feat(a380-efcs): various updates (#8513)

* feat(fbw): integrate pause/spawn handling improvements from A32NX

* feat(a380-efcs): add roll precontrol, correct A380 flare law

* fix(a380-efcs): use correct sign for elevator position inputs

* feat(a380-efcs): add manual trim mode, and auto reset to 0deg at 30kts

fbw-a380x/src/wasm/fbw_a380/src/FlyByWireInterface.cpp

@@ -32,11 +32,11 @@ bool FlyByWireInterface::connect() {
   flightDataRecorder.initialize();
 
   // connect to sim connect
-  bool success = simConnectInterface.connect(clientDataEnabled, autopilotStateMachineEnabled, autopilotLawsEnabled, flyByWireEnabled, primDisabled,
-                                     secDisabled, facDisabled, throttleAxis, spoilersHandler, flightControlsKeyChangeAileron,
-                                     flightControlsKeyChangeElevator, flightControlsKeyChangeRudder,
-                                     disableXboxCompatibilityRudderAxisPlusMinus, enableRudder2AxisMode, idMinimumSimulationRate->get(),
-                                     idMaximumSimulationRate->get(), limitSimulationRateByPerformance);
+  bool success = simConnectInterface.connect(
+      clientDataEnabled, autopilotStateMachineEnabled, autopilotLawsEnabled, flyByWireEnabled, primDisabled, secDisabled, facDisabled,
+      throttleAxis, spoilersHandler, flightControlsKeyChangeAileron, flightControlsKeyChangeElevator, flightControlsKeyChangeRudder,
+      disableXboxCompatibilityRudderAxisPlusMinus, enableRudder2AxisMode, idMinimumSimulationRate->get(), idMaximumSimulationRate->get(),
+      limitSimulationRateByPerformance);
   // request data
   if (!simConnectInterface.requestData()) {
     std::cout << "WASM: Request data failed!" << std::endl;
@@ -73,6 +73,9 @@ bool FlyByWireInterface::update(double sampleTime) {
   // get data & inputs
   result &= readDataAndLocalVariables(sampleTime);
 
+  // get sim data
+  SimData simData = simConnectInterface.getSimData();
+
   // update performance monitoring
   result &= updatePerformanceMonitoring(sampleTime);
 
@@ -86,10 +89,10 @@ bool FlyByWireInterface::update(double sampleTime) {
   result &= handleFcuInitialization(calculatedSampleTime);
 
   // do not process laws in pause or slew
-  if (simConnectInterface.getSimData().slew_on) {
+  if (simData.slew_on) {
     wasInSlew = true;
     return result;
-  } else if (pauseDetected || simConnectInterface.getSimData().cameraState >= 10.0) {
+  } else if (pauseDetected || simData.cameraState >= 10.0 || !idIsReady->get() || simData.simulationTime < 2) {
     return result;
   }
 
@@ -154,11 +157,14 @@ bool FlyByWireInterface::update(double sampleTime) {
   // update FO side with FO Sync ON
   result &= updateFoSide(calculatedSampleTime);
 
-  // update flight data recorder
-  flightDataRecorder.update(&autopilotStateMachine, &autopilotLaws, &autoThrust, engineData, additionalData);
+  // do not further process when active pause is on
+  if (!simConnectInterface.isSimInActivePause()) {
+    // update flight data recorder
+    flightDataRecorder.update(&autopilotStateMachine, &autopilotLaws, &autoThrust, engineData, additionalData);
+  }
 
   // if default AP is on -> disconnect it
-  if (simConnectInterface.getSimData().autopilot_master_on) {
+  if (simData.autopilot_master_on) {
     simConnectInterface.sendEvent(SimConnectInterface::Events::AUTOPILOT_OFF);
   }
 
