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[nps] fix altitude

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This commit is contained in:
Felix Ruess
2012-06-22 01:05:00 +02:00
parent cf2c7ee24b
commit e84cabf85a
2 changed files with 8 additions and 9 deletions
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sw/simulator/nps/nps_fdm_jsbsim.c
+7 -8
View File
@@ -92,7 +92,7 @@ void nps_fdm_run_step(double* commands) {
/**
* Feed JSBSim with the latest actuator commands.
*
*
* @param commands Pointer to array of doubles holding actuator commands
*/
static void feed_jsbsim(double* commands) {
@@ -160,7 +160,6 @@ static void fetch_state(void) {
/* llh */
llh_from_jsbsim(&fdm.lla_pos, propagate);
//test123(&fdm.lla_pos, propagate);
//for debug
lla_from_jsbsim_geodetic(&fdm.lla_pos_geod, propagate);
@@ -215,10 +214,10 @@ static void init_jsbsim(double dt) {
FDMExec->SetDebugLevel(0); // No DEBUG messages
if ( ! FDMExec->LoadModel( rootdir + "aircraft",
rootdir + "engine",
rootdir + "systems",
AIRFRAME_NAME,
false)){
rootdir + "engine",
rootdir + "systems",
AIRFRAME_NAME,
false)){
#ifdef DEBUG
cerr << " JSBSim could not be started" << endl << endl;
#endif
@@ -336,10 +335,10 @@ 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());
fdm_lla->alt = 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()));
//printf("ASL alt: %f\n", propagate->GetAltitudeASLmeters());
}
sw/simulator/nps/nps_ivy.c
+1 -1
View File
@@ -97,7 +97,7 @@ static void on_DL_MOVE_WP(IvyClientPtr app __attribute__ ((unused)),
struct EnuCoor_i enu;
lla.lat = INT32_RAD_OF_DEG(atoi(argv[3]));
lla.lon = INT32_RAD_OF_DEG(atoi(argv[4]));
lla.alt = atoi(argv[5]) - ins_ltp_def.hmsl + ins_ltp_def.lla.alt;
lla.alt = atoi(argv[5])*10 - ins_ltp_def.hmsl + ins_ltp_def.lla.alt;
enu_of_lla_point_i(&enu,&ins_ltp_def,&lla);
enu.x = POS_BFP_OF_REAL(enu.x)/100;
enu.y = POS_BFP_OF_REAL(enu.y)/100;