271 lines
8.8 KiB
C++
271 lines
8.8 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
|
|
Header: JSBSim.hxx
|
|
Author: Curtis L. Olson
|
|
Maintained by: Tony Peden, Curt Olson
|
|
Date started: 02/01/1999
|
|
|
|
------ Copyright (C) 1999 - 2000 Curtis L. Olson (curt@flightgear.org) ------
|
|
|
|
This program is free software; you can redistribute it and/or
|
|
modify it under the terms of the GNU General Public License as
|
|
published by the Free Software Foundation; either version 2 of the
|
|
License, or (at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful, but
|
|
WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program; if not, write to the Free Software
|
|
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
|
|
|
|
HISTORY
|
|
--------------------------------------------------------------------------------
|
|
02/01/1999 CLO Created
|
|
Additional log messages stored in CVS
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
SENTRY
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
#ifndef _JSBSIM_HXX
|
|
#define _JSBSIM_HXX
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
INCLUDES
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
#undef MAX_ENGINES
|
|
#include <Aircraft/aircraft.hxx>
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
DEFINITIONS
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
#define ID_JSBSIMXX "$Header JSBSim.hxx,v 1.4 2000/10/22 14:02:16 jsb Exp $"
|
|
|
|
#define METERS_TO_FEET 3.2808398950
|
|
#define RADTODEG 57.2957795
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
FORWARD DECLARATIONS
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
#include <simgear/misc/props.hxx>
|
|
|
|
#include <FDM/JSBSim/FGFDMExec.h>
|
|
|
|
class FGState;
|
|
class FGAtmosphere;
|
|
class FGFCS;
|
|
class FGPropulsion;
|
|
class FGMassBalance;
|
|
class FGAerodynamics;
|
|
class FGInertial;
|
|
class FGAircraft;
|
|
class FGTranslation;
|
|
class FGRotation;
|
|
class FGPosition;
|
|
class FGAuxiliary;
|
|
class FGOutput;
|
|
class FGInitialCondition;
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
CLASS DOCUMENTATION
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
/** FGFS / JSBSim interface (aka "The Bus").
|
|
This class provides for an interface between FlightGear and its data
|
|
structures and JSBSim and its data structures. This is the class which is
|
|
used to command JSBSim when integrated with FlightGear. See the
|
|
documentation for main for direction on running JSBSim apart from FlightGear.
|
|
@author Curtis L. Olson (original)
|
|
@author Tony Peden (Maintained and refined)
|
|
@version $Id$
|
|
@see main in file JSBSim.cpp (use main() wrapper for standalone usage)
|
|
@see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/JSBSim.hxx?rev=HEAD&content-type=text/vnd.viewcvs-markup">
|
|
Header File </a>
|
|
@see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/JSBSim.cxx?rev=HEAD&content-type=text/vnd.viewcvs-markup">
|
|
Source File </a>
|
|
*/
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
CLASS DECLARATION
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
class FGJSBsim: public FGInterface {
|
|
|
|
public:
|
|
/// Constructor
|
|
FGJSBsim( double dt );
|
|
/// Destructor
|
|
~FGJSBsim();
|
|
|
|
/// copy FDM state to LaRCsim structures
|
|
bool copy_to_JSBsim();
|
|
|
|
/// copy FDM state from LaRCsim structures
|
|
bool copy_from_JSBsim();
|
|
|
|
/// Reset flight params to a specific position
|
|
void init();
|
|
|
|
/// @name Position Parameter Set
|
|
//@{
|
|
/** Set geocentric latitude
|
|
@param lat latitude in radians measured from the 0 meridian where
|
|
the westerly direction is positive and east is negative */
|
|
void set_Latitude(double lat); // geocentric
|
|
|
|
/** Set longitude
|
|
@param lon longitude in radians measured from the equator where
|
|
the northerly direction is positive and south is negative */
|
|
void set_Longitude(double lon);
|
|
|
|
/** Set altitude
|
|
Note: this triggers a recalculation of AGL altitude
|
|
@param alt altitude in feet */
|
|
void set_Altitude(double alt); // triggers re-calc of AGL altitude
|
|
//@}
|
|
|
|
//void set_AltitudeAGL(double altagl); // and vice-versa
|
|
|
|
/// @name Velocity Parameter Set
|
|
//@{
|
|
/** Sets calibrated airspeed
|
|
Setting this will trigger a recalc of the other velocity terms.
|
|
@param vc Calibrated airspeed in ft/sec */
|
|
void set_V_calibrated_kts(double vc);
|
|
|
|
/** Sets Mach number.
|
|
Setting this will trigger a recalc of the other velocity terms.
|
|
@param mach Mach number */
|
|
void set_Mach_number(double mach);
|
|
|
|
/** Sets velocity in N-E-D coordinates.
