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flightgear/src/FDM/flight.cxx
curt f31088070c Fix a class of problem that could lead to needless extra time "jitter" in the flight dynamics 
calculations.  We run the FDM at 120hz and compute how many loops can fit into each FG loop.
Floating point rounding could lead to a situation where we could end up running
1, 3, 1, 3, 1, 3... loops of the FDM when in fact we want to run 2, 2, 2, 2, 2...

If we artificially inflate ml above by a tiny amount to get the
closest integer, then subtract the integer from the original
slightly smaller value, we can get a negative remainder.
Logically this should never happen, and we definitely don't want
to carry a negative remainder over to the next iteration, so
never let the remainder go below zero.
2006-07-26 14:18:06 +00:00

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// flight.cxx -- a general interface to the various flight models
//
// Written by Curtis Olson, started May 1997.
//
// Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt
//
// 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include <stdio.h>
#include <plib/sg.h>
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/sg_geodesy.hxx>
#include <simgear/scene/model/placement.hxx>
#include <simgear/scene/material/mat.hxx>
#include <simgear/timing/timestamp.hxx>
#include <Scenery/scenery.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
#include <FDM/groundcache.hxx>
#include "flight.hxx"
// base_fdm_state is the internal state that is updated in integer
// multiples of "dt". This leads to "jitter" with respect to the real
// world time, so we introduce cur_fdm_state which is extrapolated by
// the difference between sim time and real world time
FGInterface *cur_fdm_state = 0;
FGInterface base_fdm_state;
inline void init_vec(FG_VECTOR_3 vec) {
vec[0] = 0.0; vec[1] = 0.0; vec[2] = 0.0;
}
// Constructor
FGInterface::FGInterface()
: remainder(0)
{
_setup();
}
FGInterface::FGInterface( double dt )
: remainder(0)
{
_setup();
}
// Destructor
FGInterface::~FGInterface() {
// unbind(); // FIXME: should be called explicitly
}
int
FGInterface::_calc_multiloop (double dt)
{
int hz = fgGetInt("/sim/model-hz");
int speedup = fgGetInt("/sim/speed-up");
dt += remainder;
remainder = 0;
double ml = dt * hz;
// Avoid roundoff problems by adding the roundoff itself.
// ... ok, two times the roundoff to have enough room.
int multiloop = int(floor(ml * (1.0 + 2.0*DBL_EPSILON)));
remainder = (ml - multiloop) / hz;
// If we artificially inflate ml above by a tiny amount to get the
// closest integer, then subtract the integer from the original
// slightly smaller value, we can get a negative remainder.
// Logically this should never happen, and we definitely don't want
// to carry a negative remainder over to the next iteration, so
// never let the remainder go below zero.
//
// Note: this fixes a problem where we run 1, 3, 1, 3, 1, 3... loops
// of the FDM when in fact we want to run 2, 2, 2, 2, 2...
if ( remainder < 0 ) { remainder = 0; }
return (multiloop * speedup);
}
/**
* Set default values for the state of the FDM.
*
* This method is invoked by the constructors.
*/
void
FGInterface::_setup ()
{
inited = false;
bound = false;
init_vec( d_pilot_rp_body_v );
init_vec( d_cg_rp_body_v );
init_vec( f_body_total_v );
init_vec( f_local_total_v );
init_vec( f_aero_v );
init_vec( f_engine_v );
init_vec( f_gear_v );
init_vec( m_total_rp_v );
init_vec( m_total_cg_v );
init_vec( m_aero_v );
init_vec( m_engine_v );
init_vec( m_gear_v );
init_vec( v_dot_local_v );
init_vec( v_dot_body_v );
init_vec( a_cg_body_v );
init_vec( a_pilot_body_v );
init_vec( n_cg_body_v );
init_vec( n_pilot_body_v );
init_vec( omega_dot_body_v );
init_vec( v_local_v );
init_vec( v_local_rel_ground_v );
init_vec( v_local_airmass_v );
init_vec( v_local_rel_airmass_v );
init_vec( v_local_gust_v );
init_vec( v_wind_body_v );
init_vec( omega_body_v );
init_vec( omega_local_v );
init_vec( omega_total_v );
init_vec( euler_rates_v );
init_vec( geocentric_rates_v );
init_vec( geocentric_position_v );
init_vec( geodetic_position_v );
init_vec( euler_angles_v );
init_vec( d_cg_rwy_local_v );
init_vec( d_cg_rwy_rwy_v );
init_vec( d_pilot_rwy_local_v );
init_vec( d_pilot_rwy_rwy_v );
init_vec( t_local_to_body_m[0] );
init_vec( t_local_to_body_m[1] );
init_vec( t_local_to_body_m[2] );
mass=i_xx=i_yy=i_zz=i_xz=0;
nlf=0;
v_rel_wind=v_true_kts=v_rel_ground=v_inertial=0;
v_ground_speed=v_equiv=v_equiv_kts=0;
v_calibrated=v_calibrated_kts=0;
gravity=0;
centrifugal_relief=0;
alpha=beta=alpha_dot=beta_dot=0;
cos_alpha=sin_alpha=cos_beta=sin_beta=0;
cos_phi=sin_phi=cos_theta=sin_theta=cos_psi=sin_psi=0;
gamma_vert_rad=gamma_horiz_rad=0;
sigma=density=v_sound=mach_number=0;
static_pressure=total_pressure=impact_pressure=0;
dynamic_pressure=0;
static_temperature=total_temperature=0;
sea_level_radius=earth_position_angle=0;
runway_altitude=runway_latitude=runway_longitude=0;
runway_heading=0;
radius_to_rwy=0;
climb_rate=0;
sin_lat_geocentric=cos_lat_geocentric=0;
sin_latitude=cos_latitude=0;
sin_longitude=cos_longitude=0;
altitude_agl=0;
}
void
FGInterface::init () {}
/**
* Initialize the state of the FDM.
