//컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴
//Procedure Process
//Author Andrew McRae
//Date Mon 3 Nov 1997
//
//Description
//
//Inputs
//
//Returns
//
//------------------------------------------------------------------------------
void NewCtrl::Process (FP& angle, FP& coeff, Bool Inverted)
{
FP input = (FP)*pInput;
if(Inverted) input *= -1;
PMODEL pModel;
if(pMainPlane != NULL) pModel = pMainPlane->pModel;
else if(pSurface != NULL) pModel = pSurface->pModel;
if(pModel->Spinning)
switch(pModel->Type)
{
case AT_SPITFIRE:
if(pInput == &(pModel->Elevator)) input = -16384 + input / 2;
if(pInput == &(pModel->Aileron))
if(pModel->RotVel.y > 0)
input = -16384 + input / 4;
else
input = 16384 + input / 4;
if(pInput == &(pModel->Rudder)) input = input / 4;
break;
case AT_HURRICANE:
if(pInput == &(pModel->Elevator)) input = -16384 + input / 2;
if(pInput == &(pModel->Aileron)) input = input / 4;
if(pInput == &(pModel->Rudder))
if(pModel->RotVel.y > 0) input = -16384 + input / 2;
else input = 16384 + input / 2;
break;
case AT_BF109:
if(pInput == &(pModel->Elevator)) input = -16384 + input / 2;
if(pInput == &(pModel->Aileron)) input = input / 4;
if(pInput == &(pModel->Rudder)) input = input / 2;
break;
case AT_BF110:
if(pInput == &(pModel->Elevator)) input = -16384 + input / 2;
if(pInput == &(pModel->Aileron)) input = input / 4;
if(pInput == &(pModel->Rudder)) input = input / 2;
break;
case AT_JU87B:
if(pInput == &(pModel->Aileron)) input = input / 4;
if(pInput == &(pModel->Rudder)) input = input / 2;
break;
}
MODLIMIT(input, 32767);
FP maxangle;
if(input > 0) maxangle = Scale_Pos;
else
maxangle = -Scale_Neg;
FP factor1 = input * maxangle / 32768;
factor1 = 1 - (1 - factor1) * (1 - factor1);
factor1 *= pModel->FControlLoss;
if(input > 0)
{
angle += factor1 * 0.6 * ((FP)Chord * 0.01);
coeff += factor1 * 5 * ((FP)Chord * 0.01) * ((FP)Chord * 0.01);
}
else
{
angle -= factor1 * 0.6 * ((FP)Chord * 0.01);
coeff -= factor1 * 5 * ((FP)Chord * 0.01) * ((FP)Chord * 0.01);
}
}
//컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴
//Procedure GetKeyCommon
//Author R. Hyde
//Date Tue 31 Oct 1995
//
//Description f
//
//Inputs
//
//Returns
//
//------------------------------------------------------------------------------
void ManualPilot::GetKeyCommon(AirStrucPtr const ControlledAC)
{
PMODEL pModel = ControlledAC->fly.pModel;
//#define PRINT_STICK_RUDDER
#ifdef PRINT_STICK_RUDDER
SWord temp;
temp = 39 + ControlledAC->fly.aileron / 1000;
PrintString(temp, 0, " ");
temp = 39 + ControlledAC->fly.rudder / 1000;
