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flightgear/src/FDM/LaRCsim.cxx
curt 2b056c8452 This set of changes touches a *lot* of files. The main goal here is to 
fix startup sequence problems where we initialize the FDM before we know
the desired starting altitude.

These changes delay fdm initialization until the local tile has been loaded
and we can do a real intersection and find the true ground elevation.

In order to do this, I depend more on the property manager as glue, rather
than the FGInterface.

There are some glitches still when switching to a new airport or reseting
the sim.  I will work on addressing these, but I need to commit the changes
so far to keep in sync with other developers.
2001-10-28 16:16:30 +00:00

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// LaRCsim.cxx -- interface to the LaRCsim flight model
//
// Written by Curtis Olson, started October 1998.
//
// Copyright (C) 1998 Curtis L. Olson - curt@me.umn.edu
//
// 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.
//
// $Id$
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <Scenery/scenery.hxx>
#include <Main/fg_props.hxx>
#include <Aircraft/aircraft.hxx>
#include <Controls/controls.hxx>
#include <FDM/flight.hxx>
#include <FDM/LaRCsim/ls_cockpit.h>
#include <FDM/LaRCsim/ls_generic.h>
#include <FDM/LaRCsim/ls_interface.h>
#include <FDM/LaRCsimIC.hxx>
#include <FDM/UIUCModel/uiuc_aircraft.h>
#include "IO360.hxx"
#include "LaRCsim.hxx"
FGLaRCsim::FGLaRCsim( double dt ) {
set_delta_t( dt );
speed_up = fgGetNode("/sim/speed-up", true);
aircraft = fgGetNode("/sim/aircraft", true);
ls_toplevel_init( 0.0, (char *)(aircraft->getStringValue().c_str()) );
lsic=new LaRCsimIC; //this needs to be brought up after LaRCsim is
if ( aircraft->getStringValue() == "c172" ) {
copy_to_LaRCsim(); // initialize all of LaRCsim's vars
//this should go away someday -- formerly done in fg_init.cxx
Mass = 8.547270E+01;
I_xx = 1.048000E+03;
I_yy = 3.000000E+03;
I_zz = 3.530000E+03;
I_xz = 0.000000E+00;
}
ls_set_model_dt( get_delta_t() );
// Initialize our little engine that hopefully might
eng.init( get_delta_t() );
// dcl - in passing dt to init rather than update I am assuming
// that the LaRCsim dt is fixed at one value (yes it is 120hz CLO)
// update the engines interface
FGEngInterface e;
add_engine( e );
// Fill the fuel tanks
// Hardwired to C172 full tanks for now - need to fix this sometime
// Also note that this is the max quantity - the usable quantity
// is slightly less
set_Tank1Fuel(28.0);
set_Tank2Fuel(28.0);
}
FGLaRCsim::~FGLaRCsim(void) {
if ( lsic != NULL ) {
delete lsic;
lsic = NULL;
}
}
// Initialize the LaRCsim flight model, dt is the time increment for
// each subsequent iteration through the EOM
void FGLaRCsim::init() {
// Explicitly call the superclass's
// init method first.
FGInterface::init();
}
// Run an iteration of the EOM (equations of motion)
bool FGLaRCsim::update( int multiloop ) {
if ( aircraft->getStringValue() == "c172" ) {
// set control inputs
// cout << "V_calibrated_kts = " << V_calibrated_kts << '\n';
eng.set_IAS( V_calibrated_kts );
eng.set_Throttle_Lever_Pos( globals->get_controls()->get_throttle( 0 )
* 100.0 );
eng.set_Propeller_Lever_Pos( 100 );
eng.set_Mixture_Lever_Pos( globals->get_controls()->get_mixture( 0 )
* 100.0 );
eng.set_Magneto_Switch_Pos( globals->get_controls()->get_magnetos(0) );
eng.setStarterFlag( globals->get_controls()->get_starter(0) );
eng.set_p_amb( Static_pressure );
eng.set_T_amb( Static_temperature );
// update engine model
eng.update();
// copy engine state values onto "bus"
FGEngInterface *e = get_engine( 0 );
e->set_Throttle( globals->get_controls()->get_throttle(0) * 100.0 );
e->set_Mixture( 80 ); // ???????