*
* Subclasses of FGInterface may do their own, additional initialization,
* but there is some that is common to all. Normally, they should call
* this before they begin their own init to make sure the basic structures
* are set up properly.
*/
void
FGInterface::common_init ()
{
SG_LOG( SG_FLIGHT, SG_INFO, "Start common FDM init" );
set_inited( true );
// stamp();
// set_remainder( 0 );
// Set initial position
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing position..." );
double lon = fgGetDouble("/sim/presets/longitude-deg")
* SGD_DEGREES_TO_RADIANS;
double lat = fgGetDouble("/sim/presets/latitude-deg")
* SGD_DEGREES_TO_RADIANS;
double alt_ft = fgGetDouble("/sim/presets/altitude-ft");
double alt_m = alt_ft * SG_FEET_TO_METER;
set_Longitude( lon );
set_Latitude( lat );
SG_LOG( SG_FLIGHT, SG_INFO, "Checking for lon = "
<< lon*SGD_RADIANS_TO_DEGREES << "deg, lat = "
<< lat*SGD_RADIANS_TO_DEGREES << "deg, alt = "
<< alt_ft << "ft");
double ground_elev_m = get_groundlevel_m(lat, lon, alt_m);
double ground_elev_ft = ground_elev_m * SG_METER_TO_FEET;
_set_Runway_altitude ( ground_elev_ft );
if ( fgGetBool("/sim/presets/onground") || alt_ft < ground_elev_ft ) {
fgSetDouble("/position/altitude-ft", ground_elev_ft + 0.1);
set_Altitude( ground_elev_ft + 0.1);
} else {
set_Altitude( alt_ft );
}
// Set ground elevation
SG_LOG( SG_FLIGHT, SG_INFO,
"...initializing ground elevation to " << ground_elev_ft
<< "ft..." );
// Set sea-level radius
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing sea-level radius..." );
SG_LOG( SG_FLIGHT, SG_INFO, " lat = "
<< fgGetDouble("/sim/presets/latitude-deg")
<< " alt = " << get_Altitude() );
double sea_level_radius_meters;
double lat_geoc;
sgGeodToGeoc( fgGetDouble("/sim/presets/latitude-deg")
* SGD_DEGREES_TO_RADIANS,
get_Altitude() * SG_FEET_TO_METER,
&sea_level_radius_meters, &lat_geoc );
_set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
// Set initial velocities
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing velocities..." );
if ( !fgHasNode("/sim/presets/speed-set") ) {
set_V_calibrated_kts(0.0);
} else {
const string speedset = fgGetString("/sim/presets/speed-set");
if ( speedset == "knots" || speedset == "KNOTS" ) {
set_V_calibrated_kts( fgGetDouble("/sim/presets/airspeed-kt") );
} else if ( speedset == "mach" || speedset == "MACH" ) {
set_Mach_number( fgGetDouble("/sim/presets/mach") );
} else if ( speedset == "UVW" || speedset == "uvw" ) {
set_Velocities_Wind_Body(
fgGetDouble("/sim/presets/uBody-fps"),
fgGetDouble("/sim/presets/vBody-fps"),
fgGetDouble("/sim/presets/wBody-fps") );
} else if ( speedset == "NED" || speedset == "ned" ) {
set_Velocities_Local(
fgGetDouble("/sim/presets/speed-north-fps"),
fgGetDouble("/sim/presets/speed-east-fps"),
fgGetDouble("/sim/presets/speed-down-fps") );
} else {
SG_LOG( SG_FLIGHT, SG_ALERT,
"Unrecognized value for /sim/presets/speed-set: "
<< speedset);
set_V_calibrated_kts( 0.0 );
}
}
// Set initial Euler angles
SG_LOG( SG_FLIGHT, SG_INFO, "...initializing Euler angles..." );
set_Euler_Angles( fgGetDouble("/sim/presets/roll-deg")
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/sim/presets/pitch-deg")
* SGD_DEGREES_TO_RADIANS,
fgGetDouble("/sim/presets/heading-deg")
* SGD_DEGREES_TO_RADIANS );
SG_LOG( SG_FLIGHT, SG_INFO, "End common FDM init" );
}
/**
* Bind getters and setters to properties.
*
* The bind() method will be invoked after init(). Note that unlike
* the usual implementations of FGSubsystem::bind(), this method does
* not automatically pick up existing values for the properties at
* bind time; instead, all values are set explicitly in the init()
* method.
