299 lines
10 KiB
C
299 lines
10 KiB
C
/**************************************************************************
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* ls_interface.h -- interface to the "LaRCsim" flight model
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*
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* Written by Curtis Olson, started May 1997.
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*
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* Copyright (C) 1997 Curtis L. Olson - http://www.flightgear.org/~curt
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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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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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**************************************************************************/
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#ifndef _LS_INTERFACE_H
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#define _LS_INTERFACE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "ls_types.h"
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/* reset flight params to a specific position */
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int ls_toplevel_init(double dt, char * aircraft);
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/* update position based on inputs, positions, velocities, etc. */
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int ls_update(int multiloop);
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void ls_set_model_dt(double dt);
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#if 0
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/* Convert from the fgFLIGHT struct to the LaRCsim generic_ struct */
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int fgFlight_2_LaRCsim (fgFLIGHT *f);
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/* Convert from the LaRCsim generic_ struct to the fgFLIGHT struct */
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int fgLaRCsim_2_Flight (fgFLIGHT *f);
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#endif
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void ls_loop( SCALAR dt, int initialize );
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/* Set the altitude (force) */
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int ls_ForceAltitude(double alt_feet);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _LS_INTERFACE_H */
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// $Log$
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// Revision 1.3 2006/02/21 17:45:03 mfranz
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// new FSF address (see http://www.gnu.org/licenses/gpl.html)
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//
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// Revision 1.2 2004-11-19 22:10:42 curt
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// Fix my mailing address by replacing it with my web page.
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//
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// Revision 1.1.1.1 2002/09/10 01:14:02 curt
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// Initial revision of FlightGear-0.9.0
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//
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// Revision 1.5 2001/03/24 05:03:12 curt
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// SG-ified logstream.
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//
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// Revision 1.4 2000/10/23 22:34:54 curt
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// I tested:
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// LaRCsim c172 on-ground and in-air starts, reset: all work
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// UIUC Cessna172 on-ground and in-air starts work as expected, reset
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// results in an aircraft that is upside down but does not crash FG. I
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// don't know what it was like before, so it may well be no change.
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// JSBSim c172 and X15 in-air starts work fine, resets now work (and are
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// trimmed), on-ground starts do not -- the c172 ends up on its back. I
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// suspect this is no worse than before.
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//
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// I did not test:
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// Balloon (the weather code returns nan's for the atmosphere data --this
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// is in the weather module and apparently is a linux only bug)
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// ADA (don't know how)
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// MagicCarpet (needs work yet)
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// External (don't know how)
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//
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// known to be broken:
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// LaRCsim c172 on-ground starts with a negative terrain altitude (this
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// happens at KPAO when the scenery is not present). The FDM inits to
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// about 50 feet AGL and the model falls to the ground. It does stay
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// upright, however, and seems to be fine once it settles out, FWIW.
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//
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// To do:
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// --implement set_Model on the bus
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// --bring Christian's weather data into JSBSim
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// -- add default method to bus for updating things like the sin and cos of
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// latitude (for Balloon, MagicCarpet)
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// -- lots of cleanup
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//
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// The files:
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// src/FDM/flight.cxx
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// src/FDM/flight.hxx
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// -- all data members now declared protected instead of private.
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// -- eliminated all but a small set of 'setters', no change to getters.
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// -- that small set is declared virtual, the default implementation
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// provided preserves the old behavior
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// -- all of the vector data members are now initialized.
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// -- added busdump() method -- SG_LOG's all the bus data when called,
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// useful for diagnostics.
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//
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// src/FDM/ADA.cxx
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// -- bus data members now directly assigned to
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//
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// src/FDM/Balloon.cxx
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// -- bus data members now directly assigned to
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// -- changed V_equiv_kts to V_calibrated_kts
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//
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// src/FDM/JSBSim.cxx
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// src/FDM/JSBSim.hxx
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// -- bus data members now directly assigned to
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// -- implemented the FGInterface virtual setters with JSBSim specific
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// logic
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// -- changed the static FDMExec to a dynamic fdmex (needed so that the
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// JSBSim object can be deleted when a model change is called for)
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// -- implemented constructor and destructor, moved some of the logic
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// formerly in init() to constructor
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// -- added logic to bring up FGEngInterface objects and set the RPM and
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// throttle values.
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//
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// src/FDM/LaRCsim.cxx
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// src/FDM/LaRCsim.hxx
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// -- bus data members now directly assigned to
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// -- implemented the FGInterface virtual setters with LaRCsim specific
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// logic, uses LaRCsimIC
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// -- implemented constructor and destructor, moved some of the logic
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// formerly in init() to constructor
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// -- moved default inertias to here from fg_init.cxx
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// -- eliminated the climb rate calculation. The equivalent, climb_rate =
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// -1*vdown, is now in copy_from_LaRCsim().
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//
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// src/FDM/LaRCsimIC.cxx
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// src/FDM/LaRCsimIC.hxx
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// -- similar to FGInitialCondition, this class has all the logic needed to
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// turn data like Vc and Mach into the more fundamental quantities LaRCsim
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// needs to initialize.
