429 lines
16 KiB
C++
429 lines
16 KiB
C++
// LaRCsim.cxx -- interface to the LaRCsim flight model
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//
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// Written by Curtis Olson, started October 1998.
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//
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// Copyright (C) 1998 Curtis L. Olson - curt@me.umn.edu
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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// (Log is kept at end of this file)
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#include "LaRCsim.hxx"
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#include <Aircraft/aircraft.hxx>
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#include <Controls/controls.hxx>
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#include <Flight/flight.hxx>
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#include <Flight/LaRCsim/ls_cockpit.h>
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#include <Flight/LaRCsim/ls_generic.h>
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#include <Flight/LaRCsim/ls_interface.h>
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// Initialize the LaRCsim flight model, dt is the time increment for
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// each subsequent iteration through the EOM
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int fgLaRCsimInit(double dt) {
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ls_toplevel_init(dt);
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return(1);
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}
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// Run an iteration of the EOM (equations of motion)
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int fgLaRCsimUpdate(FGState& f, int multiloop) {
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double save_alt = 0.0;
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// lets try to avoid really screwing up the LaRCsim model
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if ( f.get_Altitude() < -9000 ) {
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save_alt = f.get_Altitude();
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f.set_Altitude( 0.0 );
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}
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// copy control positions into the LaRCsim structure
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Lat_control = controls.get_aileron();
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Long_control = controls.get_elevator();
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Long_trim = controls.get_elevator_trim();
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Rudder_pedal = controls.get_rudder();
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Throttle_pct = controls.get_throttle( 0 );
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Brake_pct = controls.get_brake( 0 );
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// Inform LaRCsim of the local terrain altitude
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Runway_altitude = f.get_Runway_altitude();
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// old -- FGstate_2_LaRCsim() not needed except for Init()
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// translate FG to LaRCsim structure
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// FGState_2_LaRCsim(f);
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// printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
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// printf("Altitude = %.2f\n", Altitude * 0.3048);
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// printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
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ls_update(multiloop);
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// printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
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// printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
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// translate LaRCsim back to FG structure so that the
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// autopilot (and the rest of the sim can use the updated
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// values
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fgLaRCsim_2_FGState(f);
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// but lets restore our original bogus altitude when we are done
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if ( save_alt < -9000.0 ) {
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f.set_Altitude( save_alt );
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}
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return 1;
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}
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// Convert from the FGState struct to the LaRCsim generic_ struct
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int FGState_2_LaRCsim (FGState& f) {
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Mass = f.get_Mass();
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I_xx = f.get_I_xx();
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I_yy = f.get_I_yy();
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I_zz = f.get_I_zz();
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I_xz = f.get_I_xz();
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// Dx_pilot = f.get_Dx_pilot();
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// Dy_pilot = f.get_Dy_pilot();
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// Dz_pilot = f.get_Dz_pilot();
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Dx_cg = f.get_Dx_cg();
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Dy_cg = f.get_Dy_cg();
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Dz_cg = f.get_Dz_cg();
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// F_X = f.get_F_X();
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// F_Y = f.get_F_Y();
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// F_Z = f.get_F_Z();
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// F_north = f.get_F_north();
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// F_east = f.get_F_east();
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// F_down = f.get_F_down();
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// F_X_aero = f.get_F_X_aero();
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// F_Y_aero = f.get_F_Y_aero();
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// F_Z_aero = f.get_F_Z_aero();
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// F_X_engine = f.get_F_X_engine();
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// F_Y_engine = f.get_F_Y_engine();
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// F_Z_engine = f.get_F_Z_engine();
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// F_X_gear = f.get_F_X_gear();
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// F_Y_gear = f.get_F_Y_gear();
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// F_Z_gear = f.get_F_Z_gear();
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// M_l_rp = f.get_M_l_rp();
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// M_m_rp = f.get_M_m_rp();
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// M_n_rp = f.get_M_n_rp();
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// M_l_cg = f.get_M_l_cg();
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// M_m_cg = f.get_M_m_cg();
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// M_n_cg = f.get_M_n_cg();
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// M_l_aero = f.get_M_l_aero();
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// M_m_aero = f.get_M_m_aero();
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// M_n_aero = f.get_M_n_aero();