e->set_Prop_Advance( 100 );
e->set_RPM( eng.get_RPM() );
e->set_Manifold_Pressure( eng.get_Manifold_Pressure() );
e->set_MaxHP( eng.get_MaxHP() );
e->set_Percentage_Power( eng.get_Percentage_Power() );
e->set_EGT( eng.get_EGT() );
e->set_CHT( eng.get_CHT() );
e->set_prop_thrust( eng.get_prop_thrust_SI() );
e->set_Fuel_Flow( eng.get_fuel_flow_gals_hr() );
e->set_Oil_Temp( eng.get_oil_temp() );
e->set_Running_Flag( eng.getRunningFlag() );
e->set_Cranking_Flag( eng.getCrankingFlag() );
//Assume we are using both tanks equally for now
reduce_Tank1Fuel( (eng.get_fuel_flow_gals_hr() / (2 * 3600))
* get_delta_t() );
reduce_Tank2Fuel( (eng.get_fuel_flow_gals_hr() / (2 * 3600))
* get_delta_t() );
#if 0
SG_LOG( SG_FLIGHT, SG_INFO, "Throttle = "
<< globals->get_controls()->get_throttle( 0 ) * 100.0);
SG_LOG( SG_FLIGHT, SG_INFO, " Mixture = " << 80);
SG_LOG( SG_FLIGHT, SG_INFO, " RPM = " << eng.get_RPM());
SG_LOG( SG_FLIGHT, SG_INFO, " MP = " << eng.get_Manifold_Pressure());
SG_LOG( SG_FLIGHT, SG_INFO, " HP = "
<< ( eng.get_MaxHP() * eng.get_Percentage_Power()/ 100.0) );
SG_LOG( SG_FLIGHT, SG_INFO, " EGT = " << eng.get_EGT());
SG_LOG( SG_FLIGHT, SG_INFO, " Thrust (N) "
<< eng.get_prop_thrust_SI()); // Thrust in Newtons
SG_LOG( SG_FLIGHT, SG_INFO, '\n');
#endif
F_X_engine = eng.get_prop_thrust_lbs();
// cout << "F_X_engine = " << F_X_engine << '\n';
}
double save_alt = 0.0;
// lets try to avoid really screwing up the LaRCsim model
if ( get_Altitude() < -9000.0 ) {
save_alt = get_Altitude();
set_Altitude( 0.0 );
}
// copy control positions into the LaRCsim structure
Lat_control = globals->get_controls()->get_aileron() /
speed_up->getIntValue();
Long_control = globals->get_controls()->get_elevator();
Long_trim = globals->get_controls()->get_elevator_trim();
Rudder_pedal = globals->get_controls()->get_rudder() /
speed_up->getIntValue();
Flap_handle = 30.0 * globals->get_controls()->get_flaps();
if ( aircraft->getStringValue() == "c172" ) {
Use_External_Engine = 1;
} else {
Use_External_Engine = 0;
}
Throttle_pct = globals->get_controls()->get_throttle( 0 ) * 1.0;
Brake_pct[0] = globals->get_controls()->get_brake( 1 );
Brake_pct[1] = globals->get_controls()->get_brake( 0 );
// Inform LaRCsim of the local terrain altitude
// Runway_altitude = get_Runway_altitude();
Runway_altitude = scenery.get_cur_elev() * SG_METER_TO_FEET;
// Weather
/* V_north_airmass = get_V_north_airmass();
V_east_airmass = get_V_east_airmass();
V_down_airmass = get_V_down_airmass(); */
// old -- FGInterface_2_LaRCsim() not needed except for Init()
// translate FG to LaRCsim structure
// FGInterface_2_LaRCsim(f);
// printf("FG_Altitude = %.2f\n", FG_Altitude * 0.3048);
// printf("Altitude = %.2f\n", Altitude * 0.3048);
// printf("Radius to Vehicle = %.2f\n", Radius_to_vehicle * 0.3048);
ls_update(multiloop);
// printf("%d FG_Altitude = %.2f\n", i, FG_Altitude * 0.3048);
// printf("%d Altitude = %.2f\n", i, Altitude * 0.3048);
// translate LaRCsim back to FG structure so that the
// autopilot (and the rest of the sim can use the updated
// values
copy_from_LaRCsim();
// but lets restore our original bogus altitude when we are done
if ( save_alt < -9000.0 ) {
set_Altitude( save_alt );
}
return true;
}
// Convert from the FGInterface struct to the LaRCsim generic_ struct
bool FGLaRCsim::copy_to_LaRCsim () {
Mass = get_Mass();
I_xx = get_I_xx();
I_yy = get_I_yy();
