111 lines
3.7 KiB
C++
111 lines
3.7 KiB
C++
// ACMS.cxx -- interface to the ACMS FDM
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//
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// Written by Erik Hofman, started October 2004
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//
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// Copyright (C) 2004 Erik Hofman <erik@ehofman.com>
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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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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/math/SGMath.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <Main/fg_props.hxx>
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#include "ACMS.hxx"
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FGACMS::FGACMS( double dt )
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: _alt (fgGetNode("/fdm/acms/position/altitude-ft", true)),
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_speed (fgGetNode("/fdm/acms/velocities/airspeed-kt", true)),
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_climb_rate( fgGetNode("/fdm/acms/velocities/vertical-speed-fps", true)),
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_pitch (fgGetNode("/fdm/acms/orientation/pitch-rad", true)),
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_roll (fgGetNode("/fdm/acms/orientation/roll-rad", true)),
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_heading(fgGetNode("/fdm/acms/orientation/heading-rad", true)),
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_acc_lat(fgGetNode("/fdm/acms/accelerations/ned/east-accel-fps_sec", true)),
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_acc_lon(fgGetNode("/fdm/acms/accelerations/ned/north-accel-fps_sec", true)),
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_acc_down(fgGetNode("/fdm/acms/accelerations/ned/down-accel-fps_sec", true)),
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_temp (fgGetNode("/fdm/acms/environment/temperature-degc", true)),
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_wow (fgGetNode("/fdm/acms/gear/wow", true))
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{
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// set_delta_t( dt );
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}
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FGACMS::~FGACMS() {
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}
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// Initialize the ACMSFDM flight model, dt is the time increment
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// for each subsequent iteration through the EOM
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void FGACMS::init() {
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common_init();
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}
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// Run an iteration of the EOM (equations of motion)
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void FGACMS::update( double dt ) {
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if (is_suspended())
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return;
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double pitch = _pitch->getDoubleValue();
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double roll = _roll->getDoubleValue();
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double heading = _heading->getDoubleValue();
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double alt = _alt->getDoubleValue();
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set_Theta(pitch);
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set_Phi(roll);
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set_Psi(heading);
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set_Altitude(alt);
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_set_Climb_Rate( _climb_rate->getDoubleValue() );
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double acc_lat = _acc_lat->getDoubleValue();
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double acc_lon = _acc_lon->getDoubleValue();
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double acc_down = _acc_down->getDoubleValue();
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_set_Accels_Local( acc_lon, acc_lat, acc_down );
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double accel = norm(SGVec3d(acc_lon, acc_lat, acc_down)) * SG_FEET_TO_METER;
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double velocity = (_speed->getDoubleValue() * SG_KT_TO_MPS) + accel * dt;
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double dist = cos (pitch) * velocity * dt;
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double kts = velocity * SG_MPS_TO_KT;
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_set_V_equiv_kts( kts );
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_set_V_calibrated_kts( kts );
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_set_V_ground_speed( kts );
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SGGeod pos = SGGeod::fromDegM(get_Longitude(), get_Latitude(), get_Altitude());
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// update (lon/lat) position
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SGGeod pos2;
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double az2;
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geo_direct_wgs_84 ( pos, heading * SGD_RADIANS_TO_DEGREES,
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dist, pos2, &az2 );
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_set_Longitude( pos2.getLongitudeRad() );
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_set_Latitude( pos2.getLatitudeRad() );
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double sl_radius, lat_geoc;
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sgGeodToGeoc( get_Latitude(), get_Altitude(), &sl_radius, &lat_geoc );
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_set_Euler_Angles( roll, pitch, heading );
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_set_Euler_Rates(0,0,0);
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_set_Geocentric_Position( lat_geoc, get_Longitude(), sl_radius);
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_update_ground_elev_at_pos();
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_set_Sea_level_radius( sl_radius * SG_METER_TO_FEET);
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}
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