310 lines
9.8 KiB
C++
310 lines
9.8 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Header: JSBSim.hxx
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Author: Curtis L. Olson
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Maintained by: Tony Peden, Curt Olson
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Date started: 02/01/1999
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------ Copyright (C) 1999 - 2000 Curtis L. Olson (curt@flightgear.org) ------
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public License as
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published by the Free Software Foundation; either version 2 of the
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License, or (at your option) any later version.
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This program is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
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HISTORY
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--------------------------------------------------------------------------------
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02/01/1999 CLO Created
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Additional log messages stored in CVS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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SENTRY
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifndef _JSBSIM_HXX
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#define _JSBSIM_HXX
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#undef MAX_ENGINES
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_JSBSIMXX "$Header JSBSim.hxx,v 1.4 2000/10/22 14:02:16 jsb Exp $"
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#define METERS_TO_FEET 3.2808398950
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#define RADTODEG 57.2957795
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include <simgear/props/props.hxx>
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#include <FDM/JSBSim/FGFDMExec.h>
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namespace JSBSim {
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class FGAtmosphere;
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class FGWinds;
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class FGFCS;
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class FGPropulsion;
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class FGMassBalance;
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class FGAerodynamics;
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class FGInertial;
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class FGAircraft;
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class FGPropagate;
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class FGAuxiliary;
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class FGOutput;
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class FGInitialCondition;
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class FGLocation;
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class FGAccelerations;
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}
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// Adding it here will cause a namespace clash in FlightGear -EMH-
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// using namespace JSBSim;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DOCUMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/** FGFS / JSBSim interface (aka "The Bus").
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This class provides for an interface between FlightGear and its data
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structures and JSBSim and its data structures. This is the class which is
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used to command JSBSim when integrated with FlightGear. See the
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documentation for main for direction on running JSBSim apart from FlightGear.
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@author Curtis L. Olson (original)
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@author Tony Peden (Maintained and refined)
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@version $Id: JSBSim.hxx,v 1.15 2010/10/07 03:45:40 jberndt Exp $
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@see main in file JSBSim.cpp (use main() wrapper for standalone usage)
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGJSBsim: public FGInterface {
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public:
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/// Constructor
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FGJSBsim( double dt );
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/// Destructor
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~FGJSBsim();
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/// copy FDM state to LaRCsim structures
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bool copy_to_JSBsim();
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/// copy FDM state from LaRCsim structures
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bool copy_from_JSBsim();
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/// Reset flight params to a specific position
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void init();
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/// Unbind properties
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void unbind();
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/// Suspend integration
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void suspend();
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/// Resume integration
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void resume();
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/// @name Position Parameter Set
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//@{
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/** Set geocentric latitude
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@param lat latitude in radians measured from the 0 meridian where
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the westerly direction is positive and east is negative */
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void set_Latitude(double lat); // geocentric
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/** Set longitude
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@param lon longitude in radians measured from the equator where
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the northerly direction is positive and south is negative */
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void set_Longitude(double lon);
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/** Set altitude
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Note: this triggers a recalculation of AGL altitude
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@param alt altitude in feet */
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void set_Altitude(double alt); // triggers re-calc of AGL altitude
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//@}
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//void set_AltitudeAGL(double altagl); // and vice-versa
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/// @name Velocity Parameter Set
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//@{
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/** Sets calibrated airspeed
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Setting this will trigger a recalc of the other velocity terms.
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@param vc Calibrated airspeed in ft/sec */
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void set_V_calibrated_kts(double vc);
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/** Sets Mach number.
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Setting this will trigger a recalc of the other velocity terms.
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@param mach Mach number */
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void set_Mach_number(double mach);
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/** Sets velocity in N-E-D coordinates.
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Setting this will trigger a recalc of the other velocity terms.
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@param north velocity northward in ft/sec
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@param east velocity eastward in ft/sec
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@param down velocity downward in ft/sec */
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void set_Velocities_Local( double north, double east, double down );
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/** Sets aircraft velocity in stability frame.
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Setting this will trigger a recalc of the other velocity terms.
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@param u X velocity in ft/sec
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@param v Y velocity in ft/sec
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@param w Z velocity in ft/sec */
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void set_Velocities_Wind_Body( double u, double v, double w);
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//@}
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/** Euler Angle Parameter Set
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@param phi roll angle in radians
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@param theta pitch angle in radians
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@param psi heading angle in radians */
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void set_Euler_Angles( double phi, double theta, double psi );
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/// @name Flight Path Parameter Set
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//@{
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/** Sets rate of climb
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@param roc Rate of climb in ft/sec */
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void set_Climb_Rate( double roc);
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/** Sets the flight path angle in radians
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@param gamma flight path angle in radians. */
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void set_Gamma_vert_rad( double gamma);
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//@}
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/// @name Atmospheric Parameter Set
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//@{
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/** Sets the atmospheric static pressure
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@param p pressure in psf */
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// void set_Static_pressure(double p);
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/** Sets the atmospheric temperature
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@param T temperature in degrees rankine */
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// void set_Static_temperature(double T);
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/** Sets the atmospheric density.