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// -- put it in src/FDM since it is a class
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//
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// src/FDM/MagicCarpet.cxx
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// -- bus data members now directly assigned to
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//
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// src/FDM/Makefile.am
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// -- adds LaRCsimIC.hxx and cxx
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//
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// src/FDM/JSBSim/FGAtmosphere.h
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// src/FDM/JSBSim/FGDefs.h
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// src/FDM/JSBSim/FGInitialCondition.cpp
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// src/FDM/JSBSim/FGInitialCondition.h
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// src/FDM/JSBSim/JSBSim.cpp
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// -- changes to accomodate the new bus
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//
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// src/FDM/LaRCsim/atmos_62.h
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// src/FDM/LaRCsim/ls_geodesy.h
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// -- surrounded prototypes with #ifdef __cplusplus ... #endif , functions
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// here are needed in LaRCsimIC
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//
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// src/FDM/LaRCsim/c172_main.c
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// src/FDM/LaRCsim/cherokee_aero.c
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// src/FDM/LaRCsim/ls_aux.c
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// src/FDM/LaRCsim/ls_constants.h
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// src/FDM/LaRCsim/ls_geodesy.c
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// src/FDM/LaRCsim/ls_geodesy.h
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// src/FDM/LaRCsim/ls_step.c
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// src/FDM/UIUCModel/uiuc_betaprobe.cpp
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// -- changed PI to LS_PI, eliminates preprocessor naming conflict with
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// weather module
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//
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// src/FDM/LaRCsim/ls_interface.c
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// src/FDM/LaRCsim/ls_interface.h
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// -- added function ls_set_model_dt()
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//
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// src/Main/bfi.cxx
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// -- eliminated calls that set the NED speeds to body components. They
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// are no longer needed and confuse the new bus.
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//
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// src/Main/fg_init.cxx
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// -- eliminated calls that just brought the bus data up-to-date (e.g.
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// set_sin_cos_latitude). or set default values. The bus now handles the
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// defaults and updates itself when the setters are called (for LaRCsim and
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// JSBSim). A default method for doing this needs to be added to the bus.
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// -- added fgVelocityInit() to set the speed the user asked for. Both
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// JSBSim and LaRCsim can now be initialized using any of:
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// vc,mach, NED components, UVW components.
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//
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// src/Main/main.cxx
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// --eliminated call to fgFDMSetGroundElevation, this data is now 'pulled'
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// onto the bus every update()
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//
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// src/Main/options.cxx
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// src/Main/options.hxx
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// -- added enum to keep track of the speed requested by the user
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// -- eliminated calls to set NED velocity properties to body speeds, they
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// are no longer needed.
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// -- added options for the NED components.
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//
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// src/Network/garmin.cxx
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// src/Network/nmea.cxx
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// --eliminated calls that just brought the bus data up-to-date (e.g.
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// set_sin_cos_latitude). The bus now updates itself when the setters are
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// called (for LaRCsim and JSBSim). A default method for doing this needs
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// to be added to the bus.
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// -- changed set_V_equiv_kts to set_V_calibrated_kts. set_V_equiv_kts no
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// longer exists ( get_V_equiv_kts still does, though)
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//
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// src/WeatherCM/FGLocalWeatherDatabase.cpp
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// -- commented out the code to put the weather data on the bus, a
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// different scheme for this is needed.
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//
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// Revision 1.3 2000/04/27 19:57:08 curt
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// MacOS build updates.
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//
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// Revision 1.2 2000/04/10 18:09:41 curt
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// David Megginson made a few (mostly minor) mods to the LaRCsim files, and
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// it's now possible to choose the LaRCsim model at runtime, as in
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//
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// fgfs --aircraft=c172
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//
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// or
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//
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// fgfs --aircraft=uiuc --aircraft-dir=Aircraft-uiuc/Boeing747
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//
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// I did this so that I could play with the UIUC stuff without losing
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// Tony's C172 with its flaps, etc. I did my best to respect the design
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// of the LaRCsim code by staying in C, making only minimal changes, and
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// not introducing any dependencies on the rest of FlightGear. The
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// modified files are attached.
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//
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// Revision 1.1.1.1 1999/06/17 18:07:33 curt
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// Start of 0.7.x branch
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//
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// Revision 1.1.1.1 1999/04/05 21:32:45 curt
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// Start of 0.6.x branch.
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//
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// Revision 1.11 1998/10/17 01:34:15 curt
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// C++ ifying ...
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//
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// Revision 1.10 1998/10/16 23:27:45 curt
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// C++-ifying.
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//
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// Revision 1.9 1998/07/12 03:11:04 curt
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// Removed some printf()'s.
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// Fixed the autopilot integration so it should be able to update it's control
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// positions every time the internal flight model loop is run, and not just
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// once per rendered frame.
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// Added a routine to do the necessary stuff to force an arbitrary altitude
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// change.
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// Gave the Navion engine just a tad more power.
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//
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// Revision 1.8 1998/04/21 16:59:39 curt
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// Integrated autopilot.
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// Prepairing for C++ integration.
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//
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// Revision 1.7 1998/02/07 15:29:39 curt
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// Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
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// <chotchkiss@namg.us.anritsu.com>
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//
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// Revision 1.6 1998/02/03 23:20:17 curt
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// Lots of little tweaks to fix various consistency problems discovered by
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// Solaris' CC. Fixed a bug in fg_debug.c with how the fgPrintf() wrapper
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// passed arguments along to the real printf(). Also incorporated HUD changes
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// by Michele America.
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//
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// Revision 1.5 1998/01/19 19:27:05 curt
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// Merged in make system changes from Bob Kuehne <rpk@sgi.com>
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// This should simplify things tremendously.
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//
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// Revision 1.4 1998/01/19 18:40:27 curt
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// Tons of little changes to clean up the code and to remove fatal errors
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// when building with the c++ compiler.
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//
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// Revision 1.3 1997/07/23 21:52:20 curt
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// Put comments around the text after an #endif for increased portability.
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//
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// Revision 1.2 1997/05/29 22:39:59 curt
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// Working on incorporating the LaRCsim flight model.
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//
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// Revision 1.1 1997/05/29 00:09:58 curt
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// Initial Flight Gear revision.
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//
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