@@ -1265,6 +1271,11 @@ bool FlyByWireInterface::updateAdirs(int adirsIndex) {
 }
 
 bool FlyByWireInterface::updatePrim(double sampleTime, int primIndex) {
+  // do not further process when active pause is on
+  if (simConnectInterface.isSimInActivePause()) {
+    return true;
+  }
+
   SimData simData = simConnectInterface.getSimData();
   SimInput simInput = simConnectInterface.getSimInput();
   SimInputPitchTrim pitchTrimInput = simConnectInterface.getSimInputPitchTrim();
@@ -1383,9 +1394,9 @@ bool FlyByWireInterface::updatePrim(double sampleTime, int primIndex) {
   prims[primIndex].modelInputs.in.analog_inputs.thr_lever_2_pos = thrustLeverAngle_2->get();
   prims[primIndex].modelInputs.in.analog_inputs.thr_lever_3_pos = thrustLeverAngle_3->get();
   prims[primIndex].modelInputs.in.analog_inputs.thr_lever_4_pos = thrustLeverAngle_4->get();
-  prims[primIndex].modelInputs.in.analog_inputs.elevator_1_pos_deg = 30. * elevator1Position;
-  prims[primIndex].modelInputs.in.analog_inputs.elevator_2_pos_deg = 30. * elevator2Position;
-  prims[primIndex].modelInputs.in.analog_inputs.elevator_3_pos_deg = 30. * elevator3Position;
+  prims[primIndex].modelInputs.in.analog_inputs.elevator_1_pos_deg = -30. * elevator1Position;
+  prims[primIndex].modelInputs.in.analog_inputs.elevator_2_pos_deg = -30. * elevator2Position;
+  prims[primIndex].modelInputs.in.analog_inputs.elevator_3_pos_deg = -30. * elevator3Position;
   prims[primIndex].modelInputs.in.analog_inputs.ths_pos_deg = thsPosition;
   prims[primIndex].modelInputs.in.analog_inputs.left_aileron_1_pos_deg = 30. * leftAileron1Position;
   prims[primIndex].modelInputs.in.analog_inputs.left_aileron_2_pos_deg = 30. * leftAileron2Position;
@@ -1485,6 +1496,11 @@ bool FlyByWireInterface::updatePrim(double sampleTime, int primIndex) {
 }
 
 bool FlyByWireInterface::updateSec(double sampleTime, int secIndex) {
+  // do not further process when active pause is on
+  if (simConnectInterface.isSimInActivePause()) {
+    return true;
+  }
+
   const int oppSecIndex = secIndex == 0 ? 1 : 0;
   SimData simData = simConnectInterface.getSimData();
   SimInput simInput = simConnectInterface.getSimInput();
@@ -1592,9 +1608,9 @@ bool FlyByWireInterface::updateSec(double sampleTime, int secIndex) {
   secs[secIndex].modelInputs.in.analog_inputs.fo_pitch_stick_pos = 0;
   secs[secIndex].modelInputs.in.analog_inputs.capt_roll_stick_pos = -simInput.inputs[1];
   secs[secIndex].modelInputs.in.analog_inputs.fo_roll_stick_pos = 0;
-  secs[secIndex].modelInputs.in.analog_inputs.elevator_1_pos_deg = 30. * elevator1Position;
-  secs[secIndex].modelInputs.in.analog_inputs.elevator_2_pos_deg = 30. * elevator2Position;
-  secs[secIndex].modelInputs.in.analog_inputs.elevator_3_pos_deg = 30. * elevator3Position;
+  secs[secIndex].modelInputs.in.analog_inputs.elevator_1_pos_deg = -30. * elevator1Position;
+  secs[secIndex].modelInputs.in.analog_inputs.elevator_2_pos_deg = -30. * elevator2Position;
+  secs[secIndex].modelInputs.in.analog_inputs.elevator_3_pos_deg = -30. * elevator3Position;
   secs[secIndex].modelInputs.in.analog_inputs.ths_pos_deg = thsPosition;
   secs[secIndex].modelInputs.in.analog_inputs.left_aileron_1_pos_deg = 30. * leftAileron1Position;
   secs[secIndex].modelInputs.in.analog_inputs.left_aileron_2_pos_deg = 30. * leftAileron2Position;
@@ -1745,6 +1761,11 @@ bool FlyByWireInterface::updateSec(double sampleTime, int secIndex) {
 // }
 
 bool FlyByWireInterface::updateFac(double sampleTime, int facIndex) {
+  // do not further process when active pause is on
+  if (simConnectInterface.isSimInActivePause()) {
+    return true;
+  }
+
   const int oppFacIndex = facIndex == 0 ? 1 : 0;
   SimData simData = simConnectInterface.getSimData();
   SimInputRudderTrim trimInput = simConnectInterface.getSimInputRudderTrim();

