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flightgear/src/FDM/SP/ADA.cxx
ehofman 7b824755ee Mathias Fröhlich: 
I have prepared a patch that:
- Introduces a FGTileMgr::scenery_available method which asks the tilemanager
  if scenery for a given range around a lat/lon pair is already loaded and make
  use of that method at some -9999 meter checks.
- Introduces a FGScenery::get_elevation_m method which queries the altitude at
  a given position. In constrast to the groundcache functions this is the best
  choice if you ask for one *single* altitude value. Make use of that thing in
  AI/ATC classes and for the current views ground level. At the current views
  part the groundcache is reused if possible.
- The computation of the 'current groundlevel' is no longer done on the
  tilemanagers update since the required functions are now better seperated.

Alltogether it eliminates somehow redundant terrain level computations which
are now superseeded by that more finegrained functions and the existence of
the groundcache. Additionally it introduces an api to commonly required
functions which was very complex to do prevously.
2005-08-14 12:57:12 +00:00

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// ADA.cxx -- interface to the "External"-ly driven ADA flight model
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
// Modified by Cdr. VS Renganthan <vsranga@ada.ernet.in>, 12 Oct 2K
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/io/iochannel.hxx>
#include <simgear/io/sg_socket.hxx>
#include <simgear/constants.h>
#include <Controls/controls.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx> //to get ID of window (left/right or center)
#include <Scenery/scenery.hxx> //to pass ground elevation to FDM
#include "ADA.hxx"
#define numberofbytes 472 // from FDM to visuals
#define nbytes 8 //from visuals to FDM
struct {
double number_of_bytes;
double lat_geoc;
double lon_geoc;
double altitude;
double psirad;
double thetrad;
double phirad;
double earth_posn_angle;
double radius_to_vehicle;
double sea_level_radius;
double latitude;
double longitude;
double Vnorth;
double Veast;
double Vdown;
double Vcas_kts;
double prad;
double qrad;
double rrad;
double alpharad;
double betarad;
double latitude_dot;
double longitude_dot;
double radius_dot;
double Gamma_vert_rad;
double Runway_altitude;
double throttle;
double pstick;
double rstick;
double rpedal;
double U_local;
double V_local;
double W_local;
double U_dot_local;
double V_dot_local;
double W_dot_local;
double Machno;
double anxg;
double anyg;
double anzg;
double aux1;
double aux2;
double aux3;
double aux4;
double aux5;
double aux6;
double aux7;
double aux8;
int iaux1;
int iaux2;
int iaux3;
int iaux4;
int iaux5;
int iaux6;
int iaux7;
int iaux8;
int iaux9;
int iaux10;
int iaux11;
int iaux12;
float aux9;
float aux10;
float aux11;
float aux12;
float aux13;
float aux14;
float aux15;
float aux16;
float aux17;
float aux18;
} sixdof_to_visuals;
double view_offset; //if this zero, means center window
struct {
double ground_elevation;
} visuals_to_sixdof;
#define ground_elevation visuals_to_sixdof.ground_elevation
#define number_of_bytes sixdof_to_visuals.number_of_bytes
#define U_dot_local sixdof_to_visuals.U_dot_local
#define V_dot_local sixdof_to_visuals.V_dot_local
#define W_dot_local sixdof_to_visuals.W_dot_local
#define U_local sixdof_to_visuals.U_local