PrintString(temp, 23, " ");
temp = 12 + ControlledAC->fly.elevator / 2700;
PrintString(66, temp, " ");
temp = 39 + pModel->Aileron / 1000;
PrintString(temp, 1, " ");
temp = 39 + pModel->Rudder / 1000;
PrintString(temp, 24, " ");
temp = 12 + pModel->Elevator / 2700;
PrintString(73, temp, " ");
#endif
GetStickKeys (ControlledAC2); //RDH 04Mar96
//Set control values in Model including Central deadzone and end clipping
//#define PRINT_INPUT_DATA
#ifdef PRINT_INPUT_DATA
PrintVar(40, 15, "Raw Elev %.0f ", (FP)ControlledAC->fly.elevator);
PrintVar(40, 16, "Raw Ailn %.0f ", (FP)ControlledAC->fly.aileron);
PrintVar(40, 17, "Raw Rudd %.0f ", (FP)ControlledAC->fly.rudder);
#endif
if(_Analogue.tune[AU_ELEVATOR].mode == AM_REALISTIC)
ApplyDeadZone (ControlledAC, ControlledAC->fly.elevator, pModel->Elevator, _Analogue.tune[AU_ELEVATOR].deadzones);
else
ApplyDeadZone2(ControlledAC, ControlledAC->fly.elevator, pModel->Elevator, _Analogue.tune[AU_ELEVATOR].deadzones);
if(_Analogue.tune[AU_AILERON].mode == AM_REALISTIC)
ApplyDeadZone (ControlledAC, ControlledAC->fly.aileron, pModel->Aileron, _Analogue.tune[AU_AILERON].deadzones);
else
ApplyDeadZone2(ControlledAC, ControlledAC->fly.aileron, pModel->Aileron, _Analogue.tune[AU_AILERON].deadzones);
if(_Analogue.tune[AU_RUDDER].mode == AM_REALISTIC)
ApplyDeadZone (ControlledAC, ControlledAC->fly.rudder, pModel->Rudder, _Analogue.tune[AU_RUDDER].deadzones);
else
ApplyDeadZone2(ControlledAC, ControlledAC->fly.rudder, pModel->Rudder, _Analogue.tune[AU_RUDDER].deadzones);
FP temp = 1.0 - pModel->Speed / pModel->ControlLossV1;
if(temp < 0.0) temp = 0.0;
ControlledAC->fly.rudder = temp * ControlledAC->fly.rudder;
pModel->Rudder = temp * pModel->Rudder;
SecondaryControls (ControlledAC2);
if(Save_Data.flightdifficulty[FD_SPINS])
{
if(pModel->BombingPhase == 1)
pModel->ElevatorTrim = 8192;
if(pModel->BombingPhase == 2)
{
pModel->ElevatorTrim = 0;
if(pModel->Elevator < -30000)
pModel->Elevator = pModel->Elevator + 30000;
else
pModel->Elevator = 0;
}
pModel->Elevator += pModel->ElevatorTrim;
pModel->Aileron += pModel->AileronTrim;
pModel->Rudder += pModel->RudderTrim;
if(Save_Data.flightdifficulty [FD_SLIPSTREAMEFFECTS])
pModel->Rudder += pModel->SlipstreamRudder;
}
MODLIMIT(pModel->Elevator, 32767);
MODLIMIT(pModel->Aileron, 32767);
MODLIMIT(pModel->Rudder, 32767);
#ifdef PRINT_INPUT_DATA
PrintVar(60, 15, "Mod Elev %.0f ", (FP)pModel->Elevator);
PrintVar(60, 16, "Mod Ailn %.0f ", (FP)pModel->Aileron);
PrintVar(60, 17, "Mod Rudd %.0f ", (FP)pModel->Rudder);
#endif
#ifdef PRINT_STICK_RUDDER