fbw-a380x/src/wasm/fbw_a380/src/interface/SimConnectInterface.cpp

@@ -80,6 +80,8 @@ bool SimConnectInterface::connect(bool clientDataEnabled,
     // register key event handler
     // remove when aileron events can be processed via SimConnect
     register_key_event_handler_EX1(static_cast<GAUGE_KEY_EVENT_HANDLER_EX1>(processKeyEvent), NULL);
+    // register for pause event
+    SimConnect_SubscribeToSystemEvent(hSimConnect, Events::SYSTEM_EVENT_PAUSE, "Pause_EX1");
     // send initial event to FCU to force HDG mode
     execute_calculator_code("(>H:A320_Neo_FCU_HDG_PULL)", nullptr, nullptr, nullptr);
     // success
@@ -94,6 +96,8 @@ void SimConnectInterface::disconnect() {
     // unregister key event handler
     // remove when aileron events can be processed via SimConnect
     unregister_key_event_handler_EX1(static_cast<GAUGE_KEY_EVENT_HANDLER_EX1>(processKeyEvent), NULL);
+    // unregister from pause events
+    SimConnect_UnsubscribeFromSystemEvent(hSimConnect, Events::SYSTEM_EVENT_PAUSE);
     // info message
     std::cout << "WASM: Disconnecting..." << std::endl;
     // close connection
@@ -116,6 +120,18 @@ void SimConnectInterface::updateSimulationRateLimits(double minSimulationRate, d
   this->maxSimulationRate = maxSimulationRate;
 }
 
+bool SimConnectInterface::isSimInAnyPause() {
+  return (pauseState > 0);
+}
+
+bool SimConnectInterface::isSimInActivePause() {
+  return (pauseState == 4);
+}
+
+bool SimConnectInterface::isSimInPause() {
+  return (pauseState == 8);
+}
+
 bool SimConnectInterface::prepareSimDataSimConnectDataDefinitions() {
   bool result = true;
 
@@ -1507,6 +1523,14 @@ void SimConnectInterface::simConnectProcessEvent_EX1(const SIMCONNECT_RECV_EVENT
 void SimConnectInterface::processEventWithOneParam(const DWORD eventId, const DWORD data0) {
   // process depending on event id
   switch (eventId) {
+    case Events::SYSTEM_EVENT_PAUSE: {
+      pauseState = static_cast<long>(data0);
+      std::cout << "WASM: SYSTEM_EVENT_PAUSE: ";
+      std::cout << static_cast<long>(data0);
+      std::cout << std::endl;
+      break;
+    }
+
     case Events::AXIS_ELEVATOR_SET: {
       simInput.inputs[AXIS_ELEVATOR_SET] = static_cast<long>(data0) / 16384.0;
       if (loggingFlightControlsEnabled) {

fbw-a380x/src/wasm/fbw_a380/src/interface/SimConnectInterface.h

@@ -195,6 +195,7 @@ class SimConnectInterface {
     SIM_RATE_INCR,
     SIM_RATE_DECR,
     SIM_RATE_SET,
+    SYSTEM_EVENT_PAUSE
   };
 
   SimConnectInterface() = default;
@@ -322,6 +323,10 @@ class SimConnectInterface {
 
   void updateSimulationRateLimits(double minSimulationRate, double maxSimulationRate);
 
+  bool isSimInAnyPause();
+  bool isSimInActivePause();
+  bool isSimInPause();
+
  private:
   enum ClientData {
     AUTOPILOT_STATE_MACHINE,
@@ -380,6 +385,8 @@ class SimConnectInterface {
   int secDisabled = -1;
   int facDisabled = -1;
 
+  long pauseState = 0;
+
   // change to non-static when aileron events can be processed via SimConnect
   static bool loggingFlightControlsEnabled;
   bool loggingThrottlesEnabled = false;
@@ -447,7 +454,8 @@ class SimConnectInterface {
    * in the event->dwData field of the SIMCONNECT_RECV_EVENT struct.
    *
    * @param event The pointer to the corresponding event data
-   * @see https://docs.flightsimulator.com/flighting/html/Programming_Tools/SimConnect/API_Reference/Events_And_Data/SimConnect_TransmitClientEvent.htm
+   * @see
+   * https://docs.flightsimulator.com/flighting/html/Programming_Tools/SimConnect/API_Reference/Events_And_Data/SimConnect_TransmitClientEvent.htm
    */
   void simConnectProcessEvent(const SIMCONNECT_RECV_EVENT* event);
 