*/
void
FGInterface::bind ()
{
bound = true;
// Time management (read-only)
// fgTie("/fdm/time/delta_t", this,
// &FGInterface::get_delta_t); // read-only
// fgTie("/fdm/time/elapsed", this,
// &FGInterface::get_elapsed); // read-only
// fgTie("/fdm/time/remainder", this,
// &FGInterface::get_remainder); // read-only
// fgTie("/fdm/time/multi_loop", this,
// &FGInterface::get_multi_loop); // read-only
// Aircraft position
fgTie("/position/latitude-deg", this,
&FGInterface::get_Latitude_deg,
&FGInterface::set_Latitude_deg,
false);
fgSetArchivable("/position/latitude-deg");
fgTie("/position/longitude-deg", this,
&FGInterface::get_Longitude_deg,
&FGInterface::set_Longitude_deg,
false);
fgSetArchivable("/position/longitude-deg");
fgTie("/position/altitude-ft", this,
&FGInterface::get_Altitude,
&FGInterface::set_Altitude,
false);
fgSetArchivable("/position/altitude-ft");
fgTie("/position/altitude-agl-ft", this,
&FGInterface::get_Altitude_AGL); // read-only
fgSetArchivable("/position/ground-elev-ft");
fgTie("/position/ground-elev-ft", this,
&FGInterface::get_Runway_altitude); // read-only
fgSetArchivable("/position/ground-elev-m");
fgTie("/position/ground-elev-m", this,
&FGInterface::get_Runway_altitude_m); // read-only
fgTie("/environment/ground-elevation-m", this,
&FGInterface::get_Runway_altitude_m); // read-only
fgSetArchivable("/position/sea-level-radius-ft");
fgTie("/position/sea-level-radius-ft", this,
&FGInterface::get_Sea_level_radius); // read-only
// Orientation
fgTie("/orientation/roll-deg", this,
&FGInterface::get_Phi_deg,
&FGInterface::set_Phi_deg);
fgSetArchivable("/orientation/roll-deg");
fgTie("/orientation/pitch-deg", this,
&FGInterface::get_Theta_deg,
&FGInterface::set_Theta_deg);
fgSetArchivable("/orientation/pitch-deg");
fgTie("/orientation/heading-deg", this,
&FGInterface::get_Psi_deg,
&FGInterface::set_Psi_deg);
fgSetArchivable("/orientation/heading-deg");
// Body-axis "euler rates" (rotation speed, but in a funny
// representation).
fgTie("/orientation/roll-rate-degps", this,
&FGInterface::get_Phi_dot_degps);
fgTie("/orientation/pitch-rate-degps", this,
&FGInterface::get_Theta_dot_degps);
fgTie("/orientation/yaw-rate-degps", this,
&FGInterface::get_Psi_dot_degps);
// Calibrated airspeed
fgTie("/velocities/airspeed-kt", this,
&FGInterface::get_V_calibrated_kts,
&FGInterface::set_V_calibrated_kts,
false);
// Mach number
fgTie("/velocities/mach", this,
&FGInterface::get_Mach_number,
&FGInterface::set_Mach_number,
false);
// Local velocities
// fgTie("/velocities/speed-north-fps", this,
// &FGInterface::get_V_north,
// &FGInterface::set_V_north);
// fgSetArchivable("/velocities/speed-north-fps");
// fgTie("/velocities/speed-east-fps", this,
// &FGInterface::get_V_east,
// &FGInterface::set_V_east);
// fgSetArchivable("/velocities/speed-east-fps");
// fgTie("/velocities/speed-down-fps", this,
// &FGInterface::get_V_down,
// &FGInterface::set_V_down);
// fgSetArchivable("/velocities/speed-down-fps");
// FIXME: Temporarily read-only, until the
// incompatibilities between JSBSim and
// LaRCSim are fixed (LaRCSim adds the
// earth's rotation to the east velocity).
fgTie("/velocities/speed-north-fps", this,
&FGInterface::get_V_north);
fgTie("/velocities/speed-east-fps", this,
&FGInterface::get_V_east);
fgTie("/velocities/speed-down-fps", this,
&FGInterface::get_V_down);
// Relative wind
// FIXME: temporarily archivable, until
// the NED problem is fixed.
fgTie("/velocities/uBody-fps", this,
&FGInterface::get_uBody,
&FGInterface::set_uBody,
false);
fgSetArchivable("/velocities/uBody-fps");
fgTie("/velocities/vBody-fps", this,
&FGInterface::get_vBody,
&FGInterface::set_vBody,
false);
fgSetArchivable("/velocities/vBody-fps");
fgTie("/velocities/wBody-fps", this,
&FGInterface::get_wBody,
&FGInterface::set_wBody,
false);
fgSetArchivable("/velocities/wBody-fps");
// Climb and slip (read-only)
fgTie("/velocities/vertical-speed-fps", this,
&FGInterface::get_Climb_Rate,
&FGInterface::set_Climb_Rate );
fgTie("/velocities/glideslope", this,
&FGInterface::get_Gamma_vert_rad,
&FGInterface::set_Gamma_vert_rad );
fgTie("/orientation/side-slip-rad", this,
&FGInterface::get_Beta); // read-only
fgTie("/orientation/side-slip-deg", this,
&FGInterface::get_Beta_deg); // read-only
fgTie("/orientation/alpha-deg", this,
&FGInterface::get_Alpha_deg); // read-only
fgTie("/accelerations/nlf", this,
&FGInterface::get_Nlf); // read-only
// NED accelerations
fgTie("/accelerations/ned/north-accel-fps_sec",
this, &FGInterface::get_V_dot_north);
fgTie("/accelerations/ned/east-accel-fps_sec",
this, &FGInterface::get_V_dot_east);
fgTie("/accelerations/ned/down-accel-fps_sec",
this, &FGInterface::get_V_dot_down);
// Pilot accelerations
fgTie("/accelerations/pilot/x-accel-fps_sec",
this, &FGInterface::get_A_X_pilot);
fgTie("/accelerations/pilot/y-accel-fps_sec",
this, &FGInterface::get_A_Y_pilot);
fgTie("/accelerations/pilot/z-accel-fps_sec",
this, &FGInterface::get_A_Z_pilot);
}
/**
* Unbind any properties bound to this FDM.
