// 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. // // $Id$ // (Log is kept at end of this file) #include "LaRCsim.hxx" #include #include #include #include #include #include #include // Initialize the LaRCsim flight model, dt is the time increment for // each subsequent iteration through the EOM int fgLaRCsimInit(double dt) { ls_toplevel_init(dt); return(1); } // Run an iteration of the EOM (equations of motion) int fgLaRCsimUpdate(FGInterface& f, int multiloop) { double save_alt = 0.0; // lets try to avoid really screwing up the LaRCsim model if ( f.get_Altitude() < -9000.0 ) { save_alt = f.get_Altitude(); f.set_Altitude( 0.0 ); } // copy control positions into the LaRCsim structure Lat_control = controls.get_aileron(); Long_control = controls.get_elevator(); Long_trim = controls.get_elevator_trim(); Rudder_pedal = controls.get_rudder(); Throttle_pct = controls.get_throttle( 0 ); Brake_pct = controls.get_brake( 0 ); // Inform LaRCsim of the local terrain altitude Runway_altitude = f.get_Runway_altitude(); // 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 fgLaRCsim_2_FGInterface(f); // but lets restore our original bogus altitude when we are done if ( save_alt < -9000.0 ) { f.set_Altitude( save_alt ); } return 1; } // Convert from the FGInterface struct to the LaRCsim generic_ struct int FGInterface_2_LaRCsim (FGInterface& f) { Mass = f.get_Mass(); 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 int fgLaRCsim_2_FGInterface (FGInterface& f) { // Mass properties and geometry values f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz ); // f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot ); f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg ); // Forces // f.set_Forces_Body_Total( F_X, F_Y, F_Z ); // f.set_Forces_Local_Total( F_north, F_east, F_down ); // f.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 ); // f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear ); // Moments // f.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 ); // f.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 ); // f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear ); // Accelerations // f.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 ); // f.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 ); // f.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 ); // f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body ); // Velocities f.set_Velocities_Local( V_north, V_east, V_down ); // f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground, // V_down_rel_ground ); // f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass, // V_down_airmass ); // f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass, // V_east_rel_airmass, V_down_rel_airmass ); // f.set_Velocities_Gust( U_gust, V_gust, W_gust ); // f.set_Velocities_Wind_Body( U_body, V_body, W_body ); // f.set_V_rel_wind( V_rel_wind ); // f.set_V_true_kts( V_true_kts ); // f.set_V_rel_ground( V_rel_ground ); // f.set_V_inertial( V_inertial ); // f.set_V_ground_speed( V_ground_speed ); // f.set_V_equiv( V_equiv ); f.set_V_equiv_kts( V_equiv_kts ); // f.set_V_calibrated( V_calibrated ); // f.set_V_calibrated_kts( V_calibrated_kts ); f.set_Omega_Body( P_body, Q_body, R_body ); // f.set_Omega_Local( P_local, Q_local, R_local ); // f.set_Omega_Total( P_total, Q_total, R_total ); // f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot ); f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot ); 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 ); // Positions f.set_Geocentric_Position( Lat_geocentric, Lon_geocentric, Radius_to_vehicle ); f.set_Geodetic_Position( Latitude, Longitude, Altitude ); f.set_Euler_Angles( Phi, Theta, Psi ); // Miscellaneous quantities f.set_T_Local_to_Body(T_local_to_body_m); // f.set_Gravity( Gravity ); // f.set_Centrifugal_relief( Centrifugal_relief ); f.set_Alpha( Alpha ); f.set_Beta( Beta ); // f.set_Alpha_dot( Alpha_dot ); // f.set_Beta_dot( Beta_dot ); // f.set_Cos_alpha( Cos_alpha ); // f.set_Sin_alpha( Sin_alpha ); // f.set_Cos_beta( Cos_beta ); // f.set_Sin_beta( Sin_beta ); // f.set_Cos_phi( Cos_phi ); // f.set_Sin_phi( Sin_phi ); // f.set_Cos_theta( Cos_theta ); // f.set_Sin_theta( Sin_theta ); // f.set_Cos_psi( Cos_psi ); // f.set_Sin_psi( Sin_psi ); f.set_Gamma_vert_rad( Gamma_vert_rad ); // f.set_Gamma_horiz_rad( Gamma_horiz_rad ); // f.set_Sigma( Sigma ); // f.set_Density( Density ); // f.set_V_sound( V_sound ); // f.set_Mach_number( Mach_number ); // f.set_Static_pressure( Static_pressure ); // f.set_Total_pressure( Total_pressure ); // f.set_Impact_pressure( Impact_pressure ); // f.set_Dynamic_pressure( Dynamic_pressure ); // f.set_Static_temperature( Static_temperature ); // f.set_Total_temperature( Total_temperature ); f.set_Sea_level_radius( Sea_level_radius ); f.set_Earth_position_angle( Earth_position_angle ); f.set_Runway_altitude( Runway_altitude ); // f.set_Runway_latitude( Runway_latitude ); // f.set_Runway_longitude( Runway_longitude ); // f.set_Runway_heading( Runway_heading ); // f.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); // f.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, // D_pilot_above_rwy ); // f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy ); f.set_sin_lat_geocentric(Lat_geocentric); f.set_cos_lat_geocentric(Lat_geocentric); f.set_sin_cos_longitude(Longitude); f.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", // f.get_sin_latitude(), f.get_cos_latitude()); // printf("sin_lon %f cos_lon %f\n", // f.get_sin_longitude(), f.get_cos_longitude()); return 0; } // $Log$ // Revision 1.12 1999/04/03 04:20:02 curt // Optimizations (tm) by Norman Vine. // // Revision 1.11 1999/02/05 21:28:58 curt // Modifications to incorporate Jon S. Berndts flight model code. // // Revision 1.10 1999/02/01 21:33:30 curt // Renamed FlightGear/Simulator/Flight to FlightGear/Simulator/FDM since // Jon accepted my offer to do this and thought it was a good idea. // // Revision 1.9 1999/01/08 19:27:36 curt // Fixed AOA reading on HUD. // Continued work on time jitter compensation. // // Revision 1.8 1998/12/18 23:37:06 curt // Collapsed out the FGState variables not currently needed. They are just // commented out and can be readded easily at any time. The point of this // exersize is to determine which variables were or were not currently being // used. // // Revision 1.7 1998/12/14 13:31:06 curt // LaRCsim maintains all it's variables internally. I had been copying all of // them back and forth to the FG struture everytime I updated the flight model. // However, I have realized that this is not necessary. I just need to copy // the control positions and environmental parameters into the LaRCsim structure // before updating the FDM, then copy every thing back out into the publick FGFS // structure afterwords. This seems to solve (or at least help) a westward // drift problem some poeple had been observing. // // Revision 1.6 1998/12/05 15:54:08 curt // Renamed class fgFLIGHT to class FGState as per request by JSB. // // Revision 1.5 1998/12/03 04:25:02 curt // Working on fixing up new fgFLIGHT class. // // Revision 1.4 1998/12/03 01:16:37 curt // Converted fgFLIGHT to a class. // // Revision 1.3 1998/10/25 14:08:43 curt // Turned "struct fgCONTROLS" into a class, with inlined accessor functions. // // Revision 1.2 1998/10/17 01:34:11 curt // C++ ifying ... // // Revision 1.1 1998/10/17 00:43:58 curt // Initial revision. // //