temp = 39 + ControlledAC->fly.aileron / 1000;
PrintVar(temp, 0, "%.0f", FP(ControlledAC->fly.aileron));
temp = 39 + ControlledAC->fly.rudder / 1000;
PrintVar(temp, 23, "%.0f", FP(ControlledAC->fly.rudder));
temp = 12 + ControlledAC->fly.elevator / 2700;
PrintVar(66, temp, "%.0f", FP(ControlledAC->fly.elevator));
temp = 39 + pModel->Aileron / 1000;
PrintVar(temp, 1, "%.0f", FP(pModel->Aileron));
temp = 39 + pModel->Rudder / 1000;
PrintVar(temp, 24, "%.0f", FP(pModel->Rudder));
temp = 12 + pModel->Elevator / 2700;
PrintVar(73, temp, "%.0f", FP(pModel->Elevator));
#endif
bool ThrottleSettingChanged = FALSE;
bool PropSettingChanged = FALSE;
PENGINE pEngine0 = pModel->EngineList;
PENGINE pEngine1 = pModel->EngineList->List.NextItem();
if(pEngine0)
{
if(Key_Tests.KeyPress3d(FK_THROTTLE0))
{
SLong tmpacthrust = pEngine0->ThrottleSetting;
SLong delta = _Interactive.GetDelta(INST_THROTTLE, tmpacthrust);
tmpacthrust += (delta*100)>>7;
MODMAXMIN(tmpacthrust,0,100);
pEngine0->ThrottleSetting = tmpacthrust;
pModel->ModelThrottle = tmpacthrust;
ControlledAC->fly.thrustpercent = tmpacthrust;
}
if(Key_Tests.KeyPress3d(FK_PROPPITCH0))
{
SLong tmpacprop = 100.0 * pEngine0->PropSetting;
SLong delta = _Interactive.GetDelta(INST_PROPPITCH, tmpacprop);
tmpacprop += (delta*100)>>7;
MODMAXMIN(tmpacprop,0,100);
pEngine0->PropSetting = 0.01 * tmpacprop;
pModel->ModelPropSetting = tmpacprop;
ControlledAC->fly.propsetting = tmpacprop;
}
//컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴
//Procedure DerivativeBase
//Author Andrew McRae
//Date Tue 17 Jun 1997
//
//Description Used to calibrate model with linearized
// stability derivatives
//
// This model is aerodynamically accurate
// for small disturbances from level flight.
//
//Inputs
//
//Returns
//
//------------------------------------------------------------------------------
void Model::DerivativeBase ()
{
/*
Stability Derivatives
Forces X,Y,Z
Moments L,M,N
Velocity u,v,w
Angular Velocity p,q,r
Roll, Pitch, Yaw inputs a,b,c
Downward Acceleration wd (za)
(r = density)
(everything has 0.5)
Forces Moments
Forward Stbd Down Roll Pitch Yaw
Xu rVS Yu ... Zu rVS Lu ... Mu rVSc Nu ...
Xv ... Yv rVS Zv ... Lv rVSb Mv ... Nv rVSb
Xw rVS Yw ... Zw rVS Lw ... Mw rVSc Nw ...
Xp ... Yp rVSb Zp ... Lp rVSb2 Mp ... Np rVSb2
Xq rVSc Yq ... Zq rVSc Lq ... Mq rVSc2 Nq ...
Xr ... Yr rVSb Zr ... Lr rVSb2 Mr ... Nr rVSb2
Xa ... Ya rV2S Za ... La rV2Sb Ma ... Na rV2Sb
Xb rV2S Yb ... Zb rV2S Lb ... Mb rV2Sc Nb ...
Xc ... Yc rV2S Zc ... Lc rV2Sb Mc ... Nc rV2Sb
Xwd rSc Ywd ... Zwd rSc Lwd ... Mwd rSc2 Nwd ...
