// LaRCsim.cxx -- interface to the LaRCsim flight model // // Written by Curtis Olson, started October 1998. // // Copyright (C) 1998 Curtis L. Olson - curt@me.umn.edu // // 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. // // $Id$ #include #include #include #include
#include #include #include #include #include #include #include #include "IO360.hxx" #include "LaRCsim.hxx" FGLaRCsim::FGLaRCsim( double dt ) { set_delta_t( dt ); ls_toplevel_init( 0.0, (char *)fgGetString("/sim/aircraft").c_str() ); lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is 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; //current_aircraft.fdm_state->set_Tank1Fuel(15.0); //current_aircraft.fdm_state->set_Tank2Fuel(15.0); //Tank1Fuel = 15.0; //Tank2Fuel = 15.0; } FGLaRCsim::~FGLaRCsim(void) { if(lsic != NULL) { delete lsic; } } // Initialize the LaRCsim flight model, dt is the time increment for // each subsequent iteration through the EOM void FGLaRCsim::init() { speed_up = fgGetValue("/sim/speed-up", true); ls_set_model_dt( get_delta_t() ); // Initialize our little engine that hopefully might eng.init( get_delta_t() ); // 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) // update the engines interface FGEngInterface e; add_engine( e ); // Fill the fuel tanks // Hardwired to C172 full tanks for now - need to fix this sometime // Also note that this is the max quantity - the usable quantity // is slightly less set_Tank1Fuel(28.0); set_Tank2Fuel(28.0); // FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::init()" ); 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, (char *)fgGetString("/sim/aircraft").c_str() ); 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 ); } } // Run an iteration of the EOM (equations of motion) bool FGLaRCsim::update( int multiloop ) { if ( fgGetString("/sim/aircraft") == "c172" ) { // set control inputs // cout << "V_calibrated_kts = " << V_calibrated_kts << '\n'; eng.set_IAS( V_calibrated_kts ); eng.set_Throttle_Lever_Pos( controls.get_throttle( 0 ) * 100.0 ); eng.set_Propeller_Lever_Pos( 100 ); eng.set_Mixture_Lever_Pos( controls.get_mixture( 0 ) * 100.0 ); eng.set_p_amb( Static_pressure ); eng.set_T_amb( Static_temperature ); // update engine model eng.update(); // copy engine state values onto "bus" FGEngInterface *e = get_engine( 0 ); e->set_Throttle( controls.get_throttle( 0 ) * 100.0 ); e->set_Mixture( 80 ); e->set_Prop_Advance( 100 ); e->set_RPM( eng.get_RPM() ); e->set_Manifold_Pressure( eng.get_Manifold_Pressure() ); e->set_MaxHP( eng.get_MaxHP() ); e->set_Percentage_Power( eng.get_Percentage_Power() ); e->set_EGT( eng.get_EGT() ); e->set_CHT( eng.get_CHT() ); e->set_prop_thrust( eng.get_prop_thrust_SI() ); e->set_Fuel_Flow( eng.get_fuel_flow_gals_hr() ); //Assume we are using both tanks equally for now reduce_Tank1Fuel( (eng.get_fuel_flow_gals_hr() / (2 * 3600)) * get_delta_t() ); reduce_Tank2Fuel( (eng.get_fuel_flow_gals_hr() / (2 * 3600)) * get_delta_t() ); #if 0 FG_LOG( FG_FLIGHT, FG_INFO, "Throttle = " << controls.get_throttle( 0 ) * 100.0); FG_LOG( FG_FLIGHT, FG_INFO, " Mixture = " << 80); FG_LOG( FG_FLIGHT, FG_INFO, " RPM = " << eng.get_RPM()); FG_LOG( FG_FLIGHT, FG_INFO, " MP = " << eng.get_Manifold_Pressure()); FG_LOG( FG_FLIGHT, FG_INFO, " HP = " << ( eng.get_MaxHP() * eng.get_Percentage_Power()/ 100.0) ); FG_LOG( FG_FLIGHT, FG_INFO, " EGT = " << eng.get_EGT()); FG_LOG( FG_FLIGHT, FG_INFO, " Thrust (N) " << eng.get_prop_thrust_SI()); // Thrust in Newtons FG_LOG( FG_FLIGHT, FG_INFO, '\n'); #endif F_X_engine = eng.get_prop_thrust_lbs(); // cout << "F_X_engine = " << F_X_engine << '\n'; } 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 = controls.get_aileron() / speed_up->getIntValue(); Long_control = controls.get_elevator(); Long_trim = controls.get_elevator_trim(); Rudder_pedal = controls.get_rudder() / speed_up->getIntValue(); Flap_handle = 30.0 * controls.get_flaps(); if ( fgGetString("/sim/aircraft") == "c172" ) { Use_External_Engine = 1; } else { Use_External_Engine = 0; } Throttle_pct = controls.get_throttle( 0 ) * 1.0; Brake_pct[0] = controls.get_brake( 1 ); Brake_pct[1] = controls.get_brake( 0 ); // Inform LaRCsim of the local terrain altitude // Runway_altitude = get_Runway_altitude(); Runway_altitude = scenery.cur_elev * 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); 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 ); } return true; } // 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 ); FG_LOG( FG_FLIGHT, FG_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( Alpha ); _set_Beta( Beta ); // set_Alpha_dot( Alpha_dot ); // set_Beta_dot( 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 ); 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(); V_east_airmass = lsic->GetVeastAirmassFpsIC(); V_down_airmass = lsic->GetVdownAirmassFpsIC(); ls_loop(0.0,-1); copy_from_LaRCsim(); FG_LOG( FG_FLIGHT, FG_INFO, " FGLaRCsim::set_ls(): " ); FG_LOG( FG_FLIGHT, FG_INFO, " Phi: " << Phi ); FG_LOG( FG_FLIGHT, FG_INFO, " Theta: " << Theta ); FG_LOG( FG_FLIGHT, FG_INFO, " Psi: " << Psi ); FG_LOG( FG_FLIGHT, FG_INFO, " V_north: " << V_north ); FG_LOG( FG_FLIGHT, FG_INFO, " V_east: " << V_east ); FG_LOG( FG_FLIGHT, FG_INFO, " V_down: " << V_down ); FG_LOG( FG_FLIGHT, FG_INFO, " Altitude: " << Altitude ); FG_LOG( FG_FLIGHT, FG_INFO, " Latitude: " << Latitude ); FG_LOG( FG_FLIGHT, FG_INFO, " Longitude: " << Longitude ); FG_LOG( FG_FLIGHT, FG_INFO, " Runway_altitude: " << Runway_altitude ); FG_LOG( FG_FLIGHT, FG_INFO, " V_north_airmass: " << V_north_airmass ); FG_LOG( FG_FLIGHT, FG_INFO, " V_east_airmass: " << V_east_airmass ); FG_LOG( FG_FLIGHT, FG_INFO, " V_down_airmass: " << V_down_airmass ); } 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) { FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Latitude: " << lat ); snap_shot(); lsic->SetLatitudeGDRadIC(lat); set_ls(); copy_from_LaRCsim(); //update the bus } void FGLaRCsim::set_Longitude(double lon) { FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Longitude: " << lon ); snap_shot(); lsic->SetLongitudeRadIC(lon); set_ls(); copy_from_LaRCsim(); //update the bus } void FGLaRCsim::set_Altitude(double alt) { FG_LOG( FG_FLIGHT, FG_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) { FG_LOG( FG_FLIGHT, FG_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) { FG_LOG( FG_FLIGHT, FG_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 ){ FG_LOG( FG_FLIGHT, FG_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){ FG_LOG( FG_FLIGHT, FG_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 ) { FG_LOG( FG_FLIGHT, FG_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) { FG_LOG( FG_FLIGHT, FG_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) { FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma ); snap_shot(); lsic->SetFlightPathAngleRadIC(gamma); set_ls(); copy_from_LaRCsim(); //update the bus } void FGLaRCsim::set_Runway_altitude(double ralt) { FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt ); snap_shot(); lsic->SetRunwayAltitudeFtIC(ralt); set_ls(); copy_from_LaRCsim(); //update the bus } void FGLaRCsim::set_AltitudeAGL(double altagl) { FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl ); snap_shot(); lsic->SetAltitudeAGLFtIC(altagl); set_ls(); copy_from_LaRCsim(); } void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth, double weast, double wdown ) { FG_LOG( FG_FLIGHT, FG_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) { FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Static_pressure: " << p ); FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" ); } void FGLaRCsim::set_Static_temperature(double T) { FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Static_temperature: " << T ); FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" ); } void FGLaRCsim::set_Density(double rho) { FG_LOG( FG_FLIGHT, FG_INFO, "FGLaRCsim::set_Density: " << rho ); FG_LOG( FG_FLIGHT, FG_INFO, "LaRCsim does not support externally supplied atmospheric data" ); }