573 lines
18 KiB
C++
573 lines
18 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 <cstdlib>
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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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_gearProps.clear();
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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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//Torsten Dreyer: we shouldn't do this anymore because we don't set these values nomore
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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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YASim::GearProps::GearProps(SGPropertyNode_ptr gear_root) :
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has_brake(gear_root->getNode("has-brake", true)),
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wow(gear_root->getNode("wow", true)),
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compression_norm(gear_root->getNode("compression-norm", true)),
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compression_m(gear_root->getNode("compression-m", true)),
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caster_angle_deg(gear_root->getNode("caster-angle-deg", true)),
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rollspeed_ms(gear_root->getNode("rollspeed-ms", true)),
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ground_is_solid(gear_root->getNode("ground-is-solid", true)),
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ground_friction_factor(gear_root->getNode("ground-friction-factor", true))
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{
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}
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void YASim::init()
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{
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Airplane* airplane = _fdm->getAirplane();
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Model* model = airplane->getModel();
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_crashed = fgGetNode("/sim/crashed", true);
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_pressure_inhg = fgGetNode("/environment/pressure-inhg", true);
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_temp_degc = fgGetNode("/environment/temperature-degc", true);
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_density_slugft3 = fgGetNode("/environment/density-slugft3", true);
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_gear_agl_m = fgGetNode("/position/gear-agl-m", true);
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_gear_agl_ft = fgGetNode("/position/gear-agl-ft", true);
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_pilot_g = fgGetNode("/accelerations/pilot-g", true);
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_speed_setprop = fgGetNode("/sim/presets/speed-set", true);
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// Superclass hook
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common_init();
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model->setCrashed(false);
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_crashed->setBoolValue(false);
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// Figure out the initial speed type
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string speed_set = _speed_setprop->getStringValue();
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if ((speed_set == "") || (speed_set == "UVW"))
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_speed_set = UVW;
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else if (speed_set == "NED")
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_speed_set = NED;
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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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try {
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readXML(f.str(), *_fdm);
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} catch (const sg_exception &e) {
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SG_LOG(SG_FLIGHT, SG_ALERT,
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"Error reading YASim FDM: '" << f.str() << "'" << std::endl
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<< e.getFormattedMessage());
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throw e;
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}
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// Compile it into a real airplane, and tell the user what they got
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airplane->compile();
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report();
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_fdm->init();
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if (model->getLaunchbar())
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{
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_catapult_launch_cmd = fgGetNode("/controls/gear/catapult-launch-cmd", true);
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_launchbar_position_norm = fgGetNode("/gear/launchbar/position-norm", true);
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_launchbar_holdback_pos_norm = fgGetNode("/gear/launchbar/holdback-position-norm", true);
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_launchbar_state = fgGetNode("/gear/launchbar/state", true);
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_launchbar_strop = fgGetNode("/gear/launchbar/strop", true);
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}
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if (airplane->getHook())
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{
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_tailhook_position_norm = fgGetNode("/gear/tailhook/position-norm", 0, true);
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}
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// Create some FG{Eng|Gear}Interface objects
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for(int i=0; i<airplane->numGear(); i++) {
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Gear* g = airplane->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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_gearProps.push_back(GearProps(node));
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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(int i=0; i<airplane->numGear(); i++) {
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Gear* g = airplane->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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model->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(_crashed->getBoolValue() || _fdm->getAirplane()->getModel()->isCrashed()) {
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if(!_crashed->getBoolValue())
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_crashed->setBoolValue(true);
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_fdm->getAirplane()->getModel()->setCrashed(false);
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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 = _pressure_inhg->getFloatValue() * INHG2PA;
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float temp = _temp_degc->getFloatValue() + 273.15;
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float dens = _density_slugft3->getFloatValue() *
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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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{
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// allow setting of /position/[lat|long|alti]tude
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double * dp = &model->getState()->pos[0];
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dp[0] = s.pos[0]; dp[1] = s.pos[1]; dp[2] = s.pos[2];
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}
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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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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 < _catapult_launch_cmd->getFloatValue());
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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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_gear_agl_m->setFloatValue(model->getAGL());
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_gear_agl_ft->setFloatValue(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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|
|
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float P = _pressure_inhg->getFloatValue() * INHG2PA;
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float T = _temp_degc->getFloatValue() + 273.15;
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float D = _density_slugft3->getFloatValue()
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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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|
|
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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]);
|
|
|
|
// 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!
|
|
_pilot_g->setFloatValue(-v[2]/9.8);
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|
|
|
// 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
|
|
for(int i=0; i<airplane->numGear(); i++) {
|
|
Gear* g = airplane->getGear(i);
|
|
GearProps& gearProps = _gearProps[i];
|
|
gearProps.has_brake->setBoolValue(
|
|
g->getBrake() != 0);
|
|
gearProps.wow->setBoolValue(
|
|
g->getCompressFraction() != 0);
|
|
gearProps.compression_norm->setFloatValue(
|
|
g->getCompressFraction());
|
|
gearProps.compression_m->setFloatValue(
|
|
g->getCompressDist());
|
|
gearProps.caster_angle_deg->setFloatValue(
|
|
g->getCasterAngle() * RAD2DEG);
|
|
gearProps.rollspeed_ms->setFloatValue(
|
|
g->getRollSpeed());
|
|
gearProps.ground_is_solid->setBoolValue(
|
|
g->getGroundIsSolid()!=0);
|
|
gearProps.ground_friction_factor->setFloatValue(
|
|
g->getGroundFrictionFactor());
|
|
}
|
|
|
|
Hook* h = airplane->getHook();
|
|
if(h) {
|
|
_tailhook_position_norm->setFloatValue(h->getCompressFraction());
|
|
}
|
|
|
|
Launchbar* l = airplane->getLaunchbar();
|
|
if(l) {
|
|
_launchbar_position_norm->setFloatValue(l->getCompressFraction());
|
|
_launchbar_holdback_pos_norm->setFloatValue(l->getHoldbackCompressFraction());
|
|
_launchbar_state->setStringValue(l->getState());
|
|
_launchbar_strop->setBoolValue(l->getStrop());
|
|
}
|
|
}
|
|
|
|
/** Reinit the FDM.
|
|
* This is only used after a replay session and when the user requested to resume at
|
|
* a past point of time. In this case the FDM must reload all values from the property
|
|
* tree (as given by the replay system). */
|
|
void YASim::reinit()
|
|
{
|
|
// Process inputs. Use excessive value for dt to make sure all transition effects
|
|
// have reached their final state (i.e. gear is extended/retracted) - which is vital
|
|
// for many properties to be complete before the first FDM run (otherwise the gear may
|
|
// still be up, thrust-reversers/speed-brakes/... may still be partially deployed...).
|
|
_fdm->getExternalInput(1000);
|
|
|
|
// get current FDM values from the property tree
|
|
copyToYASim(true);
|
|
}
|