*
* This method allows the FDM to release properties so that a new
* FDM can bind them instead.
*/
void
FGInterface::unbind ()
{
bound = false;
// fgUntie("/fdm/time/delta_t");
// fgUntie("/fdm/time/elapsed");
// fgUntie("/fdm/time/remainder");
// fgUntie("/fdm/time/multi_loop");
fgUntie("/position/latitude-deg");
fgUntie("/position/longitude-deg");
fgUntie("/position/altitude-ft");
fgUntie("/position/altitude-agl-ft");
fgUntie("/position/ground-elev-ft");
fgUntie("/position/ground-elev-m");
fgUntie("/environment/ground-elevation-m");
fgUntie("/position/sea-level-radius-ft");
fgUntie("/orientation/roll-deg");
fgUntie("/orientation/pitch-deg");
fgUntie("/orientation/heading-deg");
fgUntie("/orientation/roll-rate-degps");
fgUntie("/orientation/pitch-rate-degps");
fgUntie("/orientation/yaw-rate-degps");
fgUntie("/orientation/side-slip-rad");
fgUntie("/orientation/side-slip-deg");
fgUntie("/orientation/alpha-deg");
fgUntie("/velocities/airspeed-kt");
fgUntie("/velocities/mach");
fgUntie("/velocities/speed-north-fps");
fgUntie("/velocities/speed-east-fps");
fgUntie("/velocities/speed-down-fps");
fgUntie("/velocities/uBody-fps");
fgUntie("/velocities/vBody-fps");
fgUntie("/velocities/wBody-fps");
fgUntie("/velocities/vertical-speed-fps");
fgUntie("/velocities/glideslope");
fgUntie("/accelerations/nlf");
fgUntie("/accelerations/pilot/x-accel-fps_sec");
fgUntie("/accelerations/pilot/y-accel-fps_sec");
fgUntie("/accelerations/pilot/z-accel-fps_sec");
fgUntie("/accelerations/ned/north-accel-fps_sec");
fgUntie("/accelerations/ned/east-accel-fps_sec");
fgUntie("/accelerations/ned/down-accel-fps_sec");
}
/**
* Update the state of the FDM (i.e. run the equations of motion).
*/
void
FGInterface::update (double dt)
{
SG_LOG(SG_FLIGHT, SG_ALERT, "dummy update() ... SHOULDN'T BE CALLED!");
}
void FGInterface::_updateGeodeticPosition( double lat, double lon, double alt )
{
double lat_geoc, sl_radius;
// cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
sgGeodToGeoc( lat, alt * SG_FEET_TO_METER, &sl_radius, &lat_geoc );
SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
<< " lat_geod = " << lat
<< " lat_geoc = " << lat_geoc
<< " alt = " << alt
<< " sl_radius = " << sl_radius * SG_METER_TO_FEET
<< " Equator = " << SG_EQUATORIAL_RADIUS_FT );
_set_Geocentric_Position( lat_geoc, lon,
sl_radius * SG_METER_TO_FEET + alt );
_set_Geodetic_Position( lat, lon, alt );
_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET );
_update_ground_elev_at_pos();
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
_set_sin_cos_longitude( lon );
_set_sin_cos_latitude( lat );
}
void FGInterface::_updateGeocentricPosition( double lat_geoc, double lon,
double alt )
{
double lat_geod, tmp_alt, sl_radius1, sl_radius2, tmp_lat_geoc;
// cout << "starting sea level rad = " << get_Sea_level_radius() << endl;
sgGeocToGeod( lat_geoc, ( get_Sea_level_radius() + alt ) * SG_FEET_TO_METER,
&lat_geod, &tmp_alt, &sl_radius1 );
sgGeodToGeoc( lat_geod, alt * SG_FEET_TO_METER, &sl_radius2, &tmp_lat_geoc );
SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << lon
<< " lat_geod = " << lat_geod
<< " lat_geoc = " << lat_geoc
<< " alt = " << alt
<< " tmp_alt = " << tmp_alt * SG_METER_TO_FEET
<< " sl_radius1 = " << sl_radius1 * SG_METER_TO_FEET
<< " sl_radius2 = " << sl_radius2 * SG_METER_TO_FEET
<< " Equator = " << SG_EQUATORIAL_RADIUS_FT );
_set_Geocentric_Position( lat_geoc, lon,
sl_radius2 * SG_METER_TO_FEET + alt );
_set_Geodetic_Position( lat_geod, lon, alt );
_set_Sea_level_radius( sl_radius2 * SG_METER_TO_FEET );
_update_ground_elev_at_pos();
_set_sin_lat_geocentric( lat_geoc );
_set_cos_lat_geocentric( lat_geoc );
_set_sin_cos_longitude( lon );
_set_sin_cos_latitude( lat_geod );
}
void FGInterface::_update_ground_elev_at_pos( void ) {
double lat = get_Latitude();
double lon = get_Longitude();
double alt_m = get_Altitude()*SG_FEET_TO_METER;
double groundlevel_m = get_groundlevel_m(lat, lon, alt_m);
_set_Runway_altitude( groundlevel_m * SG_METER_TO_FEET );
}
// Extrapolate fdm based on time_offset (in usec)
void FGInterface::extrapolate( int time_offset ) {
double dt = time_offset / 1000000.0;
// -dw- metrowerks complains about ambiguous access, not critical
// to keep this ;)
#ifndef __MWERKS__
SG_LOG(SG_FLIGHT, SG_INFO, "extrapolating FDM by dt = " << dt);
#endif
double lat = geodetic_position_v[0] + geocentric_rates_v[0] * dt;
double lat_geoc = geocentric_position_v[0] + geocentric_rates_v[0] * dt;
double lon = geodetic_position_v[1] + geocentric_rates_v[1] * dt;
double lon_geoc = geocentric_position_v[1] + geocentric_rates_v[1] * dt;
