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use geodetic latitude in nps and set initial pos with correct geocentric lat

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This commit is contained in:
Felix Ruess
2010-10-13 19:53:20 +00:00
parent 60f57562e5
commit 77a8b0537c
2 changed files with 42 additions and 28 deletions
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conf/simulator/jsbsim/aircraft/reset00.xml
+6 -5
View File
@@ -6,13 +6,14 @@
<phi unit="DEG"> 0.0 </phi>
<theta unit="DEG"> 0.0 </theta>
<psi unit="DEG"> 0.0 </psi>
<!-- SF geocentric ? -->
<!-- <latitude unit="DEG"> 37.557 </latitude> -->
<!-- SF geodetic latitude -->
<latitude unit="DEG"> 37.6136 </latitude>
<!-- latitude in geocentric coordinates!! -->
<latitude unit="DEG"> 37.427895 </latitude>
<!--<latitude unit="DEG"> 37.6136 </latitude> -->
<longitude unit="DEG">-122.3569 </longitude>
<!-- altitude is above ground level AGL -->
<!-- <altitude unit="M"> 0.11 </altitude> -->
<altitude unit="M"> 2.5 </altitude>
<!-- altitudeMSL is above sea level ASL -->
<altitudeMSL unit="M"> 2.5 </altitudeMSL>
<!-- <altitude unit="M">95 </altitude> -->
<winddir unit="DEG"> 0.0 </winddir>
<vwind unit="FT/SEC"> 0.0 </vwind>
sw/simulator/nps/nps_fdm_jsbsim.c
+36 -23
View File
@@ -23,9 +23,11 @@ static void jsbsimvec_to_vec(DoubleVect3* fdm_vector, const FGColumnVector3* jsb
static void jsbsimloc_to_loc(EcefCoor_d* fdm_location, const FGLocation* jsb_location);
static void jsbsimquat_to_quat(DoubleQuat* fdm_quat, const FGQuaternion* jsb_quat);
static void jsbsimvec_to_rate(DoubleRates* fdm_rate, const FGColumnVector3* jsb_vector);
static void jsbsimloc_to_lla(LlaCoor_d* fdm_lla, FGPropagate* propagate);
static void llh_from_jsbsim(LlaCoor_d* fdm_lla, FGPropagate* propagate);
static void lla_from_jsbsim_geodetic(LlaCoor_d* fdm_lla, FGPropagate* propagate);
static void lla_from_jsbsim_geocentric(LlaCoor_d* fdm_lla, FGPropagate* propagate);
//static void rate_to_vec(DoubleVect3* vector, DoubleRates* rate);
static void test123(LlaCoor_d* fdm_lla, FGPropagate* propagate);
//static void test123(LlaCoor_d* fdm_lla, FGPropagate* propagate);
static void init_jsbsim(double dt);
static void init_ltp(void);
@@ -114,8 +116,8 @@ static void fetch_state(void) {
ned_of_ecef_vect_d(&fdm.ltpprz_ecef_vel, &ltpdef, &fdm.ecef_ecef_vel);
ned_of_ecef_vect_d(&fdm.ltpprz_ecef_accel, &ltpdef, &fdm.ecef_ecef_accel);
/* lla */
jsbsimloc_to_lla(&fdm.lla_pos, propagate);
/* llh */
llh_from_jsbsim(&fdm.lla_pos, propagate);
//test123(&fdm.lla_pos, propagate);
@@ -139,18 +141,6 @@ static void fetch_state(void) {
}
static void test123(LlaCoor_d* fdm_lla, FGPropagate* propagate) {
fdm_lla->lat = propagate->GetLatitude();
fdm_lla->lon = propagate->GetLongitude();
// fdm_lla->lat = propagate->GetGeodLatitudeRad();
// FIXME
fdm_lla->alt = MetersOfFeet(propagate->GetDistanceAGL());
}
static void init_jsbsim(double dt) {
char buf[1024];
@@ -241,6 +231,29 @@ static void jsbsimvec_to_rate(DoubleRates* fdm_rate, const FGColumnVector3* jsb_
}
//longitude and geodetic latitude in rad and height above sea level in m
void llh_from_jsbsim(LlaCoor_d* fdm_lla, FGPropagate* propagate) {
fdm_lla->lat = propagate->GetGeodLatitudeRad();
fdm_lla->lon = propagate->GetLongitude();
fdm_lla->alt = MetersOfFeet(propagate->GetAltitudeASLmeters());
//printf("geodetic alt: %f\n", MetersOfFeet(propagate->GetGeodeticAltitude()));
//printf("ground alt: %f\n", MetersOfFeet(propagate->GetDistanceAGL()));
//printf("ASL alt: %f\n", MetersOfFeet(propagate->GetAltitudeASLmeters()));
}
void lla_from_jsbsim_geocentric(LlaCoor_d* fdm_lla, FGPropagate* propagate) {
fdm_lla->lat = propagate->GetLatitude();
fdm_lla->lon = propagate->GetLongitude();
fdm_lla->alt = MetersOfFeet(propagate->GetRadius());
}
void lla_from_jsbsim_geodetic(LlaCoor_d* fdm_lla, FGPropagate* propagate) {
fdm_lla->lat = propagate->GetGeodLatitudeRad();
fdm_lla->lon = propagate->GetLongitude();
fdm_lla->alt = MetersOfFeet(propagate->GetGeodeticAltitude());
}
#if 0
static void rate_to_vec(DoubleVect3* vector, DoubleRates* rate) {
@@ -249,16 +262,16 @@ static void rate_to_vec(DoubleVect3* vector, DoubleRates* rate) {
vector->z = rate->r;
}
#endif
void jsbsimloc_to_lla(LlaCoor_d* fdm_lla, FGPropagate* propagate) {
static void test123(LlaCoor_d* fdm_lla, FGPropagate* propagate) {
fdm_lla->lat = propagate->GetGeodLatitudeRad();
fdm_lla->lat = propagate->GetLatitude();
fdm_lla->lon = propagate->GetLongitude();
// fdm_lla->lat = propagate->GetGeodLatitudeRad();
// FIXME
fdm_lla->alt = MetersOfFeet(propagate->GetDistanceAGL());
//printf("geodetic alt: %f\n", MetersOfFeet(propagate->GetGeodeticAltitude()));
//printf("ground alt: %f\n", MetersOfFeet(propagate->GetDistanceAGL()));
//printf("ASL alt: %f\n", MetersOfFeet(propagate->GetAltitudeASLmeters()));
}
#endif