mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
Felix Ruess
62 lines
1.9 KiB
C
62 lines
1.9 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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#ifndef SIM_AC_JSBSIM_H
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#define SIM_AC_JSBSIM_H
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#include <FGFDMExec.h>
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#include <FGJSBBase.h>
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#include <models/FGPropulsion.h>
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#include "std.h"
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#include "generated/airframe.h"
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#include "generated/flight_plan.h"
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#include "mcu_periph/sys_time.h"
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#include <Ivy/ivy.h>
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#ifndef JSBSIM_PERIOD
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#define JSBSIM_SPEEDUP 4 ///< how many JSBSim calls per A/P control loop call?
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#define JSBSIM_PERIOD (1000.0/CONTROL_FREQUENCY/JSBSIM_SPEEDUP) ///< JSBSim timestep in milliseconds
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#else
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#define JSBSIM_SPEEDUP ((uint8_t) (1000./CONTROL_FREQUENCY/JSBSIM_PERIOD))
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#endif
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#define DT (JSBSIM_PERIOD*1e-3) ///< JSBSim timestep in seconds
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#define SYSTIME_PERIOD ((uint32_t)(1000. / SYS_TIME_FREQUENCY)) ///< in msec
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#define RAD2DEG 57.29578
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#define FT2M 0.3048
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extern bool run_model;
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void sim_autopilot_init(void);
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void autopilot_periodic_task(void);
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void autopilot_event_task(void);
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void jsbsim_init(void);
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void copy_inputs_to_jsbsim(JSBSim::FGFDMExec* FDMExec);
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void copy_outputs_from_jsbsim(JSBSim::FGFDMExec* FDMExec);
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bool check_crash_jsbsim(JSBSim::FGFDMExec* FDMExec);
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#endif // SIM_AC_JSBSIM_H
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