I_zz = get_I_zz();
I_xz = get_I_xz();
// Dx_pilot = get_Dx_pilot();
// Dy_pilot = get_Dy_pilot();
// Dz_pilot = get_Dz_pilot();
Dx_cg = get_Dx_cg();
Dy_cg = get_Dy_cg();
Dz_cg = get_Dz_cg();
// F_X = get_F_X();
// F_Y = get_F_Y();
// F_Z = get_F_Z();
// F_north = get_F_north();
// F_east = get_F_east();
// F_down = get_F_down();
// F_X_aero = get_F_X_aero();
// F_Y_aero = get_F_Y_aero();
// F_Z_aero = get_F_Z_aero();
// F_X_engine = get_F_X_engine();
// F_Y_engine = get_F_Y_engine();
// F_Z_engine = get_F_Z_engine();
// F_X_gear = get_F_X_gear();
// F_Y_gear = get_F_Y_gear();
// F_Z_gear = get_F_Z_gear();
// M_l_rp = get_M_l_rp();
// M_m_rp = get_M_m_rp();
// M_n_rp = get_M_n_rp();
// M_l_cg = get_M_l_cg();
// M_m_cg = get_M_m_cg();
// M_n_cg = get_M_n_cg();
// M_l_aero = get_M_l_aero();
// M_m_aero = get_M_m_aero();
// M_n_aero = get_M_n_aero();
// M_l_engine = get_M_l_engine();
// M_m_engine = get_M_m_engine();
// M_n_engine = get_M_n_engine();
// M_l_gear = get_M_l_gear();
// M_m_gear = get_M_m_gear();
// M_n_gear = get_M_n_gear();
// V_dot_north = get_V_dot_north();
// V_dot_east = get_V_dot_east();
// V_dot_down = get_V_dot_down();
// U_dot_body = get_U_dot_body();
// V_dot_body = get_V_dot_body();
// W_dot_body = get_W_dot_body();
// A_X_cg = get_A_X_cg();
// A_Y_cg = get_A_Y_cg();
// A_Z_cg = get_A_Z_cg();
// A_X_pilot = get_A_X_pilot();
// A_Y_pilot = get_A_Y_pilot();
// A_Z_pilot = get_A_Z_pilot();
// N_X_cg = get_N_X_cg();
// N_Y_cg = get_N_Y_cg();
// N_Z_cg = get_N_Z_cg();
// N_X_pilot = get_N_X_pilot();
// N_Y_pilot = get_N_Y_pilot();
// N_Z_pilot = get_N_Z_pilot();
// P_dot_body = get_P_dot_body();
// Q_dot_body = get_Q_dot_body();
// R_dot_body = get_R_dot_body();
// V_north = get_V_north();
// V_east = get_V_east();
// V_down = get_V_down();
// V_north_rel_ground = get_V_north_rel_ground();
// V_east_rel_ground = get_V_east_rel_ground();
// V_down_rel_ground = get_V_down_rel_ground();
// V_north_airmass = get_V_north_airmass();
// V_east_airmass = get_V_east_airmass();
// V_down_airmass = get_V_down_airmass();
// V_north_rel_airmass = get_V_north_rel_airmass();
// V_east_rel_airmass = get_V_east_rel_airmass();
// V_down_rel_airmass = get_V_down_rel_airmass();
// U_gust = get_U_gust();
// V_gust = get_V_gust();
// W_gust = get_W_gust();
// U_body = get_U_body();
// V_body = get_V_body();
// W_body = get_W_body();
// V_rel_wind = get_V_rel_wind();
// V_true_kts = get_V_true_kts();
// V_rel_ground = get_V_rel_ground();
// V_inertial = get_V_inertial();
// V_ground_speed = get_V_ground_speed();
// V_equiv = get_V_equiv();
// V_equiv_kts = get_V_equiv_kts();
// V_calibrated = get_V_calibrated();
// V_calibrated_kts = get_V_calibrated_kts();
// P_body = get_P_body();
// Q_body = get_Q_body();
// R_body = get_R_body();
// P_local = get_P_local();
// Q_local = get_Q_local();
// R_local = get_R_local();
// P_total = get_P_total();
// Q_total = get_Q_total();
// R_total = get_R_total();
// Phi_dot = get_Phi_dot();
// Theta_dot = get_Theta_dot();
// Psi_dot = get_Psi_dot();
// Latitude_dot = get_Latitude_dot();
// Longitude_dot = get_Longitude_dot();
// Radius_dot = get_Radius_dot();
// Lat_geocentric = get_Lat_geocentric();
// Lon_geocentric = get_Lon_geocentric();
// Radius_to_vehicle = get_Radius_to_vehicle();
// Latitude = get_Latitude();
// Longitude = get_Longitude();
// Altitude = get_Altitude();
