fgGetDouble("/controls/flight/spoilers");
}
// gear with transition occurring here in LaRCsim.cxx
if (use_gear) {
if(fgGetBool("/controls/gear/gear-down")) {
Gear_handle = 1.0;
}
else {
Gear_handle = 0.;
}
// commanded gear is 0 or 1
gear_cmd_norm = Gear_handle;
// amount gear moves per time step [relative to 1]
gear_increment_per_timestep = gear_rate * dt;
// determine gear position with respect to gear command
if (gear_pos_norm < gear_cmd_norm) {
gear_pos_norm += gear_increment_per_timestep;
if (gear_pos_norm > gear_cmd_norm)
gear_pos_norm = gear_cmd_norm;
} else if (gear_pos_norm > gear_cmd_norm) {
gear_pos_norm -= gear_increment_per_timestep;
if (gear_pos_norm < gear_cmd_norm)
gear_pos_norm = gear_cmd_norm;
}
// set the gear position
fgSetDouble("/gear/gear[0]/position-norm", gear_pos_norm);
fgSetDouble("/gear/gear[1]/position-norm", gear_pos_norm);
fgSetDouble("/gear/gear[2]/position-norm", gear_pos_norm);
}
// engine functions (sounds and instruments)
// drive the rpm gauge
fgSetDouble("/engines/engine/rpm", (globals->get_controls()->get_throttle( 0 ) * 100.0 * 25 ));
// manifold air pressure
fgSetDouble("/engines/engine/mp-osi", (globals->get_controls()->get_throttle( 0 ) * 100.0 ));
// make the engine cranking and running sounds when fgfs starts up
fgSetDouble("/engines/engine/cranking", 1);
fgSetDouble("/engines/engine/running", 1);
if ( !strcmp(uiuc_type->getStringValue(), "uiuc-prop")) {
// uiuc prop driven airplane, e.g. Wright Flyer
}
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-jet")) {
// uiuc jet aircraft, e.g. a4d
// used for setting the sound
fgSetDouble("/engines/engine/n1", (75 + (globals->get_controls()->get_throttle( 0 ) * 100.0 )/400));
fgSetDouble("/engines/engine/prop-thrust", (4000 + F_X_engine/2));
// used for setting the instruments
fgSetDouble("/engines/engine[0]/n1", (50 + (globals->get_controls()->get_throttle( 0 ) * 50)));
}
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-sailplane")) {
// uiuc sailplane, e.g. asw20
fgSetDouble("/engines/engine/cranking", 0);
}
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-hangglider")) {
// uiuc hang glider, e.g. airwave
fgSetDouble("/engines/engine/cranking", 0);
}
else if ( !strcmp(uiuc_type->getStringValue(), "uiuc-ornithopter")) {
// flapping wings
fgSetDouble("/canopy/position-norm", 0);
fgSetDouble("/wing-phase/position-norm", sin(flapper_phi - 3 * LS_PI / 2));
fgSetDouble("/wing-phase/position-deg", flapper_phi*RAD_TO_DEG);
fgSetDouble("/wing-phase/position-one", 1);
fgSetDouble("/thorax/volume", 0);
fgSetDouble("/thorax/rpm", 0);
// fgSetDouble("/thorax/volume", ((1+sin(2*(flapper_phi+LS_PI)))/2));
// fgSetDouble("/thorax/rpm", ((1+sin(2*(flapper_phi+LS_PI)))/2));
}
}
// add Gamma_horiz_deg to properties, mss 021213
if (use_gamma_horiz_on_speed) {
if (V_rel_wind > gamma_horiz_on_speed) {
fgSetDouble("/orientation/gamma-horiz-deg", (Gamma_horiz_rad * RAD_TO_DEG));
}
else {
fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
}
}
else {
fgSetDouble("/orientation/gamma-horiz-deg", fgGetDouble("/orientation/heading-deg"));
}
ls_update(multiloop);
// printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
// printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
// translate LaRCsim back to FG structure so that the
// autopilot (and the rest of the sim can use the updated
// values
copy_from_LaRCsim();
// 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 LaRCsim generic_ struct
bool 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();
return true;
}
// Convert from the LaRCsim generic_ struct to the FGInterface struct
bool FGLaRCsim::copy_from_LaRCsim() {
// Mass properties and geometry values
_set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
// set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
_set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
// Forces
// set_Forces_Body_Total( F_X, F_Y, F_Z );
// set_Forces_Local_Total( F_north, F_east, F_down );
// set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
// set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
// set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
// Moments
// set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
// set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
// set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
