mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
Felix Ruess
99 lines
2.6 KiB
C
99 lines
2.6 KiB
C
/*
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* Copyright (C) 2008 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU 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 paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#include <string.h>
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#include "sim_ac_jsbsim.h"
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#include "firmwares/fixedwing/main_ap.h"
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#include "firmwares/fixedwing/main_fbw.h"
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using namespace JSBSim;
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//static void sim_gps_feed_data(void);
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//static void sim_ir_feed_data(void);
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void airborne_run_one_step(void) {
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// SEE sim_run_one_step
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}
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void sim_autopilot_init(void) {
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init_fbw();
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init_ap();
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}
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void autopilot_periodic_task(void) {
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periodic_task_ap();
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periodic_task_fbw();
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}
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void autopilot_event_task(void) {
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event_task_ap();
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event_task_fbw();
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}
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void copy_inputs_to_jsbsim(FGFDMExec* FDMExec) {
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FGPropertyManager* cur_node;
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double cur_value;
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char buf[64];
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const char* state[] = {"front_motor",
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"back_motor",
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"right_motor",
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"left_motor"};
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for (int i=0; i<4; i++) {
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sprintf(buf,"fcs/%s",state[i]);
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FDMExec->GetPropertyManager()->SetDouble(buf,0.5);
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cur_node = FDMExec->GetPropertyManager()->GetNode(buf);
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cur_value = cur_node->getDoubleValue();
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cout << state[i] << " " << cur_value << endl;
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}
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}
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void copy_outputs_from_jsbsim(FGFDMExec* FDMExec) {
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FGPropertyManager* cur_node;
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double cur_value, factor=1;
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char buf[64];
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const char* state[] = {"sim-time-sec",
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"lat-gc-deg","long-gc-deg","h-sl-ft",
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"u-fps","v-fps","w-fps",
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"theta-deg","phi-deg","psi-true-deg",
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"p-rad_sec","q-rad_sec","r-rad_sec"};
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int i=0;
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cur_node = FDMExec->GetPropertyManager()->GetNode("sim-time-sec");
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cur_value = cur_node->getDoubleValue();
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cout << state[i] << cur_value << endl;
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for (i=1; i<12+1; i++) {
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sprintf(buf,"ic/%s",state[i]);
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if (strstr(state[i],"rad_")!=NULL) factor=RAD2DEG;
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if (strstr(state[i],"fps")!=NULL || strstr(state[i],"ft")!=NULL) factor=FT2M;
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cur_node = FDMExec->GetPropertyManager()->GetNode(buf);
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cur_value = factor*(cur_node->getDoubleValue());
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cout << state[i] << " " << cur_value << endl;
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factor = 1;
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}
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}
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