// Phi = get_Phi();
// Theta = get_Theta();
// Psi = get_Psi();
// T_local_to_body_11 = get_T_local_to_body_11();
// T_local_to_body_12 = get_T_local_to_body_12();
// T_local_to_body_13 = get_T_local_to_body_13();
// T_local_to_body_21 = get_T_local_to_body_21();
// T_local_to_body_22 = get_T_local_to_body_22();
// T_local_to_body_23 = get_T_local_to_body_23();
// T_local_to_body_31 = get_T_local_to_body_31();
// T_local_to_body_32 = get_T_local_to_body_32();
// T_local_to_body_33 = get_T_local_to_body_33();
// Gravity = get_Gravity();
// Centrifugal_relief = get_Centrifugal_relief();
// Alpha = get_Alpha();
// Beta = get_Beta();
// Alpha_dot = get_Alpha_dot();
// Beta_dot = get_Beta_dot();
// Cos_alpha = get_Cos_alpha();
// Sin_alpha = get_Sin_alpha();
// Cos_beta = get_Cos_beta();
// Sin_beta = get_Sin_beta();
// Cos_phi = get_Cos_phi();
// Sin_phi = get_Sin_phi();
// Cos_theta = get_Cos_theta();
// Sin_theta = get_Sin_theta();
// Cos_psi = get_Cos_psi();
// Sin_psi = get_Sin_psi();
// Gamma_vert_rad = get_Gamma_vert_rad();
// Gamma_horiz_rad = get_Gamma_horiz_rad();
// Sigma = get_Sigma();
// Density = get_Density();
// V_sound = get_V_sound();
// Mach_number = get_Mach_number();
// Static_pressure = get_Static_pressure();
// Total_pressure = get_Total_pressure();
// Impact_pressure = get_Impact_pressure();
// Dynamic_pressure = get_Dynamic_pressure();
// Static_temperature = get_Static_temperature();
// Total_temperature = get_Total_temperature();
// Sea_level_radius = get_Sea_level_radius();
// Earth_position_angle = get_Earth_position_angle();
// Runway_altitude = get_Runway_altitude();
// Runway_latitude = get_Runway_latitude();
// Runway_longitude = get_Runway_longitude();
// Runway_heading = get_Runway_heading();
// Radius_to_rwy = get_Radius_to_rwy();
// D_cg_north_of_rwy = get_D_cg_north_of_rwy();
// D_cg_east_of_rwy = get_D_cg_east_of_rwy();
// D_cg_above_rwy = get_D_cg_above_rwy();
// X_cg_rwy = get_X_cg_rwy();
// Y_cg_rwy = get_Y_cg_rwy();
// H_cg_rwy = get_H_cg_rwy();
// D_pilot_north_of_rwy = get_D_pilot_north_of_rwy();
// D_pilot_east_of_rwy = get_D_pilot_east_of_rwy();
// D_pilot_above_rwy = get_D_pilot_above_rwy();
// X_pilot_rwy = get_X_pilot_rwy();
// Y_pilot_rwy = get_Y_pilot_rwy();
// H_pilot_rwy = get_H_pilot_rwy();
return true;
}
// Convert from the LaRCsim generic_ struct to the FGInterface struct
bool FGLaRCsim::copy_from_LaRCsim() {
// Mass properties and geometry values
_set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
// set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
_set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
// Forces
// set_Forces_Body_Total( F_X, F_Y, F_Z );
// set_Forces_Local_Total( F_north, F_east, F_down );
// set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
// set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
// set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
// Moments
// set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
// set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
// set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
// set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
// set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
// Accelerations
_set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
_set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
