db2d4a7a68
queries in there. Modified Files: flight.cxx flight.hxx groundcache.cxx groundcache.hxx JSBSim/JSBSim.cxx YASim/YASim.cxx YASim/YASim.hxx
501 lines
15 KiB
C++
501 lines
15 KiB
C++
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#ifdef HAVE_CONFIG_H
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# include "config.h"
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#endif
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#include <simgear/debug/logstream.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <simgear/scene/model/placement.hxx>
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#include <simgear/xml/easyxml.hxx>
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#include <Main/globals.hxx>
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#include <Main/fg_props.hxx>
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#include "FGFDM.hpp"
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#include "Atmosphere.hpp"
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#include "Math.hpp"
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#include "Airplane.hpp"
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#include "Model.hpp"
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#include "Integrator.hpp"
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#include "Glue.hpp"
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#include "Gear.hpp"
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#include "Hook.hpp"
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#include "Launchbar.hpp"
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#include "FGGround.hpp"
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#include "PropEngine.hpp"
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#include "PistonEngine.hpp"
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#include "YASim.hxx"
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using namespace yasim;
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static const float YASIM_PI = 3.14159265358979323846;
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static const float RAD2DEG = 180/YASIM_PI;
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static const float PI2 = YASIM_PI*2;
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static const float RAD2RPM = 9.54929658551;
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static const float M2FT = 3.2808399;
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static const float FT2M = 0.3048;
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static const float MPS2KTS = 3600.0/1852.0;
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static const float CM2GALS = 264.172037284; // gallons/cubic meter
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static const float KG2LBS = 2.20462262185;
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static const float W2HP = 1.3416e-3;
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static const float INHG2PA = 3386.389;
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static const float SLUG2KG = 14.59390;
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YASim::YASim(double dt) :
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_simTime(0)
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{
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// set_delta_t(dt);
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_fdm = new FGFDM();
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_dt = dt;
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_fdm->getAirplane()->getModel()->setGroundCallback( new FGGround(this) );
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_fdm->getAirplane()->getModel()->getIntegrator()->setInterval(_dt);
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}
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YASim::~YASim()
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{
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delete _fdm;
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}
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void YASim::report()
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{
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Airplane* a = _fdm->getAirplane();
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float aoa = a->getCruiseAoA() * RAD2DEG;
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float tail = -1 * a->getTailIncidence() * RAD2DEG;
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float drag = 1000 * a->getDragCoefficient();
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SG_LOG(SG_FLIGHT,SG_INFO,"YASim solution results:");
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SG_LOG(SG_FLIGHT,SG_INFO," Iterations: "<<a->getSolutionIterations());
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SG_LOG(SG_FLIGHT,SG_INFO," Drag Coefficient: "<< drag);
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SG_LOG(SG_FLIGHT,SG_INFO," Lift Ratio: "<<a->getLiftRatio());
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SG_LOG(SG_FLIGHT,SG_INFO," Cruise AoA: "<< aoa);
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SG_LOG(SG_FLIGHT,SG_INFO," Tail Incidence: "<< tail);
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SG_LOG(SG_FLIGHT,SG_INFO,"Approach Elevator: "<<a->getApproachElevator());
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float cg[3];
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char buf[256];
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a->getModel()->getBody()->getCG(cg);
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sprintf(buf, " CG: %.3f, %.3f, %.3f", cg[0], cg[1], cg[2]);
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SG_LOG(SG_FLIGHT, SG_INFO, buf);
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if(a->getFailureMsg()) {
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SG_LOG(SG_FLIGHT, SG_ALERT, "YASim SOLUTION FAILURE:");
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SG_LOG(SG_FLIGHT, SG_ALERT, a->getFailureMsg());
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exit(1);
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}
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}
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void YASim::bind()
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{
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// Run the superclass bind to set up a bunch of property ties
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FGInterface::bind();
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// Now UNtie the ones that we are going to set ourselves.