*/
typedef struct vel { FP u,v,w; } VEL;
typedef struct rotvel { FP p,q,r; } ROTVEL;
typedef struct ctrl { FP a,b,c; } CTRL;
typedef struct acc { FP ud,vd,wd; } ACC;
typedef struct veldervs { VEL X,Y,Z,L,M,N; } VELDERVS;
typedef struct rotveldervs { ROTVEL X,Y,Z,L,M,N; } ROTVELDERVS;
typedef struct ctrldervs { CTRL X,Y,Z,L,M,N; } CTRLDERVS;
typedef struct accdervs { ACC X,Y,Z,L,M,N; } ACCDERVS;
VELDERVS V;
ROTVELDERVS RV;
CTRLDERVS C;
ACCDERVS A;
//DeadCode AMM 24Nov99 MODEL_DT = 3;
MODEL_LOOPS = 1;
static Bool setup = TRUE;
FP testalpha = -Degs2Rads ((FP)Elevator / 3000);
if (testalpha > DEGS2RADS(10)) testalpha = DEGS2RADS(10);
if (testalpha < DEGS2RADS(-10)) testalpha = DEGS2RADS(-10);
if (setup)
{
// temp
Pos.y = FT_3000;
Vel.x = 0;
Vel.y = 0;
Vel.z = 150;
Ori.x.x = 1;
Ori.x.y = 0;
Ori.x.z = 0;
Ori.y.x = 0;
Ori.y.y = 1;
Ori.y.z = 0;
Ori.z.x = 0;
Ori.z.y = 0;
Ori.z.z = 1;
// RotOriXVec (Ori, testalpha);
// RotOriXVec (Ori, DEGS2RADS(5));
RotOriYVec (Ori, DEGS2RADS(10));
RotVel.x = 0;
RotVel.y = 0;
RotVel.z = 0;
RotVel.y = 0.00105; // 1 rpm
RotVel.z = -0.00105;
// temp end
setup = FALSE;
}
// UpdateAirStruc ();
Sky.Ambient (Pos.y, AmbDensity, AmbTemp, AmbPres);
CalcAirVel ();
GearTouched = FALSE;
// Set Mass and Rot Inertia
Mass = 0;
NullVec (RotInertia);
PMODEL pModel = ControlledAC->fly.pModel;
PMASSPOINT pMass = MassList;
while (pMass != NULL)
{
pMass->Process (pModel);
pMass = pMass->List.NextItem ();
}
// ProcessEngines ();
Mass = 617415;
RotInertia.x = 1.49534e10;
RotInertia.y = 3.59877e10;
RotInertia.z = 4.98958e10;
// WORK IN STANDARD UNITS
// Calc Derivative Mutipliers
FP B = (MainPlaneList->Area / MainPlaneList->Chord) * 0.01;
FP Ch = MainPlaneList->Chord * 0.01;
FP rS = 0.5 * (AmbDensity * 10000) * (MainPlaneList->Area * 0.0001);
FP rVS = rS * AirSpeed;
FP rVSb = rVS * B;
FP rVSc = rVS * Ch;
FP rVSb2 = rVSb * B;
FP rVSc2 = rVSc * Ch;
FP rV2S = rVS * AirSpeed;
FP rV2Sb = rV2S * B;
FP rV2Sc = rV2S * Ch;
FP rSc = rS * Ch;
FP rSc2 = rSc * Ch;
// Get derivative inputs
// Velocities
FP u = -AirVel.z;
FP v = -AirVel.x;
FP w = AirVel.y;
// Rotational velocities
FP p = RotVel.z * 100;
FP q = RotVel.x * 100;
FP r = -RotVel.y * 100;
// Calc Control inputs
FP a = -((FP)Aileron * F2PIE * 20) / (32768 * 360);
FP b = ((FP)Elevator * F2PIE * 20) / (32768 * 360);
FP c = -((FP)Rudder * F2PIE * 20) / (32768 * 360);
// Acceleration
FP ud = 0;
FP vd = 0;
FP wd = 0;
// Calc alpha