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// M_l_engine = f.get_M_l_engine();
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// M_m_engine = f.get_M_m_engine();
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// M_n_engine = f.get_M_n_engine();
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// M_l_gear = f.get_M_l_gear();
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// M_m_gear = f.get_M_m_gear();
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// M_n_gear = f.get_M_n_gear();
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// V_dot_north = f.get_V_dot_north();
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// V_dot_east = f.get_V_dot_east();
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// V_dot_down = f.get_V_dot_down();
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// U_dot_body = f.get_U_dot_body();
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// V_dot_body = f.get_V_dot_body();
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// W_dot_body = f.get_W_dot_body();
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// A_X_cg = f.get_A_X_cg();
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// A_Y_cg = f.get_A_Y_cg();
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// A_Z_cg = f.get_A_Z_cg();
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// A_X_pilot = f.get_A_X_pilot();
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// A_Y_pilot = f.get_A_Y_pilot();
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// A_Z_pilot = f.get_A_Z_pilot();
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// N_X_cg = f.get_N_X_cg();
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// N_Y_cg = f.get_N_Y_cg();
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// N_Z_cg = f.get_N_Z_cg();
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// N_X_pilot = f.get_N_X_pilot();
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// N_Y_pilot = f.get_N_Y_pilot();
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// N_Z_pilot = f.get_N_Z_pilot();
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// P_dot_body = f.get_P_dot_body();
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// Q_dot_body = f.get_Q_dot_body();
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// R_dot_body = f.get_R_dot_body();
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V_north = f.get_V_north();
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V_east = f.get_V_east();
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V_down = f.get_V_down();
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// V_north_rel_ground = f.get_V_north_rel_ground();
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// V_east_rel_ground = f.get_V_east_rel_ground();
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// V_down_rel_ground = f.get_V_down_rel_ground();
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// V_north_airmass = f.get_V_north_airmass();
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// V_east_airmass = f.get_V_east_airmass();
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// V_down_airmass = f.get_V_down_airmass();
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// V_north_rel_airmass = f.get_V_north_rel_airmass();
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// V_east_rel_airmass = f.get_V_east_rel_airmass();
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// V_down_rel_airmass = f.get_V_down_rel_airmass();
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// U_gust = f.get_U_gust();
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// V_gust = f.get_V_gust();
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// W_gust = f.get_W_gust();
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// U_body = f.get_U_body();
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// V_body = f.get_V_body();
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// W_body = f.get_W_body();
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// V_rel_wind = f.get_V_rel_wind();
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// V_true_kts = f.get_V_true_kts();
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// V_rel_ground = f.get_V_rel_ground();
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// V_inertial = f.get_V_inertial();
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// V_ground_speed = f.get_V_ground_speed();
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// V_equiv = f.get_V_equiv();
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// V_equiv_kts = f.get_V_equiv_kts();
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// V_calibrated = f.get_V_calibrated();
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// V_calibrated_kts = f.get_V_calibrated_kts();
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P_body = f.get_P_body();
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Q_body = f.get_Q_body();
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R_body = f.get_R_body();
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// P_local = f.get_P_local();
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// Q_local = f.get_Q_local();
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// R_local = f.get_R_local();
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// P_total = f.get_P_total();
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// Q_total = f.get_Q_total();
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// R_total = f.get_R_total();
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// Phi_dot = f.get_Phi_dot();
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// Theta_dot = f.get_Theta_dot();
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// Psi_dot = f.get_Psi_dot();
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// Latitude_dot = f.get_Latitude_dot();
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// Longitude_dot = f.get_Longitude_dot();
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// Radius_dot = f.get_Radius_dot();
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Lat_geocentric = f.get_Lat_geocentric();
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Lon_geocentric = f.get_Lon_geocentric();
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Radius_to_vehicle = f.get_Radius_to_vehicle();
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Latitude = f.get_Latitude();
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Longitude = f.get_Longitude();
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Altitude = f.get_Altitude();
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Phi = f.get_Phi();
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Theta = f.get_Theta();
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Psi = f.get_Psi();
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// T_local_to_body_11 = f.get_T_local_to_body_11();
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// T_local_to_body_12 = f.get_T_local_to_body_12();
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// T_local_to_body_13 = f.get_T_local_to_body_13();
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// T_local_to_body_21 = f.get_T_local_to_body_21();
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// T_local_to_body_22 = f.get_T_local_to_body_22();
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// T_local_to_body_23 = f.get_T_local_to_body_23();
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// T_local_to_body_31 = f.get_T_local_to_body_31();
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// T_local_to_body_32 = f.get_T_local_to_body_32();
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// T_local_to_body_33 = f.get_T_local_to_body_33();
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// Gravity = f.get_Gravity();
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// Centrifugal_relief = f.get_Centrifugal_relief();