// set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
// set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
// Accelerations
_set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
_set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
_set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
_set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
_set_Accels_CG_Body_N( N_X_cg, N_Y_cg, -N_Z_cg );
// set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
// set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
// Velocities
_set_Velocities_Local( V_north, V_east, V_down );
// set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
// V_down_rel_ground );
_set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
V_down_airmass );
// set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
// V_east_rel_airmass, V_down_rel_airmass );
// set_Velocities_Gust( U_gust, V_gust, W_gust );
_set_Velocities_Wind_Body( U_body, V_body, W_body );
_set_V_rel_wind( V_rel_wind );
// set_V_true_kts( V_true_kts );
// set_V_rel_ground( V_rel_ground );
// set_V_inertial( V_inertial );
_set_V_ground_speed( V_ground_speed );
// set_V_equiv( V_equiv );
_set_V_equiv_kts( V_equiv_kts );
// set_V_calibrated( V_calibrated );
_set_V_calibrated_kts( V_calibrated_kts );
_set_Omega_Body( P_body, Q_body, R_body );
// set_Omega_Local( P_local, Q_local, R_local );
// set_Omega_Total( P_total, Q_total, R_total );
_set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
_set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
_set_Mach_number( Mach_number );
SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
<< " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
<< " alt = " << Altitude << " sl_radius = " << Sea_level_radius
<< " radius_to_vehicle = " << Radius_to_vehicle );
double tmp_lon_geoc = Lon_geocentric;
while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
double tmp_lon = Longitude;
while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
// Positions
_set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
Radius_to_vehicle );
_set_Geodetic_Position( Latitude, tmp_lon, Altitude );
_set_Euler_Angles( Phi, Theta, Psi );
_set_Altitude_AGL( Altitude - Runway_altitude );
// Miscellaneous quantities
_set_T_Local_to_Body(T_local_to_body_m);
// set_Gravity( Gravity );
// set_Centrifugal_relief( Centrifugal_relief );
_set_Alpha( Std_Alpha );
_set_Beta( Std_Beta );
// set_Alpha_dot( Std_Alpha_dot );
// set_Beta_dot( Std_Beta_dot );
// set_Cos_alpha( Cos_alpha );
// set_Sin_alpha( Sin_alpha );
// set_Cos_beta( Cos_beta );
// set_Sin_beta( Sin_beta );
_set_Cos_phi( Cos_phi );
// set_Sin_phi( Sin_phi );
_set_Cos_theta( Cos_theta );
// set_Sin_theta( Sin_theta );
// set_Cos_psi( Cos_psi );
// set_Sin_psi( Sin_psi );
_set_Gamma_vert_rad( Gamma_vert_rad );
// set_Gamma_horiz_rad( Gamma_horiz_rad );
// set_Sigma( Sigma );
_set_Density( Density );
// set_V_sound( V_sound );
// set_Mach_number( Mach_number );
_set_Static_pressure( Static_pressure );
// set_Total_pressure( Total_pressure );
// set_Impact_pressure( Impact_pressure );
// set_Dynamic_pressure( Dynamic_pressure );
_set_Static_temperature( Static_temperature );
// set_Total_temperature( Total_temperature );
_set_Sea_level_radius( Sea_level_radius );
_set_Earth_position_angle( Earth_position_angle );
_set_Runway_altitude( Runway_altitude );
// set_Runway_latitude( Runway_latitude );
// set_Runway_longitude( Runway_longitude );
// set_Runway_heading( Runway_heading );
// set_Radius_to_rwy( Radius_to_rwy );
// set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
// set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
// set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
// D_pilot_above_rwy );
// set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
_set_sin_lat_geocentric(Lat_geocentric);
_set_cos_lat_geocentric(Lat_geocentric);
_set_sin_cos_longitude(Longitude);
_set_sin_cos_latitude(Latitude);
// printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
// printf("sin_lat %f cos_lat %f\n",
// get_sin_latitude(), get_cos_latitude());
// printf("sin_lon %f cos_lon %f\n",
// get_sin_longitude(), get_cos_longitude());
_set_Climb_Rate( -1 * V_down );
// cout << "climb rate = " << -V_down * 60 << endl;
if ( !strcmp(aero->getStringValue(), "uiuc") ) {
if (pilot_elev_no) {
