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flightgear/src/FDM/YASim/YASim.cxx
frohlich db2d4a7a68 Fix some sim time issues with the locations of the ground cache and the
queries in there.

Modified Files:
 	flight.cxx flight.hxx groundcache.cxx
	groundcache.hxx JSBSim/JSBSim.cxx YASim/YASim.cxx
	YASim/YASim.hxx
2009-03-18 08:00:08 +01:00

501 lines
15 KiB
C++

#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/scene/model/placement.hxx>
#include <simgear/xml/easyxml.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include "FGFDM.hpp"
#include "Atmosphere.hpp"
#include "Math.hpp"
#include "Airplane.hpp"
#include "Model.hpp"
#include "Integrator.hpp"
#include "Glue.hpp"
#include "Gear.hpp"
#include "Hook.hpp"
#include "Launchbar.hpp"
#include "FGGround.hpp"
#include "PropEngine.hpp"
#include "PistonEngine.hpp"
#include "YASim.hxx"
using namespace yasim;
static const float YASIM_PI = 3.14159265358979323846;
static const float RAD2DEG = 180/YASIM_PI;
static const float PI2 = YASIM_PI*2;
static const float RAD2RPM = 9.54929658551;
static const float M2FT = 3.2808399;
static const float FT2M = 0.3048;
static const float MPS2KTS = 3600.0/1852.0;
static const float CM2GALS = 264.172037284; // gallons/cubic meter
static const float KG2LBS = 2.20462262185;
static const float W2HP = 1.3416e-3;
static const float INHG2PA = 3386.389;
static const float SLUG2KG = 14.59390;
YASim::YASim(double dt) :
_simTime(0)
{
// set_delta_t(dt);
_fdm = new FGFDM();
_dt = dt;
_fdm->getAirplane()->getModel()->setGroundCallback( new FGGround(this) );
_fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
}
YASim::~YASim()
{
delete _fdm;
}
void YASim::report()
{
Airplane* a = _fdm->getAirplane();
float aoa = a->getCruiseAoA() * RAD2DEG;
float tail = -1 * a->getTailIncidence() * RAD2DEG;
float drag = 1000 * a->getDragCoefficient();
SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
float cg[3];
char buf[256];
a->getModel()->getBody()->getCG(cg);
sprintf(buf, " CG: %.3f, %.3f, %.3f", cg[0], cg[1], cg[2]);
SG_LOG(SG_FLIGHT, SG_INFO, buf);
if(a->getFailureMsg()) {
SG_LOG(SG_FLIGHT, SG_ALERT, "YASim SOLUTION FAILURE:");
SG_LOG(SG_FLIGHT, SG_ALERT, a->getFailureMsg());
exit(1);
}
}
void YASim::bind()
{
// Run the superclass bind to set up a bunch of property ties
FGInterface::bind();
// Now UNtie the ones that we are going to set ourselves.
fgUntie("/consumables/fuel/tank[0]/level-gal_us");
fgUntie("/consumables/fuel/tank[1]/level-gal_us");
char buf[256];
for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i); fgUntie(buf);
}
}
void YASim::init()
{
Airplane* a = _fdm->getAirplane();
Model* m = a->getModel();
// Superclass hook
common_init();
m->setCrashed(false);
// Figure out the initial speed type
string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
if (speed_set == "NED")
_speed_set = NED;
else if (speed_set == "UVW")
_speed_set = UVW;
else if (speed_set == "knots")
_speed_set = KNOTS;
else if (speed_set == "mach")
_speed_set = MACH;
else {
_speed_set = UVW;
SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
}
// Build a filename and parse it
SGPath f(fgGetString("/sim/aircraft-dir"));
f.append(fgGetString("/sim/aero"));
f.concat(".xml");
readXML(f.str(), *_fdm);
// Compile it into a real airplane, and tell the user what they got
a->compile();
report();
_fdm->init();
// Create some FG{Eng|Gear}Interface objects
int i;
for(i=0; i<a->numGear(); i++) {
Gear* g = a->getGear(i);
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
float pos[3];
g->getPosition(pos);
node->setDoubleValue("xoffset-in", pos[0] * M2FT * 12);
node->setDoubleValue("yoffset-in", pos[1] * M2FT * 12);
node->setDoubleValue("zoffset-in", pos[2] * M2FT * 12);
}
// Are we at ground level? If so, lift the plane up so the gear
// clear the ground.