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// Alpha = f.get_Alpha();
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// Beta = f.get_Beta();
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// Alpha_dot = f.get_Alpha_dot();
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// Beta_dot = f.get_Beta_dot();
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// Cos_alpha = f.get_Cos_alpha();
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// Sin_alpha = f.get_Sin_alpha();
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// Cos_beta = f.get_Cos_beta();
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// Sin_beta = f.get_Sin_beta();
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// Cos_phi = f.get_Cos_phi();
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// Sin_phi = f.get_Sin_phi();
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// Cos_theta = f.get_Cos_theta();
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// Sin_theta = f.get_Sin_theta();
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// Cos_psi = f.get_Cos_psi();
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// Sin_psi = f.get_Sin_psi();
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// Gamma_vert_rad = f.get_Gamma_vert_rad();
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// Gamma_horiz_rad = f.get_Gamma_horiz_rad();
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// Sigma = f.get_Sigma();
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// Density = f.get_Density();
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// V_sound = f.get_V_sound();
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// Mach_number = f.get_Mach_number();
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// Static_pressure = f.get_Static_pressure();
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// Total_pressure = f.get_Total_pressure();
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// Impact_pressure = f.get_Impact_pressure();
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// Dynamic_pressure = f.get_Dynamic_pressure();
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// Static_temperature = f.get_Static_temperature();
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// Total_temperature = f.get_Total_temperature();
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Sea_level_radius = f.get_Sea_level_radius();
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Earth_position_angle = f.get_Earth_position_angle();
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Runway_altitude = f.get_Runway_altitude();
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// Runway_latitude = f.get_Runway_latitude();
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// Runway_longitude = f.get_Runway_longitude();
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// Runway_heading = f.get_Runway_heading();
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// Radius_to_rwy = f.get_Radius_to_rwy();
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// D_cg_north_of_rwy = f.get_D_cg_north_of_rwy();
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// D_cg_east_of_rwy = f.get_D_cg_east_of_rwy();
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// D_cg_above_rwy = f.get_D_cg_above_rwy();
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// X_cg_rwy = f.get_X_cg_rwy();
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// Y_cg_rwy = f.get_Y_cg_rwy();
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// H_cg_rwy = f.get_H_cg_rwy();
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// D_pilot_north_of_rwy = f.get_D_pilot_north_of_rwy();
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// D_pilot_east_of_rwy = f.get_D_pilot_east_of_rwy();
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// D_pilot_above_rwy = f.get_D_pilot_above_rwy();
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// X_pilot_rwy = f.get_X_pilot_rwy();
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// Y_pilot_rwy = f.get_Y_pilot_rwy();
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// H_pilot_rwy = f.get_H_pilot_rwy();
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return( 0 );
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}
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// Convert from the LaRCsim generic_ struct to the FGState struct
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int fgLaRCsim_2_FGState (FGState& f) {
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// Mass properties and geometry values
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f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
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// f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
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f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
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// Forces
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// f.set_Forces_Body_Total( F_X, F_Y, F_Z );
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// f.set_Forces_Local_Total( F_north, F_east, F_down );
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// f.set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
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// f.set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
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// f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
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// Moments
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// f.set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
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// f.set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
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// f.set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
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// f.set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
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// f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
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// Accelerations
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// f.set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
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// f.set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
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// f.set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
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// f.set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
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// f.set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
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// f.set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
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// f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
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// Velocities
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f.set_Velocities_Local( V_north, V_east, V_down );
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// f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
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// V_down_rel_ground );
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// f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
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// V_down_airmass );
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// f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
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// V_east_rel_airmass, V_down_rel_airmass );
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// f.set_Velocities_Gust( U_gust, V_gust, W_gust );
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// f.set_Velocities_Wind_Body( U_body, V_body, W_body );
