Revision e75a39881befb1d84749919b28e0dd03f1a03efb authored by Felix Ruess on 29 May 2012, 20:27:07 UTC, committed by Felix Ruess on 29 May 2012, 20:27:07 UTC
* currently only used for rotorcrafts * created and imu_nps implementation instead of using the sim arch to implement simulation of every IMU separately * updated makefiles and airframe files to new nps simulator
1 parent fedf204
flight_gear.h
#ifndef FLIGHT_GEAR_H
#define FLIGHT_GEAR_H
#include <stdint.h>
#define FG_NET_CTRLS_VERSION 26
#define FG_NET_CTRLS_MAX_ENGINES 4
#define FG_NET_CTRLS_MAX_WHEELS 16
#define FG_NET_CTRLS_MAX_TANKS 6
struct FGNetCtrls {
uint32_t version; // increment when data values change
// Aero controls
double aileron; // -1 ... 1
double elevator; // -1 ... 1
double rudder; // -1 ... 1
double aileron_trim; // -1 ... 1
double elevator_trim; // -1 ... 1
double rudder_trim; // -1 ... 1
double flaps; // 0 ... 1
// Aero control faults
uint32_t flaps_power; // true = power available
uint32_t flap_motor_ok;
// Engine controls
uint32_t num_engines; // number of valid engines
uint32_t master_bat[FG_NET_CTRLS_MAX_ENGINES];
uint32_t master_alt[FG_NET_CTRLS_MAX_ENGINES];
uint32_t magnetos[FG_NET_CTRLS_MAX_ENGINES];
uint32_t starter_power[FG_NET_CTRLS_MAX_ENGINES];// true = starter power
double throttle[FG_NET_CTRLS_MAX_ENGINES]; // 0 ... 1
double mixture[FG_NET_CTRLS_MAX_ENGINES]; // 0 ... 1
double condition[FG_NET_CTRLS_MAX_ENGINES]; // 0 ... 1
uint32_t fuel_pump_power[FG_NET_CTRLS_MAX_ENGINES];// true = on
double prop_advance[FG_NET_CTRLS_MAX_ENGINES]; // 0 ... 1
// Engine faults
uint32_t engine_ok[FG_NET_CTRLS_MAX_ENGINES];
uint32_t mag_left_ok[FG_NET_CTRLS_MAX_ENGINES];
uint32_t mag_right_ok[FG_NET_CTRLS_MAX_ENGINES];
uint32_t spark_plugs_ok[FG_NET_CTRLS_MAX_ENGINES]; // false = fouled plugs
uint32_t oil_press_status[FG_NET_CTRLS_MAX_ENGINES];// 0 = normal, 1 = low, 2 = full fail
uint32_t fuel_pump_ok[FG_NET_CTRLS_MAX_ENGINES];
// Fuel management
uint32_t num_tanks; // number of valid tanks
uint32_t fuel_selector[FG_NET_CTRLS_MAX_TANKS]; // false = off, true = on
uint32_t cross_feed; // false = off, true = on
// Brake controls
double brake_left;
double brake_right;
double copilot_brake_left;
double copilot_brake_right;
double brake_parking;
// Landing Gear
uint32_t gear_handle; // true=gear handle down; false= gear handle up
// Switches
uint32_t master_avionics;
// wind and turbulance
double wind_speed_kt;
double wind_dir_deg;
double turbulence_norm;
// temp and pressure
double temp_c;
double press_inhg;
// other information about environment
double hground; // ground elevation (meters)
double magvar; // local magnetic variation in degs.
// hazards
uint32_t icing; // icing status could me much
// more complex but I'm
// starting simple here.