#define V_local sixdof_to_visuals.V_local
#define W_local sixdof_to_visuals.W_local
#define throttle sixdof_to_visuals.throttle
#define pstick sixdof_to_visuals.pstick
#define rstick sixdof_to_visuals.rstick
#define rpedal sixdof_to_visuals.rpedal
#define V_north sixdof_to_visuals.Vnorth
#define V_east sixdof_to_visuals.Veast
#define V_down sixdof_to_visuals.Vdown
#define V_calibrated_kts sixdof_to_visuals.Vcas_kts
#define P_body sixdof_to_visuals.prad
#define Q_body sixdof_to_visuals.qrad
#define R_body sixdof_to_visuals.rrad
#define Latitude_dot sixdof_to_visuals.latitude_dot
#define Longitude_dot sixdof_to_visuals.longitude_dot
#define Radius_dot sixdof_to_visuals.radius_dot
#define Latitude sixdof_to_visuals.latitude
#define Longitude sixdof_to_visuals.longitude
#define Lat_geocentric sixdof_to_visuals.lat_geoc
#define Lon_geocentric sixdof_to_visuals.lon_geoc
#define Radius_to_vehicle sixdof_to_visuals.radius_to_vehicle
#define Altitude sixdof_to_visuals.altitude
#define Phi sixdof_to_visuals.phirad
#define Theta sixdof_to_visuals.thetrad
#define Psi sixdof_to_visuals.psirad
#define Alpha sixdof_to_visuals.alpharad
#define Beta sixdof_to_visuals.betarad
#define Sea_level_radius sixdof_to_visuals.sea_level_radius
#define Earth_position_angle sixdof_to_visuals.earth_posn_angle
#define Runway_altitude sixdof_to_visuals.Runway_altitude
#define Gamma_vert_rad sixdof_to_visuals.Gamma_vert_rad
#define Machno sixdof_to_visuals.Machno
#define anxg sixdof_to_visuals.anxg
#define anyg sixdof_to_visuals.anyg
#define anzg sixdof_to_visuals.anzg
FGADA::FGADA( double dt ) {
// set_delta_t( dt );
}
FGADA::~FGADA() {
}
// Initialize the ADA flight model, dt is the time increment
// for each subsequent iteration through the EOM
void FGADA::init() {
//do init common to all FDM"s
common_init();
//now do ADA-specific init.
// cout << "FGADA::init()" << endl;
char OutBuffer[nbytes];
copy_to_FGADA();
printf("\nInitialising UDP sockets\n");
// initialise a "udp" socket
fdmsock = new SGSocket( "fdm_pc", "5001", "udp" );
// open as a client
bool result = fdmsock->open(SG_IO_OUT);
if (result == false) {
printf ("Socket Open Error\n");
} else {
copy_to_FGADA();
// Write FGExternal structure from socket to establish connection
int result = fdmsock->write(OutBuffer, nbytes);
printf("Connection established = %d.\n", result);
}
}
// Run an iteration of the EOM. This is essentially a NOP here
// because these values are getting filled in elsewhere based on
// external input.
void FGADA::update( double dt ) {
// cout << "FGADA::update()" << endl;
if (is_suspended())
return;
char Buffer[numberofbytes];
char OutBuffer[nbytes];
// Read FGExternal structure from socket
while (1) {
int result = fdmsock->read(Buffer, numberofbytes);
if (result == numberofbytes) {
// Copy buffer into FGExternal structure
memcpy (&sixdof_to_visuals, &Buffer, sizeof (Buffer));
// Convert from the FGExternal struct to the FGInterface struct (input)
copy_from_FGADA();
} else {
break;
}
}
copy_to_FGADA();
fgGetDouble("/sim/view/offset",view_offset);
if ( view_offset == 0.0) {
memcpy (&OutBuffer, &visuals_to_sixdof, sizeof (OutBuffer));
fdmsock->write(OutBuffer, nbytes);
}
}
// Convert from the FGInterface struct to the FGADA struct (output)
bool FGADA::copy_to_FGADA () {
ground_elevation = get_Runway_altitude_m();
return true;
}