double runway_altitude = get_Runway_altitude();
if(get_Altitude() - runway_altitude < 50) {
fgSetBool("/controls/gear/gear-down", false);
float minGearZ = 1e18;
for(i=0; i<a->numGear(); i++) {
Gear* g = a->getGear(i);
float pos[3];
g->getPosition(pos);
if(pos[2] < minGearZ)
minGearZ = pos[2];
}
_set_Altitude(runway_altitude - minGearZ*M2FT);
fgSetBool("/controls/gear/gear-down", true);
}
// Blank the state, and copy in ours
State s;
m->setState(&s);
copyToYASim(true);
_fdm->getExternalInput();
_fdm->getAirplane()->initEngines();
set_inited(true);
}
void YASim::update(double dt)
{
if (is_suspended())
return;
int iterations = _calc_multiloop(dt);
// If we're crashed, then we don't care
if(_fdm->getAirplane()->getModel()->isCrashed()) {
if(!fgGetBool("/sim/crashed"))
fgSetBool("/sim/crashed", true);
return;
}
// ground. Calculate a cartesian coordinate for the ground under
// us, find the (geodetic) up vector normal to the ground, then
// use that to find the final (radius) term of the plane equation.
float v[3] = { get_uBody(), get_vBody(), get_wBody() };
float lat = get_Latitude(); float lon = get_Longitude();
float alt = get_Altitude() * FT2M; double xyz[3];
sgGeodToCart(lat, lon, alt, xyz);
// build the environment cache.
float vr = _fdm->getVehicleRadius();
vr += 2.0*FT2M*dt*Math::mag3(v);
prepare_ground_cache_m( _simTime, _simTime + dt, xyz, vr );
// Track time increments.
FGGround* gr
= (FGGround*)_fdm->getAirplane()->getModel()->getGroundCallback();
int i;
for(i=0; i<iterations; i++) {
gr->setTimeOffset(_simTime + i*_dt);
copyToYASim(false);
_fdm->iterate(_dt);
copyFromYASim();
}
// Increment the local sim time
_simTime += dt;
gr->setTimeOffset(_simTime);
}
void YASim::copyToYASim(bool copyState)
{
// Physical state
double lat = get_Latitude();
double lon = get_Longitude();
float alt = get_Altitude() * FT2M;
float roll = get_Phi();
float pitch = get_Theta();
float hdg = get_Psi();
// Environment
float wind[3];
wind[0] = get_V_north_airmass() * FT2M * -1.0;
wind[1] = get_V_east_airmass() * FT2M * -1.0;
wind[2] = get_V_down_airmass() * FT2M * -1.0;
float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
float dens = fgGetFloat("/environment/density-slugft3")
* SLUG2KG * M2FT*M2FT*M2FT;
// Convert and set:
Model* model = _fdm->getAirplane()->getModel();
State s;
float xyz2ned[9];
Glue::xyz2nedMat(lat, lon, xyz2ned);
// position
sgGeodToCart(lat, lon, alt, s.pos);
// orientation
Glue::euler2orient(roll, pitch, hdg, s.orient);
Math::mmul33(s.orient, xyz2ned, s.orient);
// Velocity
string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
float v[3];
bool needCopy = false;
switch (_speed_set) {
case NED:
v[0] = get_V_north() * FT2M * -1.0;
v[1] = get_V_east() * FT2M * -1.0;
v[2] = get_V_down() * FT2M * -1.0;
break;
case UVW:
v[0] = get_uBody() * FT2M;
v[1] = get_vBody() * FT2M;
v[2] = get_wBody() * FT2M;
Math::tmul33(s.orient, v, v);
break;
case KNOTS:
v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
pressure, temp);
v[1] = 0;
v[2] = 0;
Math::tmul33(s.orient, v, v);
needCopy = true;
break;
case MACH:
v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
v[1] = 0;
v[2] = 0;
Math::tmul33(s.orient, v, v);
needCopy = true;
break;
default:
v[0] = 0;
v[1] = 0;
v[2] = 0;
break;
}
if (!copyState)
_speed_set = UVW; // change to this after initial setting
Math::set3(v, s.v);
if(copyState || needCopy)
model->setState(&s);
// wind
Math::tmul33(xyz2ned, wind, wind);
model->setWind(wind);
// air
model->setAir(pressure, temp, dens);
// Query a ground plane for each gear/hook/launchbar and
// write that value into the corresponding class.