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fgUntie("/consumables/fuel/tank[0]/level-gal_us");
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fgUntie("/consumables/fuel/tank[1]/level-gal_us");
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char buf[256];
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for(int i=0; i<_fdm->getAirplane()->getModel()->numThrusters(); i++) {
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sprintf(buf, "/engines/engine[%d]/fuel-flow-gph", i); fgUntie(buf);
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sprintf(buf, "/engines/engine[%d]/rpm", i); fgUntie(buf);
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sprintf(buf, "/engines/engine[%d]/mp-osi", i); fgUntie(buf);
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sprintf(buf, "/engines/engine[%d]/egt-degf", i); fgUntie(buf);
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sprintf(buf, "/engines/engine[%d]/oil-temperature-degf", i); fgUntie(buf);
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}
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}
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void YASim::init()
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{
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Airplane* a = _fdm->getAirplane();
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Model* m = a->getModel();
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// Superclass hook
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common_init();
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m->setCrashed(false);
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// Figure out the initial speed type
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string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
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if (speed_set == "NED")
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_speed_set = NED;
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else if (speed_set == "UVW")
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_speed_set = UVW;
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else if (speed_set == "knots")
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_speed_set = KNOTS;
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else if (speed_set == "mach")
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_speed_set = MACH;
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else {
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_speed_set = UVW;
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SG_LOG(SG_FLIGHT, SG_ALERT, "Unknown speed type " << speed_set);
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}
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// Build a filename and parse it
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SGPath f(fgGetString("/sim/aircraft-dir"));
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f.append(fgGetString("/sim/aero"));
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f.concat(".xml");
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readXML(f.str(), *_fdm);
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// Compile it into a real airplane, and tell the user what they got
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a->compile();
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report();
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_fdm->init();
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// Create some FG{Eng|Gear}Interface objects
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int i;
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for(i=0; i<a->numGear(); i++) {
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Gear* g = a->getGear(i);
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SGPropertyNode * node = fgGetNode("gear/gear", i, true);
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float pos[3];
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g->getPosition(pos);
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node->setDoubleValue("xoffset-in", pos[0] * M2FT * 12);
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node->setDoubleValue("yoffset-in", pos[1] * M2FT * 12);
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node->setDoubleValue("zoffset-in", pos[2] * M2FT * 12);
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}
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// Are we at ground level? If so, lift the plane up so the gear
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// clear the ground.
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double runway_altitude = get_Runway_altitude();
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if(get_Altitude() - runway_altitude < 50) {
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fgSetBool("/controls/gear/gear-down", false);
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float minGearZ = 1e18;
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for(i=0; i<a->numGear(); i++) {
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Gear* g = a->getGear(i);
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float pos[3];
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g->getPosition(pos);
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if(pos[2] < minGearZ)
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minGearZ = pos[2];
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}
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_set_Altitude(runway_altitude - minGearZ*M2FT);
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fgSetBool("/controls/gear/gear-down", true);
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}
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// Blank the state, and copy in ours
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State s;
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m->setState(&s);
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copyToYASim(true);
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_fdm->getExternalInput();
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_fdm->getAirplane()->initEngines();
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set_inited(true);
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}
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void YASim::update(double dt)
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{
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if (is_suspended())
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return;
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int iterations = _calc_multiloop(dt);
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// If we're crashed, then we don't care
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if(_fdm->getAirplane()->getModel()->isCrashed()) {
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if(!fgGetBool("/sim/crashed"))
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fgSetBool("/sim/crashed", true);
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return;
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}
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// ground. Calculate a cartesian coordinate for the ground under
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// us, find the (geodetic) up vector normal to the ground, then
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// use that to find the final (radius) term of the plane equation.
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float v[3] = { get_uBody(), get_vBody(), get_wBody() };
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float lat = get_Latitude(); float lon = get_Longitude();
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float alt = get_Altitude() * FT2M; double xyz[3];
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sgGeodToCart(lat, lon, alt, xyz);
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// build the environment cache.
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float vr = _fdm->getVehicleRadius();
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vr += 2.0*FT2M*dt*Math::mag3(v);
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prepare_ground_cache_m( _simTime, _simTime + dt, xyz, vr );
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// Track time increments.