FP alpha = CalcAngle (VecLen2D (u,v), w);
if (alpha > DEGS2RADS(180)) alpha -= DEGS2RADS(360);
alpha += DEGS2RADS (3);
// alpha = testalpha;
// if (alpha > DEGS2RADS(10)) alpha = DEGS2RADS(10);
// if (alpha < DEGS2RADS(-10)) alpha = DEGS2RADS(-10);
FP Sin = FSin (alpha);
FP Cos = FCos (alpha);
// Calc Cl, Cd
FP Cl = alpha * 5.27;
FP Cd = alpha * 0.29;
#ifdef PRINT_DERV_DATA
PrintVar (30, 16, "alp %.2f ", Rads2Degs(alpha));
PrintVar (45, 16, "Cl %.2f ", Cl);
PrintVar (60, 16, "Cd %.2f ", Cd);
PrintVar (30, 18, "u %.4f ", u);
PrintVar (45, 18, "v %.4f ", v);
PrintVar (60, 18, "w %.4f ", w);
PrintVar (30, 19, "p %.4f ", p);
PrintVar (45, 19, "q %.4f ", q);
PrintVar (60, 19, "r %.4f ", r);
#endif
// Force Velocity dervs
V.X.u = -Cd * u * rVS; V.Y.u = 0 * u * rVS; V.Z.u = -Cl * u * rVS;
V.X.v = 0 * v * rVS; V.Y.v = -0.546 * v * rVS; V.Z.v = 0 * v * rVS;
V.X.w = Cl * w * rVS; V.Y.w = 0 * w * rVS; V.Z.w = -Cd * w * rVS;
// Moment Velocity dervs
V.L.u = 0 * u * rVSb; V.M.u = 0 * u * rVSc; V.N.u = 0 * u * rVSb;
V.L.v = -0.0654 * v * rVSb; V.M.v = 0 * v * rVSc; V.N.v = 0.118 * v * rVSb;
V.L.w = 0 * w * rVSb; V.M.w = -0.44 * w * rVSc; V.N.w = 0 * w * rVSb;
// *****************
// * V.M.w is iffy *
// *****************
// Force RotVel dervs
RV.X.p = 0; RV.Y.p = 0 * p * rVSb; RV.Z.p = 0;
RV.X.q = 0 * q * rVSc; RV.Y.q = 0; RV.Z.q = 0 * q * rVSc;
RV.X.r = 0; RV.Y.r = 0.1435 * r * rVSb; RV.Z.r = 0;
// Moment RotVel dervs
RV.L.p = -0.195 * p * rVSb2; RV.M.p = 0; RV.N.p = -0.008 * p * rVSb2;
RV.L.q = 0; RV.M.q = -0.032 * q * rVSc2; RV.N.q = 0;
RV.L.r = 0.0575 * r * rVSb2; RV.M.r = 0; RV.N.r = -0.067 * r * rVSb2;
// Check M.q (c/2U ?????)
// Force Control dervs
C.X.a = 0; C.Y.a = 0 * a * rV2S; C.Z.a = 0;
C.X.b = 0.43 * Sin * b * rV2S; C.Y.b = 0; C.Z.b = 0.43 * b * Cos * rV2S;
C.X.c = 0; C.Y.c = 0.149 * c * rV2S; C.Z.c = 0;
// Moment Control dervs
C.L.a = -0.114 * a * rV2Sb; C.M.a = 0; C.N.a = 0.009 * a * rV2Sb;
C.L.b = 0; C.M.b = -0.934 * b * rV2Sc; C.N.b = 0;
C.L.c = 0.0057 * c * rV2Sb; C.M.c = 0; C.N.c = -0.069 * c * rV2Sb;
// Z Acc dervs
// use Cm alpha dot in F94A derv tables
#ifdef PRINT_DERV_DATA
PrintVar (30, 0, "V.X.u %.0f ", V.X.u);
PrintVar (45, 0, "V.Y.u %.0f ", V.Y.u);
PrintVar (60, 0, "V.Z.u %.0f ", V.Z.u);
PrintVar (30, 1, "V.X.v %.0f ", V.X.v);
PrintVar (45, 1, "V.Y.v %.0f ", V.Y.v);
PrintVar (60, 1, "V.Z.v %.0f ", V.Z.v);
PrintVar (30, 2, "V.X.w %.0f ", V.X.w);
PrintVar (45, 2, "V.Y.w %.0f ", V.Y.w);