// Convert from the FGADA struct to the FGInterface struct (input)
bool FGADA::copy_from_FGADA() {
//Positions and attitudes for The Rendering engine
_set_Geodetic_Position( Latitude, Longitude, Altitude );
_set_Euler_Angles( Phi, Theta, Psi );
_set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
Radius_to_vehicle );
_set_Sea_level_radius( Sea_level_radius );
_set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
_set_Earth_position_angle( Earth_position_angle );
_set_sin_lat_geocentric(Lat_geocentric);
_set_cos_lat_geocentric(Lat_geocentric);
_set_sin_cos_longitude(Longitude);
_set_sin_cos_latitude(Latitude);
// Velocities and accelerations for the pitch ladder and velocity vector
_set_Accels_Local( U_dot_local, V_dot_local, W_dot_local );
_set_Velocities_Ground( U_local, V_local, W_local );//same as V_NED in mps
_set_Velocities_Local( V_north, V_east, V_down ); //same as UVW_local in fps
//Positions and attitude for ship
_set_daux(1,sixdof_to_visuals.aux1);//ship lat
_set_daux(2,sixdof_to_visuals.aux2);//ship lon
_set_daux(3,sixdof_to_visuals.aux3);//ship alt+heave
_set_daux(4,sixdof_to_visuals.aux4);//distance of a/c from ski-jump exit
_set_faux(1,sixdof_to_visuals.aux9);//ship pitch
_set_faux(2,sixdof_to_visuals.aux10);//ship roll
_set_faux(3,sixdof_to_visuals.aux11);//ship yaw
_set_iaux(1,sixdof_to_visuals.iaux1);//flag for drawing ship
// controls
globals->get_controls()->set_throttle(0,throttle/131.0);
globals->get_controls()->set_elevator(pstick);
globals->get_controls()->set_aileron(rstick);
globals->get_controls()->set_rudder(rpedal);
// auxilliary parameters for HUD
_set_V_calibrated_kts( V_calibrated_kts );
_set_Alpha( Alpha );
_set_Beta( Beta );
_set_Accels_CG_Body_N( anxg,anyg,anzg);
_set_Mach_number( Machno);
_set_Climb_Rate( W_local*SG_METER_TO_FEET ); //pressure alt in feet for lca(navy)
_set_iaux(2,sixdof_to_visuals.iaux2);//control law mode switch posn
_set_iaux(3,sixdof_to_visuals.iaux3);//ldg gear posn
_set_iaux(4,sixdof_to_visuals.iaux4);// wow nose status
_set_iaux(5,sixdof_to_visuals.iaux5);// wow main status
_set_iaux(6,sixdof_to_visuals.iaux6);// arrester hook posn
_set_iaux(7,sixdof_to_visuals.iaux7);
_set_iaux(8,sixdof_to_visuals.iaux8);
_set_iaux(9,sixdof_to_visuals.iaux9);
_set_iaux(10,sixdof_to_visuals.iaux10);
_set_iaux(11,sixdof_to_visuals.iaux11);
_set_iaux(12,sixdof_to_visuals.iaux12);
_set_daux(5,sixdof_to_visuals.aux5);
_set_daux(6,sixdof_to_visuals.aux6);
_set_daux(7,sixdof_to_visuals.aux7);
_set_daux(8,sixdof_to_visuals.aux8);
_set_faux(4,sixdof_to_visuals.aux12);
_set_faux(5,sixdof_to_visuals.aux13);
_set_faux(6,sixdof_to_visuals.aux14);
_set_faux(7,sixdof_to_visuals.aux15);
_set_faux(8,sixdof_to_visuals.aux16);
_set_faux(9,sixdof_to_visuals.aux17);
_set_faux(10,sixdof_to_visuals.aux18);
// Angular rates
_set_Omega_Body( P_body, Q_body, R_body );
// Miscellaneous quantities
_set_Gamma_vert_rad( Gamma_vert_rad );
_set_Runway_altitude( Runway_altitude );
// SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude
// << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
// << " alt = " << Altitude << " sl_radius = " << Sea_level_radius
// << " radius_to_vehicle = " << Radius_to_vehicle );
// printf("sr=%f\n",Sea_level_radius);
// printf("psi = %f %f\n",Psi,Psi*SGD_RADIANS_TO_DEGREES);
return true;
}
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