double alt = geodetic_position_v[2] + geocentric_rates_v[2] * dt;
double radius = geocentric_position_v[2] + geocentric_rates_v[2] * dt;
geodetic_position_v[0] = lat;
geocentric_position_v[0] = lat_geoc;
geodetic_position_v[1] = lon;
geocentric_position_v[1] = lon_geoc;
geodetic_position_v[2] = alt;
geocentric_position_v[2] = radius;
}
// Positions
void FGInterface::set_Latitude(double lat) {
geodetic_position_v[0] = lat;
}
void FGInterface::set_Longitude(double lon) {
geodetic_position_v[1] = lon;
}
void FGInterface::set_Altitude(double alt) {
geodetic_position_v[2] = alt;
}
void FGInterface::set_AltitudeAGL(double altagl) {
altitude_agl=altagl;
}
// Velocities
void FGInterface::set_V_calibrated_kts(double vc) {
v_calibrated_kts = vc;
}
void FGInterface::set_Mach_number(double mach) {
mach_number = mach;
}
void FGInterface::set_Velocities_Local( double north,
double east,
double down ){
v_local_v[0] = north;
v_local_v[1] = east;
v_local_v[2] = down;
}
void FGInterface::set_Velocities_Wind_Body( double u,
double v,
double w){
v_wind_body_v[0] = u;
v_wind_body_v[1] = v;
v_wind_body_v[2] = w;
}
// Euler angles
void FGInterface::set_Euler_Angles( double phi,
double theta,
double psi ) {
euler_angles_v[0] = phi;
euler_angles_v[1] = theta;
euler_angles_v[2] = psi;
}
// Flight Path
void FGInterface::set_Climb_Rate( double roc) {
climb_rate = roc;
}
void FGInterface::set_Gamma_vert_rad( double gamma) {
gamma_vert_rad = gamma;
}
void FGInterface::set_Static_pressure(double p) { static_pressure = p; }
void FGInterface::set_Static_temperature(double T) { static_temperature = T; }
void FGInterface::set_Density(double rho) { density = rho; }
void FGInterface::set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown ) {
v_local_airmass_v[0] = wnorth;
v_local_airmass_v[1] = weast;
v_local_airmass_v[2] = wdown;
}
void FGInterface::_busdump(void) {
SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rp_body_v[3]: " << d_pilot_rp_body_v[0] << ", " << d_pilot_rp_body_v[1] << ", " << d_pilot_rp_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rp_body_v[3]: " << d_cg_rp_body_v[0] << ", " << d_cg_rp_body_v[1] << ", " << d_cg_rp_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_body_total_v[3]: " << f_body_total_v[0] << ", " << f_body_total_v[1] << ", " << f_body_total_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_local_total_v[3]: " << f_local_total_v[0] << ", " << f_local_total_v[1] << ", " << f_local_total_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_aero_v[3]: " << f_aero_v[0] << ", " << f_aero_v[1] << ", " << f_aero_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_engine_v[3]: " << f_engine_v[0] << ", " << f_engine_v[1] << ", " << f_engine_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"f_gear_v[3]: " << f_gear_v[0] << ", " << f_gear_v[1] << ", " << f_gear_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_total_rp_v[3]: " << m_total_rp_v[0] << ", " << m_total_rp_v[1] << ", " << m_total_rp_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_total_cg_v[3]: " << m_total_cg_v[0] << ", " << m_total_cg_v[1] << ", " << m_total_cg_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_aero_v[3]: " << m_aero_v[0] << ", " << m_aero_v[1] << ", " << m_aero_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_engine_v[3]: " << m_engine_v[0] << ", " << m_engine_v[1] << ", " << m_engine_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"m_gear_v[3]: " << m_gear_v[0] << ", " << m_gear_v[1] << ", " << m_gear_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_local_v[3]: " << v_dot_local_v[0] << ", " << v_dot_local_v[1] << ", " << v_dot_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_dot_body_v[3]: " << v_dot_body_v[0] << ", " << v_dot_body_v[1] << ", " << v_dot_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"a_cg_body_v[3]: " << a_cg_body_v[0] << ", " << a_cg_body_v[1] << ", " << a_cg_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"a_pilot_body_v[3]: " << a_pilot_body_v[0] << ", " << a_pilot_body_v[1] << ", " << a_pilot_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"n_cg_body_v[3]: " << n_cg_body_v[0] << ", " << n_cg_body_v[1] << ", " << n_cg_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"n_pilot_body_v[3]: " << n_pilot_body_v[0] << ", " << n_pilot_body_v[1] << ", " << n_pilot_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"omega_dot_body_v[3]: " << omega_dot_body_v[0] << ", " << omega_dot_body_v[1] << ", " << omega_dot_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_v[3]: " << v_local_v[0] << ", " << v_local_v[1] << ", " << v_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_ground_v[3]: " << v_local_rel_ground_v[0] << ", " << v_local_rel_ground_v[1] << ", " << v_local_rel_ground_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_airmass_v[3]: " << v_local_airmass_v[0] << ", " << v_local_airmass_v[1] << ", " << v_local_airmass_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_rel_airmass_v[3]: " << v_local_rel_airmass_v[0] << ", " << v_local_rel_airmass_v[1] << ", " << v_local_rel_airmass_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_local_gust_v[3]: " << v_local_gust_v[0] << ", " << v_local_gust_v[1] << ", " << v_local_gust_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"v_wind_body_v[3]: " << v_wind_body_v[0] << ", " << v_wind_body_v[1] << ", " << v_wind_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"omega_body_v[3]: " << omega_body_v[0] << ", " << omega_body_v[1] << ", " << omega_body_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"omega_local_v[3]: " << omega_local_v[0] << ", " << omega_local_v[1] << ", " << omega_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"omega_total_v[3]: " << omega_total_v[0] << ", " << omega_total_v[1] << ", " << omega_total_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"euler_rates_v[3]: " << euler_rates_v[0] << ", " << euler_rates_v[1] << ", " << euler_rates_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_rates_v[3]: " << geocentric_rates_v[0] << ", " << geocentric_rates_v[1] << ", " << geocentric_rates_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"geocentric_position_v[3]: " << geocentric_position_v[0] << ", " << geocentric_position_v[1] << ", " << geocentric_position_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"geodetic_position_v[3]: " << geodetic_position_v[0] << ", " << geodetic_position_v[1] << ", " << geodetic_position_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"euler_angles_v[3]: " << euler_angles_v[0] << ", " << euler_angles_v[1] << ", " << euler_angles_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_local_v[3]: " << d_cg_rwy_local_v[0] << ", " << d_cg_rwy_local_v[1] << ", " << d_cg_rwy_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_cg_rwy_rwy_v[3]: " << d_cg_rwy_rwy_v[0] << ", " << d_cg_rwy_rwy_v[1] << ", " << d_cg_rwy_rwy_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_local_v[3]: " << d_pilot_rwy_local_v[0] << ", " << d_pilot_rwy_local_v[1] << ", " << d_pilot_rwy_local_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"d_pilot_rwy_rwy_v[3]: " << d_pilot_rwy_rwy_v[0] << ", " << d_pilot_rwy_rwy_v[1] << ", " << d_pilot_rwy_rwy_v[2]);
SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[0][3]: " << t_local_to_body_m[0][0] << ", " << t_local_to_body_m[0][1] << ", " << t_local_to_body_m[0][2]);
SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[1][3]: " << t_local_to_body_m[1][0] << ", " << t_local_to_body_m[1][1] << ", " << t_local_to_body_m[1][2]);
SG_LOG(SG_FLIGHT,SG_INFO,"t_local_to_body_m[2][3]: " << t_local_to_body_m[2][0] << ", " << t_local_to_body_m[2][1] << ", " << t_local_to_body_m[2][2]);
SG_LOG(SG_FLIGHT,SG_INFO,"mass: " << mass );
SG_LOG(SG_FLIGHT,SG_INFO,"i_xx: " << i_xx );
SG_LOG(SG_FLIGHT,SG_INFO,"i_yy: " << i_yy );
SG_LOG(SG_FLIGHT,SG_INFO,"i_zz: " << i_zz );
SG_LOG(SG_FLIGHT,SG_INFO,"i_xz: " << i_xz );
SG_LOG(SG_FLIGHT,SG_INFO,"nlf: " << nlf );
SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_wind: " << v_rel_wind );
SG_LOG(SG_FLIGHT,SG_INFO,"v_true_kts: " << v_true_kts );
SG_LOG(SG_FLIGHT,SG_INFO,"v_rel_ground: " << v_rel_ground );
SG_LOG(SG_FLIGHT,SG_INFO,"v_inertial: " << v_inertial );
SG_LOG(SG_FLIGHT,SG_INFO,"v_ground_speed: " << v_ground_speed );
SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv: " << v_equiv );
SG_LOG(SG_FLIGHT,SG_INFO,"v_equiv_kts: " << v_equiv_kts );
SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated: " << v_calibrated );
SG_LOG(SG_FLIGHT,SG_INFO,"v_calibrated_kts: " << v_calibrated_kts );
SG_LOG(SG_FLIGHT,SG_INFO,"gravity: " << gravity );
SG_LOG(SG_FLIGHT,SG_INFO,"centrifugal_relief: " << centrifugal_relief );
SG_LOG(SG_FLIGHT,SG_INFO,"alpha: " << alpha );
SG_LOG(SG_FLIGHT,SG_INFO,"beta: " << beta );
SG_LOG(SG_FLIGHT,SG_INFO,"alpha_dot: " << alpha_dot );
