// 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 "LaRCsim.hxx" #include #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 FGLaRCsim::init( double dt ) { // cout << "FGLaRCsim::init()" << endl; 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 ); 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 ); } // set valid time for this record stamp_time(); return 1; } // Run an iteration of the EOM (equations of motion) int FGLaRCsim::update( int multiloop ) { // cout << "FGLaRCsim::update()" << endl; double save_alt = 0.0; double time_step = (1.0 / current_options.get_model_hz()) * multiloop; double start_elev = get_Altitude(); // 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(); Long_control = controls.get_elevator(); Long_trim = controls.get_elevator_trim(); Rudder_pedal = controls.get_rudder(); Flap_handle = 30.0 * controls.get_flaps(); Throttle_pct = controls.get_throttle( 0 ) * 1.0; Brake_pct = controls.get_brake( 0 ); // Inform LaRCsim of the local terrain altitude Runway_altitude = 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 copy_from_LaRCsim(); // but lets restore our original bogus altitude when we are done if ( save_alt < -9000.0 ) { set_Altitude( save_alt ); } double end_elev = get_Altitude(); if ( time_step > 0.0 ) { // feet per second set_Climb_Rate( (end_elev - start_elev) / time_step ); } return 1; } // Convert from the FGInterface struct to the LaRCsim generic_ struct int 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 1; } // Convert from the LaRCsim generic_ struct to the FGInterface struct int 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 ); 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 < -FG_PI ) { tmp_lon_geoc += FG_2PI; } while ( tmp_lon_geoc > FG_PI ) { tmp_lon_geoc -= FG_2PI; } double tmp_lon = Longitude; while ( tmp_lon < -FG_PI ) { tmp_lon += FG_2PI; } while ( tmp_lon > FG_PI ) { tmp_lon -= FG_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 ); // 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()); return 1; }