globals->get_controls()->set_elevator(Long_control);
globals->get_controls()->set_elevator_trim(Long_trim);
// controls.set_elevator(Long_control);
// controls.set_elevator_trim(Long_trim);
}
if (pilot_ail_no) {
globals->get_controls()->set_aileron(Lat_control);
// controls.set_aileron(Lat_control);
}
if (pilot_rud_no) {
globals->get_controls()->set_rudder(Rudder_pedal);
// controls.set_rudder(Rudder_pedal);
}
if (pilot_throttle_no) {
globals->get_controls()->set_throttle(0,Throttle_pct);
// controls.set_throttle(0,Throttle_pct);
}
}
return true;
}
void FGLaRCsim::set_ls(void) {
Phi=lsic->GetRollAngleRadIC();
Theta=lsic->GetPitchAngleRadIC();
Psi=lsic->GetHeadingRadIC();
V_north=lsic->GetVnorthFpsIC();
V_east=lsic->GetVeastFpsIC();
V_down=lsic->GetVdownFpsIC();
Altitude=lsic->GetAltitudeFtIC();
Latitude=lsic->GetLatitudeGDRadIC();
Longitude=lsic->GetLongitudeRadIC();
Runway_altitude=lsic->GetRunwayAltitudeFtIC();
V_north_airmass = lsic->GetVnorthAirmassFpsIC() * -1;
V_east_airmass = lsic->GetVeastAirmassFpsIC() * -1;
V_down_airmass = lsic->GetVdownAirmassFpsIC() * -1;
ls_loop(0.0,-1);
copy_from_LaRCsim();
}
void FGLaRCsim::snap_shot(void) {
lsic->SetLatitudeGDRadIC( get_Latitude() );
lsic->SetLongitudeRadIC( get_Longitude() );
lsic->SetAltitudeFtIC( get_Altitude() );
lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
lsic->SetVtrueFpsIC( get_V_rel_wind() );
lsic->SetPitchAngleRadIC( get_Theta() );
lsic->SetRollAngleRadIC( get_Phi() );
lsic->SetHeadingRadIC( get_Psi() );
lsic->SetClimbRateFpsIC( get_Climb_Rate() );
lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
get_V_east_airmass(),
get_V_down_airmass() );
}
//Positions
void FGLaRCsim::set_Latitude(double lat) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
snap_shot();
lsic->SetLatitudeGDRadIC(lat);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Longitude(double lon) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon );
snap_shot();
lsic->SetLongitudeRadIC(lon);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Altitude(double alt) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
snap_shot();
lsic->SetAltitudeFtIC(alt);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_V_calibrated_kts(double vc) {
SG_LOG( SG_FLIGHT, SG_INFO,
"FGLaRCsim::set_V_calibrated_kts: " << vc );
snap_shot();
lsic->SetVcalibratedKtsIC(vc);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Mach_number(double mach) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
snap_shot();
lsic->SetMachIC(mach);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
<< north << " " << east << " " << down );
snap_shot();
lsic->SetVNEDFpsIC(north, east, down);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
<< u << " " << v << " " << w );
snap_shot();
lsic->SetUVWFpsIC(u,v,w);
set_ls();
copy_from_LaRCsim(); //update the bus
}
//Euler angles
void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
<< phi << " " << theta << " " << psi );
snap_shot();
lsic->SetPitchAngleRadIC(theta);
lsic->SetRollAngleRadIC(phi);
lsic->SetHeadingRadIC(psi);
set_ls();
copy_from_LaRCsim(); //update the bus
}
//Flight Path
void FGLaRCsim::set_Climb_Rate( double roc) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
snap_shot();
lsic->SetClimbRateFpsIC(roc);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
snap_shot();
lsic->SetFlightPathAngleRadIC(gamma);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_AltitudeAGL(double altagl) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
snap_shot();
lsic->SetAltitudeAGLFtIC(altagl);
set_ls();
copy_from_LaRCsim();
}
/* getting a namespace conflict...
void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown ) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
<< wnorth << " " << weast << " " << wdown );
snap_shot();
lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
set_ls();
copy_from_LaRCsim();
}
*/
void FGLaRCsim::set_Static_pressure(double p) {
SG_LOG( SG_FLIGHT, SG_INFO,
"FGLaRCsim::set_Static_pressure: " << p );
SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}
void FGLaRCsim::set_Static_temperature(double T) {
SG_LOG( SG_FLIGHT, SG_INFO,
"FGLaRCsim::set_Static_temperature: " << T );
SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}
void FGLaRCsim::set_Density(double rho) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}