SG_LOG(SG_FLIGHT,SG_INFO,"beta_dot: " << beta_dot );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_alpha: " << cos_alpha );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_alpha: " << sin_alpha );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_beta: " << cos_beta );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_beta: " << sin_beta );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_phi: " << cos_phi );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_phi: " << sin_phi );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_theta: " << cos_theta );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_theta: " << sin_theta );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_psi: " << cos_psi );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_psi: " << sin_psi );
SG_LOG(SG_FLIGHT,SG_INFO,"gamma_vert_rad: " << gamma_vert_rad );
SG_LOG(SG_FLIGHT,SG_INFO,"gamma_horiz_rad: " << gamma_horiz_rad );
SG_LOG(SG_FLIGHT,SG_INFO,"sigma: " << sigma );
SG_LOG(SG_FLIGHT,SG_INFO,"density: " << density );
SG_LOG(SG_FLIGHT,SG_INFO,"v_sound: " << v_sound );
SG_LOG(SG_FLIGHT,SG_INFO,"mach_number: " << mach_number );
SG_LOG(SG_FLIGHT,SG_INFO,"static_pressure: " << static_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"total_pressure: " << total_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"impact_pressure: " << impact_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"dynamic_pressure: " << dynamic_pressure );
SG_LOG(SG_FLIGHT,SG_INFO,"static_temperature: " << static_temperature );
SG_LOG(SG_FLIGHT,SG_INFO,"total_temperature: " << total_temperature );
SG_LOG(SG_FLIGHT,SG_INFO,"sea_level_radius: " << sea_level_radius );
SG_LOG(SG_FLIGHT,SG_INFO,"earth_position_angle: " << earth_position_angle );
SG_LOG(SG_FLIGHT,SG_INFO,"runway_altitude: " << runway_altitude );
SG_LOG(SG_FLIGHT,SG_INFO,"runway_latitude: " << runway_latitude );
SG_LOG(SG_FLIGHT,SG_INFO,"runway_longitude: " << runway_longitude );
SG_LOG(SG_FLIGHT,SG_INFO,"runway_heading: " << runway_heading );
SG_LOG(SG_FLIGHT,SG_INFO,"radius_to_rwy: " << radius_to_rwy );
SG_LOG(SG_FLIGHT,SG_INFO,"climb_rate: " << climb_rate );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_lat_geocentric: " << sin_lat_geocentric );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_lat_geocentric: " << cos_lat_geocentric );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_longitude: " << sin_longitude );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_longitude: " << cos_longitude );
SG_LOG(SG_FLIGHT,SG_INFO,"sin_latitude: " << sin_latitude );
SG_LOG(SG_FLIGHT,SG_INFO,"cos_latitude: " << cos_latitude );
SG_LOG(SG_FLIGHT,SG_INFO,"altitude_agl: " << altitude_agl );
}
bool
FGInterface::prepare_ground_cache_m(double ref_time, const double pt[3],
double rad)
{
return ground_cache.prepare_ground_cache(ref_time, pt, rad);
}
bool FGInterface::prepare_ground_cache_ft(double ref_time, const double pt[3],
double rad)
{
// Convert units and do the real work.
sgdVec3 pt_ft;
sgdScaleVec3( pt_ft, pt, SG_FEET_TO_METER );
return ground_cache.prepare_ground_cache(ref_time, pt_ft, rad*SG_FEET_TO_METER);
}
bool
FGInterface::is_valid_m(double *ref_time, double pt[3], double *rad)
{
return ground_cache.is_valid(ref_time, pt, rad);
}
bool FGInterface::is_valid_ft(double *ref_time, double pt[3], double *rad)
{
// Convert units and do the real work.
bool found_ground = ground_cache.is_valid(ref_time, pt, rad);
sgdScaleVec3(pt, SG_METER_TO_FEET);
*rad *= SG_METER_TO_FEET;
return found_ground;
}
double
FGInterface::get_cat_m(double t, const double pt[3],
double end[2][3], double vel[2][3])
{
return ground_cache.get_cat(t, pt, end, vel);
}
double
FGInterface::get_cat_ft(double t, const double pt[3],
double end[2][3], double vel[2][3])
{
// Convert units and do the real work.
sgdVec3 pt_m;
sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
double dist = ground_cache.get_cat(t, pt_m, end, vel);
for (int k=0; k<2; ++k) {
sgdScaleVec3( end[k], SG_METER_TO_FEET );
sgdScaleVec3( vel[k], SG_METER_TO_FEET );
}
return dist*SG_METER_TO_FEET;
}
// Legacy interface just kept because of JSBSim
bool
FGInterface::get_agl_m(double t, const double pt[3],
double contact[3], double normal[3], double vel[3],
int *type, double *loadCapacity,
double *frictionFactor, double *agl)
{
const SGMaterial* material;
bool ret = ground_cache.get_agl(t, pt, 2.0, contact, normal, vel, type,
&material, agl);
if (material) {
*loadCapacity = material->get_load_resistence();
*frictionFactor = material->get_friction_factor();
} else {
*loadCapacity = DBL_MAX;
*frictionFactor = 1.0;
}
return ret;
}
// Legacy interface just kept because of JSBSim
bool
FGInterface::get_agl_ft(double t, const double pt[3],
double contact[3], double normal[3], double vel[3],
int *type, double *loadCapacity,
double *frictionFactor, double *agl)
{
// Convert units and do the real work.