_fdm->getAirplane()->getModel()->updateGround(&s);
Launchbar* l = model->getLaunchbar();
if (l)
l->setLaunchCmd(0.0<fgGetFloat("/controls/gear/catapult-launch-cmd"));
}
// All the settables:
//
// These are set below:
// _set_Accels_Local
// _set_Accels_Body
// _set_Accels_CG_Body
// _set_Accels_Pilot_Body
// _set_Accels_CG_Body_N
// _set_Velocities_Local
// _set_Velocities_Ground
// _set_Velocities_Wind_Body
// _set_Omega_Body
// _set_Euler_Rates
// _set_Euler_Angles
// _set_V_rel_wind
// _set_V_ground_speed
// _set_V_equiv_kts
// _set_V_calibrated_kts
// _set_Alpha
// _set_Beta
// _set_Mach_number
// _set_Climb_Rate
// _set_Tank1Fuel
// _set_Tank2Fuel
// _set_Altitude_AGL
// _set_Geodetic_Position
// _set_Runway_altitude
// Ignoring these, because they're unused:
// _set_Geocentric_Position
// _set_Geocentric_Rates
// _set_Cos_phi
// _set_Cos_theta
// _set_Earth_position_angle (WTF?)
// _set_Gamma_vert_rad
// _set_Inertias
// _set_T_Local_to_Body
// _set_CG_Position
// _set_Sea_Level_Radius
// Externally set via the weather code:
// _set_Velocities_Local_Airmass
// _set_Density
// _set_Static_pressure
// _set_Static_temperature
void YASim::copyFromYASim()
{
Airplane* airplane = _fdm->getAirplane();
Model* model = airplane->getModel();
State* s = model->getState();
// position
double lat, lon, alt;
sgCartToGeod(s->pos, &lat, &lon, &alt);
_set_Geodetic_Position(lat, lon, alt*M2FT);
double groundlevel_m = get_groundlevel_m(lat, lon, alt);
_set_Runway_altitude(groundlevel_m*SG_METER_TO_FEET);
_set_Altitude_AGL((alt-groundlevel_m)*SG_METER_TO_FEET);
// the smallest agl of all gears
fgSetFloat("/position/gear-agl-m", model->getAGL());
fgSetFloat("/position/gear-agl-ft", model->getAGL()*M2FT);
// UNUSED
//_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
// useful conversion matrix
float xyz2ned[9];
Glue::xyz2nedMat(lat, lon, xyz2ned);
// velocity
float v[3];
Math::vmul33(xyz2ned, s->v, v);
_set_Velocities_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
_set_V_ground_speed(Math::sqrt(M2FT*v[0]*M2FT*v[0] +
M2FT*v[1]*M2FT*v[1]));
_set_Climb_Rate(-M2FT*v[2]);
// The HUD uses this, but inverts down (?!)