@@ -464,7 +472,8 @@ class SimConnectInterface {
    * all other parameters.
    *
    * @param event The pointer to the corresponding event data
-   * @see https://docs.flightsimulator.com/flighting/html/Programming_Tools/SimConnect/API_Reference/Events_And_Data/SimConnect_TransmitClientEvent_EX1.htm
+   * @see
+   * https://docs.flightsimulator.com/flighting/html/Programming_Tools/SimConnect/API_Reference/Events_And_Data/SimConnect_TransmitClientEvent_EX1.htm
    */
   void simConnectProcessEvent_EX1(const SIMCONNECT_RECV_EVENT_EX1* event);
 
@@ -491,12 +500,11 @@ class SimConnectInterface {
 
   static std::string getSimConnectExceptionString(SIMCONNECT_EXCEPTION exception);
 
-  private:
-
-   /**
+ private:
+  /**
    * @brief Process a SimConnect event with one parameter.
    * @param eventId Specifies the ID of the client event.
    * @param data0 Double word containing any additional number required by the event.
-    */
-   void processEventWithOneParam(const DWORD eventId, const DWORD data0);
+   */
+  void processEventWithOneParam(const DWORD eventId, const DWORD data0);
 };

fbw-a380x/src/wasm/fbw_a380/src/model/A380LateralDirectLaw.cpp

@@ -73,6 +73,4 @@ A380LateralDirectLaw::A380LateralDirectLaw():
 {
 }
 
-A380LateralDirectLaw::~A380LateralDirectLaw()
-{
-}
+A380LateralDirectLaw::~A380LateralDirectLaw() = default;

fbw-a380x/src/wasm/fbw_a380/src/model/A380LateralDirectLaw_private.h

@@ -1,5 +1,6 @@
 #ifndef RTW_HEADER_A380LateralDirectLaw_private_h_
 #define RTW_HEADER_A380LateralDirectLaw_private_h_
 #include "rtwtypes.h"
+#include "A380LateralDirectLaw_types.h"
 #endif
 

fbw-a380x/src/wasm/fbw_a380/src/model/A380LateralDirectLaw_types.h

@@ -1,56 +1,4 @@
 #ifndef RTW_HEADER_A380LateralDirectLaw_types_h_
 #define RTW_HEADER_A380LateralDirectLaw_types_h_
-#include "rtwtypes.h"
-
-#ifndef DEFINED_TYPEDEF_FOR_base_time_
-#define DEFINED_TYPEDEF_FOR_base_time_
-
-struct base_time
-{
-  real_T dt;
-  real_T simulation_time;
-  real_T monotonic_time;
-};
-
-#endif
-
-#ifndef DEFINED_TYPEDEF_FOR_lateral_direct_input_
-#define DEFINED_TYPEDEF_FOR_lateral_direct_input_
-
-struct lateral_direct_input
-{
-  base_time time;
-  real_T delta_xi_pos;
-  real_T delta_zeta_pos;
-  boolean_T tracking_mode_on;
-};
-
-#endif
-
-#ifndef DEFINED_TYPEDEF_FOR_base_roll_output_
-#define DEFINED_TYPEDEF_FOR_base_roll_output_
-
-struct base_roll_output
-{
-  real_T xi_inboard_deg;
-  real_T xi_midboard_deg;
-  real_T xi_outboard_deg;
-  real_T xi_spoiler_deg;
-  real_T zeta_upper_deg;
-  real_T zeta_lower_deg;
-};
-
-#endif
-
-#ifndef DEFINED_TYPEDEF_FOR_lateral_direct_output_
-#define DEFINED_TYPEDEF_FOR_lateral_direct_output_
-
-struct lateral_direct_output
-{
-  lateral_direct_input input;
-  base_roll_output output;
-};
-
-#endif
 #endif