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update nps jsbsim interface to account for removal of FGState

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This commit is contained in:
Felix Ruess
2010-03-06 19:40:54 +00:00
parent 7751fa92a1
commit 257e552643
1 changed files with 30 additions and 33 deletions
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sw/simulator/nps/nps_fdm_jsbsim.c
+30 -33
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@@ -1,6 +1,6 @@
#include <FGFDMExec.h>
#include <FGJSBBase.h>
#include <FGState.h>
#include <models/FGGroundReactions.h>
#include <stdlib.h>
#include "nps_fdm.h"
#include "6dof.h"
@@ -42,7 +42,7 @@ void nps_fdm_init(double dt) {
init_ltp();
fetch_state();
}
void nps_fdm_run_step(double* commands) {
@@ -71,20 +71,20 @@ static void feed_jsbsim(double* commands) {
static void fetch_state(void) {
FGPropertyManager* node = FDMExec->GetPropertyManager()->GetNode("sim-time-sec");
FGPropertyManager* node = FDMExec->GetPropertyManager()->GetNode("simulation/sim-time-sec");
fdm.time = node->getDoubleValue();
FGPropagate* propagate = FDMExec->GetPropagate();
fdm.on_ground = FDMExec->GetGroundReactions()->GetWOW();
/*
/*
* position
*/
jsbsimloc_to_loc(&fdm.ecef_pos,&propagate->GetLocation());
/*
* linear speed and accelerations
* linear speed and accelerations
*/
/* in body frame */
@@ -115,10 +115,10 @@ static void fetch_state(void) {
/* lla */
//jsbsimloc_to_lla(&fdm.lla_pos, &VState->vLocation);
test123(&fdm.lla_pos, propagate);
/*
* attitude
/*
* attitude
*/
const FGQuaternion jsb_quat = propagate->GetQuaternion();
jsbsimquat_to_quat(&fdm.ltp_to_body_quat, &jsb_quat);
@@ -128,17 +128,17 @@ static void fetch_state(void) {
/* FIXME: use jsbsim ltp for now */
EULERS_COPY(fdm.ltpprz_to_body_eulers, fdm.ltp_to_body_eulers);
QUAT_COPY(fdm.ltpprz_to_body_quat, fdm.ltp_to_body_quat);
/*
* rotational speed and accelerations
*/
* rotational speed and accelerations
*/
jsbsimvec_to_rate(&fdm.body_ecef_rotvel,&propagate->GetPQR());
jsbsimvec_to_rate(&fdm.body_ecef_rotaccel,&propagate->GetPQRdot());
}
static void test123(LlaCoor_d* fdm_lla, FGPropagate* propagate) {
fdm_lla->lat = propagate->GetLatitude();
fdm_lla->lon = propagate->GetLongitude();
@@ -153,19 +153,17 @@ static void init_jsbsim(double dt) {
char buf[1024];
string rootdir;
JSBSim::FGState* State;
sprintf(buf,"%s/conf/simulator/jsbsim/",getenv("PAPARAZZI_HOME"));
rootdir = string(buf);
FDMExec = new FGFDMExec();
State = FDMExec->GetState();
State->Setsim_time(0.);
State->Setdt(dt);
FDMExec->Setsim_time(0.);
FDMExec->Setdt(dt);
FDMExec->DisableOutput();
FDMExec->SetDebugLevel(0); // No DEBUG messages
if ( ! FDMExec->LoadModel( rootdir + "aircraft",
rootdir + "engine",
rootdir + "systems",
@@ -177,7 +175,7 @@ static void init_jsbsim(double dt) {
delete FDMExec;
exit(-1);
}
JSBSim::FGInitialCondition *IC = FDMExec->GetIC();
if ( ! IC->Load(NPS_INITIAL_CONDITITONS)) {
#ifdef DEBUG
@@ -193,21 +191,21 @@ static void init_ltp(void) {
FGPropagate* propagate;
FGPropagate::VehicleState* VState;
propagate = FDMExec->GetPropagate();
VState = propagate->GetVState();
jsbsimloc_to_loc(&fdm.ecef_pos,&VState->vLocation);
ltp_def_from_ecef_d(&ltpdef,&fdm.ecef_pos);
fdm.ltp_g.x = 0.;
fdm.ltp_g.y = 0.;
fdm.ltp_g.z = 9.81;
fdm.ltp_h.x = 1.;
fdm.ltp_h.y = 0.;
fdm.ltp_h.z = 1.;
}
@@ -216,9 +214,9 @@ static void jsbsimloc_to_loc(EcefCoor_d* fdm_location, const FGLocation* jsb_loc
fdm_location->x = jsb_location->Entry(1);
fdm_location->y = jsb_location->Entry(2);
fdm_location->z = jsb_location->Entry(3);
}
static void jsbsimvec_to_vec(DoubleVect3* fdm_vector, const FGColumnVector3* jsb_vector) {
fdm_vector->x = jsb_vector->Entry(1);
@@ -228,7 +226,7 @@ static void jsbsimvec_to_vec(DoubleVect3* fdm_vector, const FGColumnVector3* jsb
}
static void jsbsimquat_to_quat(DoubleQuat* fdm_quat, const FGQuaternion* jsb_quat){
fdm_quat->qi = jsb_quat->Entry(1);
fdm_quat->qx = jsb_quat->Entry(2);
fdm_quat->qy = jsb_quat->Entry(3);
@@ -261,4 +259,3 @@ void jsbsimloc_to_lla(LlaCoor_d* fdm_lla, FGLocation* jsb_location) {
// printf("%f\n", jsb_location->GetGeodAltitude());
}
#endif