_set_Velocities_Ground(M2FT*v[0], M2FT*v[1], -M2FT*v[2]);
// _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
// Airflow velocity.
float wind[3];
wind[0] = get_V_north_airmass() * FT2M * -1.0; // Wind in NED
wind[1] = get_V_east_airmass() * FT2M * -1.0;
wind[2] = get_V_down_airmass() * FT2M * -1.0;
Math::tmul33(xyz2ned, wind, wind); // Wind in global
Math::sub3(s->v, wind, v); // V - wind in global
Math::vmul33(s->orient, v, v); // to body coordinates
_set_Velocities_Wind_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
_set_V_rel_wind(Math::mag3(v)*M2FT); // units?
float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
float T = fgGetDouble("/environment/temperature-degc") + 273.15;
float D = fgGetFloat("/environment/density-slugft3")
*SLUG2KG * M2FT*M2FT*M2FT;
_set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T, D)*MPS2KTS);
_set_V_calibrated_kts(Atmosphere::calcVCAS(v[0], P, T)*MPS2KTS);
_set_Mach_number(Atmosphere::calcMach(v[0], T));
// acceleration
Math::vmul33(xyz2ned, s->acc, v);
_set_Accels_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
Math::vmul33(s->orient, s->acc, v);
_set_Accels_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
_set_Accels_CG_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
_fdm->getAirplane()->getPilotAccel(v);
_set_Accels_Pilot_Body(-M2FT*v[0], M2FT*v[1], M2FT*v[2]);
// There is no property for pilot G's, but I need it for a panel
// instrument. Hack this in here, and REMOVE IT WHEN IT FINDS A
// REAL HOME!
fgSetFloat("/accelerations/pilot-g", -v[2]/9.8);
// The one appears (!) to want inverted pilot acceleration
// numbers, in G's...
Math::mul3(1.0/9.8, v, v);
_set_Accels_CG_Body_N(v[0], -v[1], -v[2]);
// orientation
float alpha, beta;
Glue::calcAlphaBeta(s, wind, &alpha, &beta);
_set_Alpha(alpha);
_set_Beta(beta);
float tmp[9];
Math::trans33(xyz2ned, tmp);
Math::mmul33(s->orient, tmp, tmp);
float roll, pitch, hdg;
Glue::orient2euler(tmp, &roll, &pitch, &hdg);
// make heading positive value
if(hdg < 0.0) hdg += PI2;
_set_Euler_Angles(roll, pitch, hdg);
// rotation
Math::vmul33(s->orient, s->rot, v);
_set_Omega_Body(v[0], -v[1], -v[2]);
Glue::calcEulerRates(s, &roll, &pitch, &hdg);
_set_Euler_Rates(roll, pitch, hdg);
// Fill out our engine and gear objects
int i;
for(i=0; i<airplane->numGear(); i++) {
Gear* g = airplane->getGear(i);
SGPropertyNode * node = fgGetNode("gear/gear", i, true);
node->setBoolValue("has-brake", g->getBrake() != 0);
node->setBoolValue("wow", g->getCompressFraction() != 0);
node->setFloatValue("compression-norm", g->getCompressFraction());
node->setFloatValue("compression-m", g->getCompressDist());
node->setFloatValue("caster-angle-deg", g->getCasterAngle() * RAD2DEG);
node->setFloatValue("rollspeed-ms", g->getRollSpeed());
node->setBoolValue("ground-is-solid", g->getGroundIsSolid()!=0);
node->setFloatValue("ground-friction-factor", g->getGroundFrictionFactor());
}
Hook* h = airplane->getHook();
if(h) {
SGPropertyNode * node = fgGetNode("gear/tailhook", 0, true);
node->setFloatValue("position-norm", h->getCompressFraction());
}
Launchbar* l = airplane->getLaunchbar();
if(l) {
SGPropertyNode * node = fgGetNode("gear/launchbar", 0, true);
node->setFloatValue("position-norm", l->getCompressFraction());
node->setFloatValue("holdback-position-norm", l->getHoldbackCompressFraction());
node->setStringValue("state", l->getState());
node->setBoolValue("strop", l->getStrop());
}
}