227 lines
7.5 KiB
C++
227 lines
7.5 KiB
C++
// JSBsim.cxx -- interface to the JSBsim flight model
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//
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// Written by Curtis Olson, started February 1999.
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//
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// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
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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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#define FDM_MAIN
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#include <FDM/JSBsim/FGFDMExec.h>
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#undef FDM_MAIN
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#include "JSBsim.hxx"
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#include <Aircraft/aircraft.hxx>
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#include <Controls/controls.hxx>
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#include <Debug/logstream.hxx>
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#include <Include/fg_constants.h>
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#include <Math/fg_geodesy.hxx>
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// Initialize the JSBsim flight model, dt is the time increment for
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// each subsequent iteration through the EOM
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int fgJSBsimInit(double dt) {
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FG_LOG( FG_FLIGHT, FG_INFO, "Starting initializing JSBsim" );
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FDMExec = new FGFDMExec();
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FG_LOG( FG_FLIGHT, FG_INFO, " created FDMExec" );
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Aircraft->LoadAircraft("X15");
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FG_LOG( FG_FLIGHT, FG_INFO, " loaded aircraft" );
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State->Reset("reset00");
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FG_LOG( FG_FLIGHT, FG_INFO, " loaded initial conditions" );
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State->Setdt(dt);
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FG_LOG( FG_FLIGHT, FG_INFO, " set dt" );
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FG_LOG( FG_FLIGHT, FG_INFO, "Finished initializing JSBsim" );
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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 fgJSBsimUpdate(FGInterface& f, int multiloop) {
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double save_alt = 0.0;
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// lets try to avoid really screwing up the JSBsim 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 JSBsim structure
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FCS->SetDa( controls.get_aileron() );
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FCS->SetDe( controls.get_elevator() + controls.get_elevator_trim() );
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FCS->SetDr( controls.get_rudder() );
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FCS->SetDf( 0.0 );
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FCS->SetDs( 0.0 );
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FCS->SetThrottle( controls.get_throttle( 0 ) );
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// FCS->SetBrake( controls.get_brake( 0 ) );
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// Inform JSBsim of the local terrain altitude
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// Runway_altitude = f.get_Runway_altitude();
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// old -- FGInterface_2_JSBsim() not needed except for Init()
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// translate FG to JSBsim structure
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// FGInterface_2_JSBsim(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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State->Setsim_time(State->Getsim_time() + State->Getdt() * multiloop);
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FDMExec->Run();
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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 JSBsim 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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fgJSBsim_2_FGInterface(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 FGInterface struct to the JSBsim generic_ struct
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int FGInterface_2_JSBsim (FGInterface& f) {
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return 1;
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}
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// Convert from the JSBsim generic_ struct to the FGInterface struct
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int fgJSBsim_2_FGInterface (FGInterface& f) {
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// Velocities
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f.set_Velocities_Local( State->GetVn(), State->GetVe(), State->GetVd() );
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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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/* ***FIXME*** */ f.set_V_equiv_kts( State->GetVt() );
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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( State->GetP(), State->GetQ(), State->GetR() );
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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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// ***FIXME*** f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
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// Positions
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double lat = State->Getlatitude();
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double lon = State->Getlongitude();
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double alt = State->Geth();
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double lat_geoc, sl_radius;
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fgGeodToGeoc( lat, alt * FEET_TO_METER, &sl_radius, &lat_geoc );
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FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << lon << " lat = " << lat
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<< " lat_geoc = " << lat_geoc
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<< " alt = " << alt
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<< " sl_radius = " << sl_radius * METER_TO_FEET);
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f.set_Geocentric_Position( lat_geoc, lon, sl_radius * METER_TO_FEET + alt );
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f.set_Geodetic_Position( lat, lon, alt );
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f.set_Euler_Angles( State->Getphi(), State->Gettht(), State->Getpsi() );
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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( State->Getalpha() );
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f.set_Beta( State->Getbeta() );
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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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// ***ATTENDTOME*** 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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/* **FIXME*** */ f.set_Sea_level_radius( sl_radius * METER_TO_FEET );
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/* **FIXME*** */ f.set_Earth_position_angle( 0.0 );
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/* ***FIXME*** */ f.set_Runway_altitude( 0.0 );
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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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// 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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return 0;
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}
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// $Log$
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// Revision 1.1 1999/02/05 21:29:38 curt
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// Incorporating Jon S. Berndt's flight model code.
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//
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