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@param rho air density slugs/cubic foot */
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// void set_Density(double rho);
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/** Sets the velocity of the local airmass for wind modeling.
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@param wnorth velocity north in fps
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@param weast velocity east in fps
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@param wdown velocity down in fps*/
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/// @name Position Parameter Update
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//@{
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/** Update the position based on inputs, positions, velocities, etc.
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@param dt delta time in seconds. */
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void update(double dt);
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bool ToggleDataLogging(bool state);
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bool ToggleDataLogging(void);
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bool get_agl_ft(double t, const double pt[3], double alt_off,
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double contact[3], double normal[3], double vel[3],
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double angularVel[3], double *agl);
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private:
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JSBSim::FGFDMExec *fdmex;
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JSBSim::FGInitialCondition *fgic;
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bool needTrim;
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JSBSim::FGAtmosphere* Atmosphere;
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JSBSim::FGWinds* Winds;
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JSBSim::FGFCS* FCS;
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JSBSim::FGPropulsion* Propulsion;
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JSBSim::FGMassBalance* MassBalance;
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JSBSim::FGAircraft* Aircraft;
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JSBSim::FGPropagate* Propagate;
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JSBSim::FGAuxiliary* Auxiliary;
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JSBSim::FGAerodynamics* Aerodynamics;
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JSBSim::FGGroundReactions* GroundReactions;
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JSBSim::FGInertial* Inertial;
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JSBSim::FGAccelerations* Accelerations;
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int runcount;
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double trim_elev;
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double trim_throttle;
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SGPropertyNode_ptr startup_trim;
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SGPropertyNode_ptr trimmed;
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SGPropertyNode_ptr pitch_trim;
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SGPropertyNode_ptr throttle_trim;
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SGPropertyNode_ptr aileron_trim;
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SGPropertyNode_ptr rudder_trim;
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SGPropertyNode_ptr stall_warning;
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/* SGPropertyNode_ptr elevator_pos_deg;
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SGPropertyNode_ptr left_aileron_pos_deg;
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SGPropertyNode_ptr right_aileron_pos_deg;
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SGPropertyNode_ptr rudder_pos_deg;
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SGPropertyNode_ptr flap_pos_deg; */
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SGPropertyNode_ptr elevator_pos_pct;
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SGPropertyNode_ptr left_aileron_pos_pct;
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SGPropertyNode_ptr right_aileron_pos_pct;
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SGPropertyNode_ptr rudder_pos_pct;
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SGPropertyNode_ptr flap_pos_pct;
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SGPropertyNode_ptr speedbrake_pos_pct;
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SGPropertyNode_ptr spoilers_pos_pct;
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SGPropertyNode_ptr ab_brake_engaged;
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SGPropertyNode_ptr ab_brake_left_pct;
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SGPropertyNode_ptr ab_brake_right_pct;
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SGPropertyNode_ptr gear_pos_pct;
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SGPropertyNode_ptr wing_fold_pos_pct;
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SGPropertyNode_ptr tailhook_pos_pct;
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SGPropertyNode_ptr temperature;
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SGPropertyNode_ptr pressure;
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SGPropertyNode_ptr pressureSL;
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SGPropertyNode_ptr ground_wind;
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SGPropertyNode_ptr turbulence_gain;
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SGPropertyNode_ptr turbulence_rate;
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SGPropertyNode_ptr turbulence_model;
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SGPropertyNode_ptr wind_from_north;
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SGPropertyNode_ptr wind_from_east;
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SGPropertyNode_ptr wind_from_down;
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SGPropertyNode_ptr slaved;
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static std::map<std::string,int> TURBULENCE_TYPE_NAMES;
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double last_hook_tip[3];
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double last_hook_root[3];
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JSBSim::FGColumnVector3 hook_root_struct;
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double hook_length;
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bool got_wire;
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bool crashed;
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void do_trim(void);
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bool update_ground_cache(JSBSim::FGLocation cart, double* cart_pos, double dt);
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void init_gear(void);
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void update_gear(void);
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void update_external_forces(double t_off);
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};
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#endif // _JSBSIM_HXX
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