_set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
_set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
// set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
// set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
// set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
// Velocities
_set_Velocities_Local( V_north, V_east, V_down );
// set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
// V_down_rel_ground );
_set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
V_down_airmass );
// set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
// V_east_rel_airmass, V_down_rel_airmass );
// set_Velocities_Gust( U_gust, V_gust, W_gust );
_set_Velocities_Wind_Body( U_body, V_body, W_body );
_set_V_rel_wind( V_rel_wind );
// set_V_true_kts( V_true_kts );
// set_V_rel_ground( V_rel_ground );
// set_V_inertial( V_inertial );
_set_V_ground_speed( V_ground_speed );
// set_V_equiv( V_equiv );
_set_V_equiv_kts( V_equiv_kts );
// set_V_calibrated( V_calibrated );
_set_V_calibrated_kts( V_calibrated_kts );
_set_Omega_Body( P_body, Q_body, R_body );
// set_Omega_Local( P_local, Q_local, R_local );
// set_Omega_Total( P_total, Q_total, R_total );
_set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
_set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
_set_Mach_number( Mach_number );
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 );
double tmp_lon_geoc = Lon_geocentric;
while ( tmp_lon_geoc < -SGD_PI ) { tmp_lon_geoc += SGD_2PI; }
while ( tmp_lon_geoc > SGD_PI ) { tmp_lon_geoc -= SGD_2PI; }
double tmp_lon = Longitude;
while ( tmp_lon < -SGD_PI ) { tmp_lon += SGD_2PI; }
while ( tmp_lon > SGD_PI ) { tmp_lon -= SGD_2PI; }
// Positions
_set_Geocentric_Position( Lat_geocentric, tmp_lon_geoc,
Radius_to_vehicle );
_set_Geodetic_Position( Latitude, tmp_lon, Altitude );
_set_Euler_Angles( Phi, Theta, Psi );
_set_Altitude_AGL( Altitude - Runway_altitude );
// Miscellaneous quantities
_set_T_Local_to_Body(T_local_to_body_m);
// set_Gravity( Gravity );
// set_Centrifugal_relief( Centrifugal_relief );
_set_Alpha( Alpha );
_set_Beta( Beta );
// set_Alpha_dot( Alpha_dot );
// set_Beta_dot( Beta_dot );
// set_Cos_alpha( Cos_alpha );
// set_Sin_alpha( Sin_alpha );
// set_Cos_beta( Cos_beta );
// set_Sin_beta( Sin_beta );
_set_Cos_phi( Cos_phi );
// set_Sin_phi( Sin_phi );
_set_Cos_theta( Cos_theta );
// set_Sin_theta( Sin_theta );
// set_Cos_psi( Cos_psi );
// set_Sin_psi( Sin_psi );
_set_Gamma_vert_rad( Gamma_vert_rad );
// set_Gamma_horiz_rad( Gamma_horiz_rad );
// set_Sigma( Sigma );
_set_Density( Density );
// set_V_sound( V_sound );
// set_Mach_number( Mach_number );
_set_Static_pressure( Static_pressure );
// set_Total_pressure( Total_pressure );
// set_Impact_pressure( Impact_pressure );
// set_Dynamic_pressure( Dynamic_pressure );
_set_Static_temperature( Static_temperature );
// set_Total_temperature( Total_temperature );
_set_Sea_level_radius( Sea_level_radius );
_set_Earth_position_angle( Earth_position_angle );
_set_Runway_altitude( Runway_altitude );
// set_Runway_latitude( Runway_latitude );
// set_Runway_longitude( Runway_longitude );
// set_Runway_heading( Runway_heading );
// set_Radius_to_rwy( Radius_to_rwy );
// set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
// set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
// set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