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FGGround* gr
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= (FGGround*)_fdm->getAirplane()->getModel()->getGroundCallback();
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int i;
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for(i=0; i<iterations; i++) {
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gr->setTimeOffset(_simTime + i*_dt);
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copyToYASim(false);
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_fdm->iterate(_dt);
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copyFromYASim();
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}
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// Increment the local sim time
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_simTime += dt;
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gr->setTimeOffset(_simTime);
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}
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void YASim::copyToYASim(bool copyState)
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{
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// Physical state
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double lat = get_Latitude();
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double lon = get_Longitude();
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float alt = get_Altitude() * FT2M;
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float roll = get_Phi();
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float pitch = get_Theta();
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float hdg = get_Psi();
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// Environment
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float wind[3];
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wind[0] = get_V_north_airmass() * FT2M * -1.0;
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wind[1] = get_V_east_airmass() * FT2M * -1.0;
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wind[2] = get_V_down_airmass() * FT2M * -1.0;
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float pressure = fgGetFloat("/environment/pressure-inhg") * INHG2PA;
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float temp = fgGetFloat("/environment/temperature-degc") + 273.15;
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float dens = fgGetFloat("/environment/density-slugft3")
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* SLUG2KG * M2FT*M2FT*M2FT;
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// Convert and set:
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Model* model = _fdm->getAirplane()->getModel();
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State s;
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float xyz2ned[9];
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Glue::xyz2nedMat(lat, lon, xyz2ned);
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// position
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sgGeodToCart(lat, lon, alt, s.pos);
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// orientation
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Glue::euler2orient(roll, pitch, hdg, s.orient);
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Math::mmul33(s.orient, xyz2ned, s.orient);
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// Velocity
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string speed_set = fgGetString("/sim/presets/speed-set", "UVW");
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float v[3];
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bool needCopy = false;
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switch (_speed_set) {
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case NED:
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v[0] = get_V_north() * FT2M * -1.0;
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v[1] = get_V_east() * FT2M * -1.0;
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v[2] = get_V_down() * FT2M * -1.0;
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break;
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case UVW:
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v[0] = get_uBody() * FT2M;
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v[1] = get_vBody() * FT2M;
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v[2] = get_wBody() * FT2M;
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Math::tmul33(s.orient, v, v);
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break;
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case KNOTS:
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v[0] = Atmosphere::spdFromVCAS(get_V_calibrated_kts()/MPS2KTS,
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pressure, temp);
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v[1] = 0;
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v[2] = 0;
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Math::tmul33(s.orient, v, v);
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needCopy = true;
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break;
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case MACH:
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v[0] = Atmosphere::spdFromMach(get_Mach_number(), temp);
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v[1] = 0;
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v[2] = 0;
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Math::tmul33(s.orient, v, v);
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needCopy = true;
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break;
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default:
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v[0] = 0;
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v[1] = 0;
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v[2] = 0;
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break;
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}
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if (!copyState)
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_speed_set = UVW; // change to this after initial setting
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Math::set3(v, s.v);
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if(copyState || needCopy)
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model->setState(&s);
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// wind
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Math::tmul33(xyz2ned, wind, wind);
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model->setWind(wind);
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// air
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model->setAir(pressure, temp, dens);
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// Query a ground plane for each gear/hook/launchbar and
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// write that value into the corresponding class.
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_fdm->getAirplane()->getModel()->updateGround(&s);
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Launchbar* l = model->getLaunchbar();
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if (l)
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l->setLaunchCmd(0.0<fgGetFloat("/controls/gear/catapult-launch-cmd"));
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}
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// All the settables:
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//
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// These are set below:
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// _set_Accels_Local
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// _set_Accels_Body
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// _set_Accels_CG_Body
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// _set_Accels_Pilot_Body
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// _set_Accels_CG_Body_N
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// _set_Velocities_Local
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// _set_Velocities_Ground
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// _set_Velocities_Wind_Body
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// _set_Omega_Body
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// _set_Euler_Rates
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// _set_Euler_Angles
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// _set_V_rel_wind
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// _set_V_ground_speed
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// _set_V_equiv_kts
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// _set_V_calibrated_kts
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// _set_Alpha
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// _set_Beta
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// _set_Mach_number
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// _set_Climb_Rate
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// _set_Tank1Fuel
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// _set_Tank2Fuel
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// _set_Altitude_AGL
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// _set_Geodetic_Position
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// _set_Runway_altitude
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// Ignoring these, because they're unused:
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// _set_Geocentric_Position
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// _set_Geocentric_Rates
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// _set_Cos_phi
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// _set_Cos_theta
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// _set_Earth_position_angle (WTF?)