PrintVar (60, 2, "V.Z.w %.0f ", V.Z.w);
PrintVar (30, 4, "V.L.u %.0f ", V.L.u);
PrintVar (45, 4, "V.M.u %.0f ", V.M.u);
PrintVar (60, 4, "V.N.u %.0f ", V.N.u);
PrintVar (30, 5, "V.L.v %.0f ", V.L.v);
PrintVar (45, 5, "V.M.v %.0f ", V.M.v);
PrintVar (60, 5, "V.N.v %.0f ", V.N.v);
PrintVar (30, 6, "V.L.w %.0f ", V.L.w);
PrintVar (45, 6, "V.M.w %.0f ", V.M.w);
PrintVar (60, 6, "V.N.w %.0f ", V.N.w);
PrintVar (30, 8, "RV.X.p %.0f ", RV.X.p);
PrintVar (45, 8, "RV.Y.p %.0f ", RV.Y.p);
PrintVar (60, 8, "RV.Z.p %.0f ", RV.Z.p);
PrintVar (30, 9, "RV.X.q %.0f ", RV.X.q);
PrintVar (45, 9, "RV.Y.q %.0f ", RV.Y.q);
PrintVar (60, 9, "RV.Z.q %.0f ", RV.Z.q);
PrintVar (30, 10, "RV.X.r %.0f ", RV.X.r);
PrintVar (45, 10, "RV.Y.r %.0f ", RV.Y.r);
PrintVar (60, 10, "RV.Z.r %.0f ", RV.Z.r);
PrintVar (30, 12, "RV.L.p %.0f ", RV.L.p);
PrintVar (45, 12, "RV.M.p %.0f ", RV.M.p);
PrintVar (60, 12, "RV.N.p %.0f ", RV.N.p);
PrintVar (30, 13, "RV.L.q %.0f ", RV.L.q);
PrintVar (45, 13, "RV.M.q %.0f ", RV.M.q);
PrintVar (60, 13, "RV.N.q %.0f ", RV.N.q);
PrintVar (30, 14, "RV.L.r %.0f ", RV.L.r);
PrintVar (45, 14, "RV.M.r %.0f ", RV.M.r);
PrintVar (60, 14, "RV.N.r %.0f ", RV.N.r);
#endif
// calc forces
FCRD force;
force.x = V.X.u + V.X.v + V.X.w + RV.X.p + RV.X.q + RV.X.r + C.X.a + C.X.b + C.X.c;
force.y = V.Y.u + V.Y.v + V.Y.w + RV.Y.p + RV.Y.q + RV.Y.r + C.Y.a + C.Y.b + C.Y.c;
force.z = V.Z.u + V.Z.v + V.Z.w + RV.Z.p + RV.Z.q + RV.Z.r + C.Z.a + C.Z.b + C.Z.c;
NettForce.x = force.y;
NettForce.y = -force.z;
NettForce.z = force.x;
// calc moments
FCRD moment;
moment.x = V.L.u + V.L.v + V.L.w + RV.L.p + RV.L.q + RV.L.r + C.L.a + C.L.b + C.L.c;
moment.y = V.M.u + V.M.v + V.M.w + RV.M.p + RV.M.q + RV.M.r + C.M.a + C.M.b + C.M.c;
moment.z = V.N.u + V.N.v + V.N.w + RV.N.p + RV.N.q + RV.N.r + C.N.a + C.N.b + C.N.c;
NettMoment.x = moment.y * 100;
NettMoment.y = -moment.z * 100;
NettMoment.z = moment.x * 100;
// Engines
PTHRUSTPOINT pThrust = ThrustList;
while (pThrust != NULL)
{
pThrust->Process ();
NettForce.x += pThrust->Force.x;
NettForce.y += pThrust->Force.y;
NettForce.z += pThrust->Force.z;
pThrust = pThrust->List.NextItem ();
}
MODLIMIT (NettForce.x, 600000);
MODLIMIT (NettForce.y, 2500000);
MODLIMIT (NettForce.z, 600000);
MODLIMIT (NettMoment.x, 250000000);
MODLIMIT (NettMoment.y, 250000000);
MODLIMIT (NettMoment.z, 250000000);
CalcAcc ();
//TempCode ARM 15Jul97 {
//TempCode ARM 15Jul97 OldAcc.x = Acc.x;
//TempCode ARM 15Jul97 OldAcc.y = Acc.y;