// D_pilot_above_rwy );
// set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
_set_sin_lat_geocentric(Lat_geocentric);
_set_cos_lat_geocentric(Lat_geocentric);
_set_sin_cos_longitude(Longitude);
_set_sin_cos_latitude(Latitude);
// printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
// printf("sin_lat %f cos_lat %f\n",
// get_sin_latitude(), get_cos_latitude());
// printf("sin_lon %f cos_lon %f\n",
// get_sin_longitude(), get_cos_longitude());
_set_Climb_Rate( -1 * V_down );
// cout << "climb rate = " << -V_down * 60 << endl;
if ( aircraft->getStringValue() == "uiuc" ) {
if (pilot_elev_no) {
globals->get_controls()->set_elevator(Long_control);
globals->get_controls()->set_elevator_trim(Long_trim);
// controls.set_elevator(Long_control);
// controls.set_elevator_trim(Long_trim);
}
if (pilot_ail_no) {
globals->get_controls()->set_aileron(Lat_control);
// controls.set_aileron(Lat_control);
}
if (pilot_rud_no) {
globals->get_controls()->set_rudder(Rudder_pedal);
// controls.set_rudder(Rudder_pedal);
}
if (Throttle_pct_input) {
globals->get_controls()->set_throttle(0,Throttle_pct);
// controls.set_throttle(0,Throttle_pct);
}
}
return true;
}
void FGLaRCsim::set_ls(void) {
Phi=lsic->GetRollAngleRadIC();
Theta=lsic->GetPitchAngleRadIC();
Psi=lsic->GetHeadingRadIC();
V_north=lsic->GetVnorthFpsIC();
V_east=lsic->GetVeastFpsIC();
V_down=lsic->GetVdownFpsIC();
Altitude=lsic->GetAltitudeFtIC();
Latitude=lsic->GetLatitudeGDRadIC();
Longitude=lsic->GetLongitudeRadIC();
Runway_altitude=lsic->GetRunwayAltitudeFtIC();
V_north_airmass = lsic->GetVnorthAirmassFpsIC();
V_east_airmass = lsic->GetVeastAirmassFpsIC();
V_down_airmass = lsic->GetVdownAirmassFpsIC();
ls_loop(0.0,-1);
copy_from_LaRCsim();
SG_LOG( SG_FLIGHT, SG_INFO, " FGLaRCsim::set_ls(): " );
SG_LOG( SG_FLIGHT, SG_INFO, " Phi: " << Phi );
SG_LOG( SG_FLIGHT, SG_INFO, " Theta: " << Theta );
SG_LOG( SG_FLIGHT, SG_INFO, " Psi: " << Psi );
SG_LOG( SG_FLIGHT, SG_INFO, " V_north: " << V_north );
SG_LOG( SG_FLIGHT, SG_INFO, " V_east: " << V_east );
SG_LOG( SG_FLIGHT, SG_INFO, " V_down: " << V_down );
SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: " << Altitude );
SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: " << Latitude );
SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: " << Longitude );
SG_LOG( SG_FLIGHT, SG_INFO, " Runway_altitude: " << Runway_altitude );
SG_LOG( SG_FLIGHT, SG_INFO, " V_north_airmass: " << V_north_airmass );
SG_LOG( SG_FLIGHT, SG_INFO, " V_east_airmass: " << V_east_airmass );
SG_LOG( SG_FLIGHT, SG_INFO, " V_down_airmass: " << V_down_airmass );
}
void FGLaRCsim::snap_shot(void) {
lsic->SetLatitudeGDRadIC( get_Latitude() );
lsic->SetLongitudeRadIC( get_Longitude() );
lsic->SetAltitudeFtIC( get_Altitude() );
lsic->SetRunwayAltitudeFtIC( get_Runway_altitude() );
lsic->SetVtrueFpsIC( get_V_rel_wind() );
lsic->SetPitchAngleRadIC( get_Theta() );
lsic->SetRollAngleRadIC( get_Phi() );
lsic->SetHeadingRadIC( get_Psi() );
lsic->SetClimbRateFpsIC( get_Climb_Rate() );
lsic->SetVNEDAirmassFpsIC( get_V_north_airmass(),
get_V_east_airmass(),
get_V_down_airmass() );
}
//Positions
void FGLaRCsim::set_Latitude(double lat) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Latitude: " << lat );
snap_shot();
lsic->SetLatitudeGDRadIC(lat);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Longitude(double lon) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Longitude: " << lon );