|
|
Setting this will trigger a recalc of the other velocity terms.
|
|
@param north velocity northward in ft/sec
|
|
@param east velocity eastward in ft/sec
|
|
@param down velocity downward in ft/sec */
|
|
void set_Velocities_Local( double north, double east, double down );
|
|
|
|
/** Sets aircraft velocity in stability frame.
|
|
Setting this will trigger a recalc of the other velocity terms.
|
|
@param u X velocity in ft/sec
|
|
@param v Y velocity in ft/sec
|
|
@param w Z velocity in ft/sec */
|
|
void set_Velocities_Wind_Body( double u, double v, double w);
|
|
//@}
|
|
|
|
/** Euler Angle Parameter Set
|
|
@param phi roll angle in radians
|
|
@param theta pitch angle in radians
|
|
@param psi heading angle in radians */
|
|
void set_Euler_Angles( double phi, double theta, double psi );
|
|
|
|
/// @name Flight Path Parameter Set
|
|
//@{
|
|
/** Sets rate of climb
|
|
@param roc Rate of climb in ft/sec */
|
|
void set_Climb_Rate( double roc);
|
|
|
|
/** Sets the flight path angle in radians
|
|
@param gamma flight path angle in radians. */
|
|
void set_Gamma_vert_rad( double gamma);
|
|
//@}
|
|
|
|
|
|
/// @name Atmospheric Parameter Set
|
|
//@{
|
|
/** Sets the atmospheric static pressure
|
|
@param p pressure in psf */
|
|
void set_Static_pressure(double p);
|
|
|
|
/** Sets the atmospheric temperature
|
|
@param T temperature in degrees rankine */
|
|
void set_Static_temperature(double T);
|
|
|
|
/** Sets the atmospheric density.
|
|
@param rho air density slugs/cubic foot */
|
|
void set_Density(double rho);
|
|
|
|
/** Sets the velocity of the local airmass for wind modeling.
|
|
@param wnorth velocity north in fps
|
|
@param weast velocity east in fps
|
|
@param wdown velocity down in fps*/
|
|
void set_Velocities_Local_Airmass (double wnorth,
|
|
double weast,
|
|
double wdown );
|
|
/// @name Position Parameter Update
|
|
//@{
|
|
|
|
|
|
/** Update the position based on inputs, positions, velocities, etc.
|
|
@param multiloop number of times to loop through the FDM
|
|
@return true if successful */
|
|
void update( int multiloop );
|
|
bool ToggleDataLogging(bool state);
|
|
bool ToggleDataLogging(void);
|
|
void do_trim(void);
|
|
void update_ic(void);
|
|
|
|
private:
|
|
FGFDMExec *fdmex;
|
|
FGInitialCondition *fgic;
|
|
bool needTrim;
|
|
|
|
FGState* State;
|
|
FGAtmosphere* Atmosphere;
|
|
FGFCS* FCS;
|
|
FGPropulsion* Propulsion;
|
|
FGMassBalance* MassBalance;
|
|
FGAircraft* Aircraft;
|
|
FGTranslation* Translation;
|
|
FGRotation* Rotation;
|
|
FGPosition* Position;
|
|
FGAuxiliary* Auxiliary;
|
|
FGAerodynamics* Aerodynamics;
|
|
FGGroundReactions *GroundReactions;
|
|
|
|
int runcount;
|
|
float trim_elev;
|
|
float trim_throttle;
|
|
|
|
SGPropertyNode *startup_trim;
|
|
SGPropertyNode *trimmed;
|
|
SGPropertyNode *pitch_trim;
|
|
SGPropertyNode *throttle_trim;
|
|
SGPropertyNode *aileron_trim;
|
|
SGPropertyNode *rudder_trim;
|
|
SGPropertyNode *stall_warning;
|
|
|
|
/* SGPropertyNode *elevator_pos_deg;
|
|
SGPropertyNode *left_aileron_pos_deg;
|
|
SGPropertyNode *right_aileron_pos_deg;
|
|
SGPropertyNode *rudder_pos_deg;
|
|
SGPropertyNode *flap_pos_deg; */
|
|
|
|
|
|
SGPropertyNode *elevator_pos_pct;
|
|
SGPropertyNode *left_aileron_pos_pct;
|
|
SGPropertyNode *right_aileron_pos_pct;
|
|
SGPropertyNode *rudder_pos_pct;
|
|
SGPropertyNode *flap_pos_pct;
|
|
|
|
SGPropertyNode *gear_pos_pct;
|
|
|
|
void init_gear(void);
|
|
void update_gear(void);
|
|
|
|
};
|
|
|
|
|
|
#endif // _JSBSIM_HXX
|
|
|
|
|