sgdVec3 pt_m;
sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
const SGMaterial* material;
bool ret = ground_cache.get_agl(t, pt_m, 2.0, contact, normal, vel,
type, &material, agl);
// Convert units back ...
sgdScaleVec3( contact, SG_METER_TO_FEET );
sgdScaleVec3( vel, SG_METER_TO_FEET );
*agl *= SG_METER_TO_FEET;
// return material properties if available
if (material) {
// FIXME: convert units?? now pascal to lbf/ft^2
*loadCapacity = 0.020885434*material->get_load_resistence();
*frictionFactor = material->get_friction_factor();
} else {
*loadCapacity = DBL_MAX;
*frictionFactor = 1.0;
}
return ret;
}
bool
FGInterface::get_agl_m(double t, const double pt[3], double max_altoff,
double contact[3], double normal[3], double vel[3],
int *type, const SGMaterial** material, double *agl)
{
return ground_cache.get_agl(t, pt, max_altoff, contact, normal, vel, type,
material, agl);
}
bool
FGInterface::get_agl_ft(double t, const double pt[3], double max_altoff,
double contact[3], double normal[3], double vel[3],
int *type, const SGMaterial** material, double *agl)
{
// Convert units and do the real work.
sgdVec3 pt_m;
sgdScaleVec3( pt_m, pt, SG_FEET_TO_METER );
bool ret = ground_cache.get_agl(t, pt_m, SG_FEET_TO_METER * max_altoff,
contact, normal, vel,
type, material, agl);
// Convert units back ...
sgdScaleVec3( contact, SG_METER_TO_FEET );
sgdScaleVec3( vel, SG_METER_TO_FEET );
*agl *= SG_METER_TO_FEET;
return ret;
}
double
FGInterface::get_groundlevel_m(double lat, double lon, double alt)
{
sgdVec3 pos, cpos;
// Compute the cartesian position of the given lat/lon/alt.
sgGeodToCart(lat, lon, alt, pos);
// FIXME: how to handle t - ref_time differences ???
double ref_time, radius;
// Prepare the ground cache for that position.
if (!is_valid_m(&ref_time, cpos, &radius)) {
bool ok = prepare_ground_cache_m(ref_time, pos, 10);
/// This is most likely the case when the given altitude is
/// too low, try with a new altitude of 10000m, that should be
/// sufficient to find a ground level below everywhere on our planet
if (!ok) {
sgGeodToCart(lat, lon, 10000, pos);
/// If there is still no ground, return sea level radius
if (!prepare_ground_cache_m(ref_time, pos, 10))
return 0;
}
} else if (radius*radius <= sgdDistanceSquaredVec3(pos, cpos)) {
/// We reuse the old radius value, but only if it is at least 10 Meters ..
if (!(10 < radius)) // Well this strange compare is nan safe
radius = 10;
bool ok = prepare_ground_cache_m(ref_time, pos, radius);
/// This is most likely the case when the given altitude is
/// too low, try with a new altitude of 10000m, that should be
/// sufficient to find a ground level below everywhere on our planet
if (!ok) {
sgGeodToCart(lat, lon, 10000, pos);
/// If there is still no ground, return sea level radius
if (!prepare_ground_cache_m(ref_time, pos, radius))
return 0;
}
}
double contact[3], normal[3], vel[3], agl;
int type;
// Ignore the return value here, since it just tells us if
// the returns stem from the groundcache or from the coarse
// computations below the groundcache. The contact point is still something
// valid, the normals and the other returns just contain some defaults.
get_agl_m(ref_time, pos, 2.0, contact, normal, vel, &type, 0, &agl);
Point3D geodPos = sgCartToGeod(Point3D(contact[0], contact[1], contact[2]));
return geodPos.elev();
}
bool
FGInterface::caught_wire_m(double t, const double pt[4][3])
{
return ground_cache.caught_wire(t, pt);
}
bool
FGInterface::caught_wire_ft(double t, const double pt[4][3])
{
// Convert units and do the real work.
double pt_m[4][3];
for (int i=0; i<4; ++i)
sgdScaleVec3(pt_m[i], pt[i], SG_FEET_TO_METER);
return ground_cache.caught_wire(t, pt_m);
}
bool
FGInterface::get_wire_ends_m(double t, double end[2][3], double vel[2][3])
{
return ground_cache.get_wire_ends(t, end, vel);
}
bool
FGInterface::get_wire_ends_ft(double t, double end[2][3], double vel[2][3])
{
// Convert units and do the real work.
bool ret = ground_cache.get_wire_ends(t, end, vel);
for (int k=0; k<2; ++k) {
sgdScaleVec3( end[k], SG_METER_TO_FEET );
sgdScaleVec3( vel[k], SG_METER_TO_FEET );
}
return ret;
}
void
FGInterface::release_wire(void)
{
ground_cache.release_wire();
}
void fgToggleFDMdataLogging(void) {
cur_fdm_state->ToggleDataLogging();
}
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