//TempCode ARM 15Jul97 OldAcc.z = Acc.z;
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 Acc.x = (NettForce.x / Mass);
//TempCode ARM 15Jul97 Acc.y = (NettForce.y / Mass);
//TempCode ARM 15Jul97 Acc.z = (NettForce.z / Mass);
//TempCode ARM 15Jul97 }
CalcRotAcc ();
//TempCode ARM 15Jul97 {
//TempCode ARM 15Jul97 OldRotAcc.x = RotAcc.x;
//TempCode ARM 15Jul97 OldRotAcc.y = RotAcc.y;
//TempCode ARM 15Jul97 OldRotAcc.z = RotAcc.z;
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 RotAcc.x = (NettMoment.x / RotInertia.x);
//TempCode ARM 15Jul97 RotAcc.y = (NettMoment.y / RotInertia.y);
//TempCode ARM 15Jul97 RotAcc.z = (NettMoment.z / RotInertia.z);
//TempCode ARM 15Jul97 }
TransInt (ALL);
//TempCode ARM 15Jul97 {
//TempCode ARM 15Jul97 FCRD acc;
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 acc.x = (OldAcc.x + Acc.x) * 0.5;
//TempCode ARM 15Jul97 acc.y = (OldAcc.y + Acc.y) * 0.5;
//TempCode ARM 15Jul97 acc.z = (OldAcc.z + Acc.z) * 0.5;
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 TnsPnt (acc, acc, Ori);
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 OldVel.x = Vel.x;
//TempCode ARM 15Jul97 OldVel.y = Vel.y;
//TempCode ARM 15Jul97 OldVel.z = Vel.z;
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 Vel.x += acc.x * MODEL_DT;
//TempCode ARM 15Jul97 Vel.y += (acc.y - GRAVITY) * MODEL_DT;
//TempCode ARM 15Jul97 Vel.z += acc.z * MODEL_DT;
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 OldPos.x = Pos.x;
//TempCode ARM 15Jul97 OldPos.y = Pos.y;
//TempCode ARM 15Jul97 OldPos.z = Pos.z;
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 Pos.x += ((OldVel.x + Vel.x) * MODEL_DT) * 0.5;
//TempCode ARM 15Jul97 Pos.y += ((OldVel.y + Vel.y) * MODEL_DT) * 0.5;
//TempCode ARM 15Jul97 Pos.z += ((OldVel.z + Vel.z) * MODEL_DT) * 0.5;
//TempCode ARM 15Jul97 }
RotInt (ALL);
//TempCode ARM 15Jul97 {
//TempCode ARM 15Jul97 OldRotVel.x = RotVel.x;
//TempCode ARM 15Jul97 OldRotVel.y = RotVel.y;
//TempCode ARM 15Jul97 OldRotVel.z = RotVel.z;
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 RotVel.x += ((OldRotAcc.x + RotAcc.x) * MODEL_DT) * 0.5;
//TempCode ARM 15Jul97 RotVel.y += ((OldRotAcc.y + RotAcc.y) * MODEL_DT) * 0.5;
//TempCode ARM 15Jul97 RotVel.z += ((OldRotAcc.z + RotAcc.z) * MODEL_DT) * 0.5;
//TempCode ARM 15Jul97
//TempCode ARM 15Jul97 RotVelInt ();
//TempCode ARM 15Jul97 }
// UpdateAirStruc ();
// Ground ();
// Instruments (ControlledAC);
}