// simulation control
uint32_t speedup; // integer speedup multiplier
uint32_t freeze; // 0=normal
// 0x01=master
// 0x02=position
// 0x04=fuel
};
#define FG_NET_FDM_VERSION 23
#define FG_NET_FDM_MAX_ENGINES 4
#define FG_NET_FDM_MAX_WHEELS 3
#define FG_NET_FDM_MAX_TANKS 4
#ifndef _NET_FDM_HXX
struct FGNetFDM {
uint32_t version; // increment when data values change
uint32_t padding; // padding
// Positions
double longitude; // geodetic (radians)
double latitude; // geodetic (radians)
double altitude; // above sea level (meters)
float agl; // above ground level (meters)
float phi; // roll (radians)
float theta; // pitch (radians)
float psi; // yaw or true heading (radians)
float alpha; // angle of attack (radians)
float beta; // side slip angle (radians)
// Velocities
float phidot; // roll rate (radians/sec)
float thetadot; // pitch rate (radians/sec)
float psidot; // yaw rate (radians/sec)
float vcas; // calibrated airspeed
float climb_rate; // feet per second
float v_north; // north velocity in local/body frame, fps
float v_east; // east velocity in local/body frame, fps
float v_down; // down/vertical velocity in local/body frame, fps
float v_wind_body_north; // north velocity in local/body frame
// relative to local airmass, fps
float v_wind_body_east; // east velocity in local/body frame
// relative to local airmass, fps
float v_wind_body_down; // down/vertical velocity in local/body
// frame relative to local airmass, fps
// Accelerations
float A_X_pilot; // X accel in body frame ft/sec^2
float A_Y_pilot; // Y accel in body frame ft/sec^2
float A_Z_pilot; // Z accel in body frame ft/sec^2
// Stall
float stall_warning; // 0.0 - 1.0 indicating the amount of stall
float slip_deg; // slip ball deflection
// Pressure
// Engine status
uint32_t num_engines; // Number of valid engines
uint32_t eng_state[FG_NET_FDM_MAX_ENGINES];// Engine state (off, cranking, running)
float rpm[FG_NET_FDM_MAX_ENGINES]; // Engine RPM rev/min
float fuel_flow[FG_NET_FDM_MAX_ENGINES]; // Fuel flow gallons/hr
float egt[FG_NET_FDM_MAX_ENGINES]; // Exhuast gas temp deg F
float cht[FG_NET_FDM_MAX_ENGINES]; // Cylinder head temp deg F
float mp_osi[FG_NET_FDM_MAX_ENGINES]; // Manifold pressure
float tit[FG_NET_FDM_MAX_ENGINES]; // Turbine Inlet Temperature
float oil_temp[FG_NET_FDM_MAX_ENGINES]; // Oil temp deg F
float oil_px[FG_NET_FDM_MAX_ENGINES]; // Oil pressure psi
// Consumables
uint32_t num_tanks; // Max number of fuel tanks
float fuel_quantity[FG_NET_FDM_MAX_TANKS];
// Gear status
uint32_t num_wheels;
uint32_t wow[FG_NET_FDM_MAX_WHEELS];
float gear_pos[FG_NET_FDM_MAX_WHEELS];
float gear_steer[FG_NET_FDM_MAX_WHEELS];
float gear_compression[FG_NET_FDM_MAX_WHEELS];
// Environment
uint32_t cur_time; // current unix time
// FIXME: make this uint64_t before 2038
int32_t warp; // offset in seconds to unix time
float visibility; // visibility in meters (for env. effects)
// Control surface positions (normalized values)
float elevator;
float elevator_trim_tab;
float left_flap;
float right_flap;
float left_aileron;
float right_aileron;
float rudder;
float nose_wheel;
float speedbrake;
float spoilers;
};
#endif
struct FGNetMiniFDM {
uint32_t version; // increment when data values change
// Positions
double longitude; // geodetic (radians)
double latitude; // geodetic (radians)
double altitude; // above sea level (meters)
double agl; // above ground level (meters)
double phi; // roll (radians)
double theta; // pitch (radians)
double psi; // yaw or true heading (radians)
// Velocities
double vcas;
double climb_rate; // feet per second
// Consumables
uint32_t num_tanks; // Max number of fuel tanks
double fuel_quantity[FG_NET_FDM_MAX_TANKS];
// Environment
uint32_t cur_time; // current unix time
int32_t warp; // offset in seconds to unix time
};
#define FG_NET_GUI_VERSION 7
#define FG_NET_GUI_MAX_TANKS 4
// FIXME: Flightgear on OSX is still 32 bit get rid
// off these pragmas when it goes to 64 bit.
#ifdef __x86_64__
#pragma pack(push)
#ifdef __APPLE__
#pragma pack(4)
#else
#pragma pack(8)
#endif
#endif
struct FGNetGUI {
uint32_t version; // increment when data values change
// Positions
double longitude; // geodetic (radians)
double latitude; // geodetic (radians)
float altitude; // above sea level (meters)
float agl; // above ground level (meters)
float phi; // roll (radians)
float theta; // pitch (radians)
float psi; // yaw or true heading (radians)
// Velocities
float vcas;
float climb_rate; // feet per second
// Consumables
uint32_t num_tanks; // Max number of fuel tanks
float fuel_quantity[FG_NET_GUI_MAX_TANKS];
// Environment
uint32_t cur_time; // current unix time
// FIXME: make this uint64_t before 2038
uint32_t warp; // offset in seconds to unix time
float ground_elev; // ground elev (meters)
// Approach
float tuned_freq; // currently tuned frequency
float nav_radial; // target nav radial
uint32_t in_range; // tuned navaid is in range?
float dist_nm; // distance to tuned navaid in nautical miles
float course_deviation_deg; // degrees off target course
float gs_deviation_deg; // degrees off target glide slope
};
#ifdef __x86_64__
#pragma pack(push)
#pragma pack(pop)
#endif
extern void net_fdm_dump (struct FGNetFDM* fdm);
extern void net_fdm_ntoh (struct FGNetFDM* fdm);
extern void net_fdm_init (struct FGNetFDM* fdm);
extern void net_gui_init (struct FGNetGUI* gui);
extern void net_gui_hton (struct FGNetGUI* gui);
extern void net_gui_dump (struct FGNetGUI* gui);
extern void net_ctrls_dump(struct FGNetCtrls* ctrls);
extern void net_ctrls_ntoh(struct FGNetCtrls* ctrls);
#endif /* FLIGHT_GEAR_H */
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