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// f.set_V_rel_wind( V_rel_wind );
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// f.set_V_true_kts( V_true_kts );
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// f.set_V_rel_ground( V_rel_ground );
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// f.set_V_inertial( V_inertial );
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// f.set_V_ground_speed( V_ground_speed );
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// f.set_V_equiv( V_equiv );
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f.set_V_equiv_kts( V_equiv_kts );
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// f.set_V_calibrated( V_calibrated );
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// f.set_V_calibrated_kts( V_calibrated_kts );
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f.set_Omega_Body( P_body, Q_body, R_body );
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// f.set_Omega_Local( P_local, Q_local, R_local );
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// f.set_Omega_Total( P_total, Q_total, R_total );
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// f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
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f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
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// Positions
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f.set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
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Radius_to_vehicle );
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f.set_Geodetic_Position( Latitude, Longitude, Altitude );
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f.set_Euler_Angles( Phi, Theta, Psi );
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// Miscellaneous quantities
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f.set_T_Local_to_Body(T_local_to_body_m);
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// f.set_Gravity( Gravity );
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// f.set_Centrifugal_relief( Centrifugal_relief );
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f.set_Alpha( Alpha );
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f.set_Beta( Beta );
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// f.set_Alpha_dot( Alpha_dot );
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// f.set_Beta_dot( Beta_dot );
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// f.set_Cos_alpha( Cos_alpha );
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// f.set_Sin_alpha( Sin_alpha );
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// f.set_Cos_beta( Cos_beta );
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// f.set_Sin_beta( Sin_beta );
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// f.set_Cos_phi( Cos_phi );
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// f.set_Sin_phi( Sin_phi );
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// f.set_Cos_theta( Cos_theta );
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// f.set_Sin_theta( Sin_theta );
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// f.set_Cos_psi( Cos_psi );
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// f.set_Sin_psi( Sin_psi );
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f.set_Gamma_vert_rad( Gamma_vert_rad );
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// f.set_Gamma_horiz_rad( Gamma_horiz_rad );
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// f.set_Sigma( Sigma );
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// f.set_Density( Density );
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// f.set_V_sound( V_sound );
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// f.set_Mach_number( Mach_number );
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// f.set_Static_pressure( Static_pressure );
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// f.set_Total_pressure( Total_pressure );
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// f.set_Impact_pressure( Impact_pressure );
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// f.set_Dynamic_pressure( Dynamic_pressure );
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// f.set_Static_temperature( Static_temperature );
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// f.set_Total_temperature( Total_temperature );
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f.set_Sea_level_radius( Sea_level_radius );
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f.set_Earth_position_angle( Earth_position_angle );
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f.set_Runway_altitude( Runway_altitude );
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// f.set_Runway_latitude( Runway_latitude );
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// f.set_Runway_longitude( Runway_longitude );
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// f.set_Runway_heading( Runway_heading );
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// f.set_Radius_to_rwy( Radius_to_rwy );
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|
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// f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
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// f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
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// f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
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// D_pilot_above_rwy );
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// f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
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|
|
|
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return 0;
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}
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|
|
|
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// $Log$
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// Revision 1.9 1999/01/08 19:27:36 curt
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// Fixed AOA reading on HUD.
|
|
// Continued work on time jitter compensation.
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//
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// Revision 1.8 1998/12/18 23:37:06 curt
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|
// Collapsed out the FGState variables not currently needed. They are just
|
|
// commented out and can be readded easily at any time. The point of this
|
|
// exersize is to determine which variables were or were not currently being
|
|
// used.
|
|
//
|
|
// Revision 1.7 1998/12/14 13:31:06 curt
|
|
// LaRCsim maintains all it's variables internally. I had been copying all of
|
|
// them back and forth to the FG struture everytime I updated the flight model.
|
|
// However, I have realized that this is not necessary. I just need to copy
|
|
// the control positions and environmental parameters into the LaRCsim structure
|
|
// before updating the FDM, then copy every thing back out into the publick FGFS
|
|
// structure afterwords. This seems to solve (or at least help) a westward
|
|
// drift problem some poeple had been observing.
|
|
//
|
|
// Revision 1.6 1998/12/05 15:54:08 curt
|
|
// Renamed class fgFLIGHT to class FGState as per request by JSB.
|
|
//
|
|
// Revision 1.5 1998/12/03 04:25:02 curt
|
|
// Working on fixing up new fgFLIGHT class.
|
|
//
|
|
// Revision 1.4 1998/12/03 01:16:37 curt
|
|
// Converted fgFLIGHT to a class.
|
|
//
|
|
// Revision 1.3 1998/10/25 14:08:43 curt
|
|
// Turned "struct fgCONTROLS" into a class, with inlined accessor functions.
|
|
//
|
|
// Revision 1.2 1998/10/17 01:34:11 curt
|
|
// C++ ifying ...
|
|
//
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|
// Revision 1.1 1998/10/17 00:43:58 curt
|
|
// Initial revision.
|
|
//
|
|
//
|