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// _set_Gamma_vert_rad
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// _set_Inertias
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// _set_T_Local_to_Body
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// _set_CG_Position
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// _set_Sea_Level_Radius
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// Externally set via the weather code:
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// _set_Velocities_Local_Airmass
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// _set_Density
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// _set_Static_pressure
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// _set_Static_temperature
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void YASim::copyFromYASim()
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{
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Airplane* airplane = _fdm->getAirplane();
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Model* model = airplane->getModel();
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State* s = model->getState();
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// position
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double lat, lon, alt;
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sgCartToGeod(s->pos, &lat, &lon, &alt);
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_set_Geodetic_Position(lat, lon, alt*M2FT);
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double groundlevel_m = get_groundlevel_m(lat, lon, alt);
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_set_Runway_altitude(groundlevel_m*SG_METER_TO_FEET);
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_set_Altitude_AGL((alt-groundlevel_m)*SG_METER_TO_FEET);
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// the smallest agl of all gears
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fgSetFloat("/position/gear-agl-m", model->getAGL());
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fgSetFloat("/position/gear-agl-ft", model->getAGL()*M2FT);
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// UNUSED
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//_set_Geocentric_Position(Glue::geod2geocLat(lat), lon, alt*M2FT);
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// useful conversion matrix
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float xyz2ned[9];
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Glue::xyz2nedMat(lat, lon, xyz2ned);
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// velocity
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float v[3];
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Math::vmul33(xyz2ned, s->v, v);
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_set_Velocities_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
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_set_V_ground_speed(Math::sqrt(M2FT*v[0]*M2FT*v[0] +
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M2FT*v[1]*M2FT*v[1]));
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_set_Climb_Rate(-M2FT*v[2]);
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// The HUD uses this, but inverts down (?!)
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_set_Velocities_Ground(M2FT*v[0], M2FT*v[1], -M2FT*v[2]);
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// _set_Geocentric_Rates(M2FT*v[0], M2FT*v[1], M2FT*v[2]); // UNUSED
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// Airflow velocity.
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float wind[3];
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wind[0] = get_V_north_airmass() * FT2M * -1.0; // Wind in NED
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wind[1] = get_V_east_airmass() * FT2M * -1.0;
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wind[2] = get_V_down_airmass() * FT2M * -1.0;
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Math::tmul33(xyz2ned, wind, wind); // Wind in global
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Math::sub3(s->v, wind, v); // V - wind in global
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Math::vmul33(s->orient, v, v); // to body coordinates
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_set_Velocities_Wind_Body(v[0]*M2FT, -v[1]*M2FT, -v[2]*M2FT);
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_set_V_rel_wind(Math::mag3(v)*M2FT); // units?
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float P = fgGetDouble("/environment/pressure-inhg") * INHG2PA;
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float T = fgGetDouble("/environment/temperature-degc") + 273.15;
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float D = fgGetFloat("/environment/density-slugft3")
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*SLUG2KG * M2FT*M2FT*M2FT;
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_set_V_equiv_kts(Atmosphere::calcVEAS(v[0], P, T, D)*MPS2KTS);
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_set_V_calibrated_kts(Atmosphere::calcVCAS(v[0], P, T)*MPS2KTS);
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_set_Mach_number(Atmosphere::calcMach(v[0], T));
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// acceleration
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Math::vmul33(xyz2ned, s->acc, v);
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_set_Accels_Local(M2FT*v[0], M2FT*v[1], M2FT*v[2]);
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Math::vmul33(s->orient, s->acc, v);
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_set_Accels_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
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_set_Accels_CG_Body(M2FT*v[0], -M2FT*v[1], -M2FT*v[2]);
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_fdm->getAirplane()->getPilotAccel(v);
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_set_Accels_Pilot_Body(-M2FT*v[0], M2FT*v[1], M2FT*v[2]);
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// There is no property for pilot G's, but I need it for a panel
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// instrument. Hack this in here, and REMOVE IT WHEN IT FINDS A
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// REAL HOME!
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fgSetFloat("/accelerations/pilot-g", -v[2]/9.8);
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// The one appears (!) to want inverted pilot acceleration
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// numbers, in G's...
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Math::mul3(1.0/9.8, v, v);
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_set_Accels_CG_Body_N(v[0], -v[1], -v[2]);
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// orientation
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float alpha, beta;
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Glue::calcAlphaBeta(s, wind, &alpha, &beta);
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_set_Alpha(alpha);
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_set_Beta(beta);
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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());
|
|
}
|
|
|
|
}
|