snap_shot();
lsic->SetLongitudeRadIC(lon);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Altitude(double alt) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Altitude: " << alt );
snap_shot();
lsic->SetAltitudeFtIC(alt);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_V_calibrated_kts(double vc) {
SG_LOG( SG_FLIGHT, SG_INFO,
"FGLaRCsim::set_V_calibrated_kts: " << vc );
snap_shot();
lsic->SetVcalibratedKtsIC(vc);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Mach_number(double mach) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Mach_number: " << mach );
snap_shot();
lsic->SetMachIC(mach);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Velocities_Local( double north, double east, double down ){
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_local: "
<< north << " " << east << " " << down );
snap_shot();
lsic->SetVNEDFpsIC(north, east, down);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Velocities_Wind_Body( double u, double v, double w){
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Wind_Body: "
<< u << " " << v << " " << w );
snap_shot();
lsic->SetUVWFpsIC(u,v,w);
set_ls();
copy_from_LaRCsim(); //update the bus
}
//Euler angles
void FGLaRCsim::set_Euler_Angles( double phi, double theta, double psi ) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Euler_angles: "
<< phi << " " << theta << " " << psi );
snap_shot();
lsic->SetPitchAngleRadIC(theta);
lsic->SetRollAngleRadIC(phi);
lsic->SetHeadingRadIC(psi);
set_ls();
copy_from_LaRCsim(); //update the bus
}
//Flight Path
void FGLaRCsim::set_Climb_Rate( double roc) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Climb_rate: " << roc );
snap_shot();
lsic->SetClimbRateFpsIC(roc);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Gamma_vert_rad( double gamma) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Gamma_vert_rad: " << gamma );
snap_shot();
lsic->SetFlightPathAngleRadIC(gamma);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_Runway_altitude(double ralt) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Runway_altitude: " << ralt );
snap_shot();
lsic->SetRunwayAltitudeFtIC(ralt);
set_ls();
copy_from_LaRCsim(); //update the bus
}
void FGLaRCsim::set_AltitudeAGL(double altagl) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_AltitudeAGL: " << altagl );
snap_shot();
lsic->SetAltitudeAGLFtIC(altagl);
set_ls();
copy_from_LaRCsim();
}
void FGLaRCsim::set_Velocities_Local_Airmass (double wnorth,
double weast,
double wdown ) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Velocities_Local_Airmass: "
<< wnorth << " " << weast << " " << wdown );
snap_shot();
lsic->SetVNEDAirmassFpsIC( wnorth, weast, wdown );
set_ls();
copy_from_LaRCsim();
}
void FGLaRCsim::set_Static_pressure(double p) {
SG_LOG( SG_FLIGHT, SG_INFO,
"FGLaRCsim::set_Static_pressure: " << p );
SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}
void FGLaRCsim::set_Static_temperature(double T) {
SG_LOG( SG_FLIGHT, SG_INFO,
"FGLaRCsim::set_Static_temperature: " << T );
SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}
void FGLaRCsim::set_Density(double rho) {
SG_LOG( SG_FLIGHT, SG_INFO, "FGLaRCsim::set_Density: " << rho );
SG_LOG( SG_FLIGHT, SG_INFO,
"LaRCsim does not support externally supplied atmospheric data" );
}
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