src/FDM/JSBSim/FGState.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGState.cpp
   4  Author:       Jon Berndt
   5  Date started: 11/17/98
   6  Called by:    FGFDMExec and accessed by all models.
   7
   8  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
   9
  10  This program is free software; you can redistribute it and/or modify it under
  11  the terms of the GNU General Public License as published by the Free Software
  12  Foundation; either version 2 of the License, or (at your option) any later
  13  version.
  14
  15  This program is distributed in the hope that it will be useful, but WITHOUT
  16  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  17  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  18  details.
  19
  20  You should have received a copy of the GNU General Public License along with
  21  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  22  Place - Suite 330, Boston, MA  02111-1307, USA.
  23
  24  Further information about the GNU General Public License can also be found on
  25  the world wide web at http://www.gnu.org.
  26
  27 FUNCTIONAL DESCRIPTION
  28 --------------------------------------------------------------------------------
  29 See header file.
  30
  31 HISTORY
  32 --------------------------------------------------------------------------------
  33 11/17/98   JSB   Created
  34
  35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  36 INCLUDES
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  38
  39 #ifdef FGFS
  40 #  include <simgear/compiler.h>
  41 #  include <math.h>
  42 #else
  43 #  if defined(sgi) && !defined(__GNUC__)
  44 #    include <math.h>
  45 #  else
  46 #    include <cmath>
  47 #  endif
  48 #endif
  49
  50 #ifdef _WIN32
  51 #define snprintf _snprintf
  52 #endif
  53
  54 #include "FGState.h"
  55
  56 static const char *IdSrc = "$Id$";
  57 static const char *IdHdr = ID_STATE;
  58
  59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  60 MACROS
  61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 CLASS IMPLEMENTATION
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 FGState::FGState(FGFDMExec* fdex)
  68 {
  69   FDMExec = fdex;
  70
  71   a = 1000.0;
  72   sim_time = 0.0;
  73   dt = 1.0/120.0;
  74
  75   Aircraft     = FDMExec->GetAircraft();
  76   Translation  = FDMExec->GetTranslation();
  77   Rotation     = FDMExec->GetRotation();
  78   Position     = FDMExec->GetPosition();
  79   FCS          = FDMExec->GetFCS();
  80   Output       = FDMExec->GetOutput();
  81   Atmosphere   = FDMExec->GetAtmosphere();
  82   Aerodynamics = FDMExec->GetAerodynamics();
  83   GroundReactions = FDMExec->GetGroundReactions();
  84   Propulsion      = FDMExec->GetPropulsion();
  85   PropertyManager = FDMExec->GetPropertyManager();
  86
  87   for(int i=0;i<3;i++) vQdot_prev[i].InitMatrix();
  88
  89   InitPropertyMaps();
  90
  91   bind();
  92
  93   Debug(0);
  94 }
  95
  96 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  97
  98 FGState::~FGState()
  99 {
 100   unbind();
 101   Debug(1);
 102 }
 103
 104 //***************************************************************************
 105 //
 106 // Initialize: Assume all angles GIVEN IN RADIANS !!
 107 //
 108
 109 void FGState::Initialize(double U, double V, double W,
 110                          double phi, double tht, double psi,
 111                          double Latitude, double Longitude, double H,
 112                          double wnorth, double weast, double wdown)
 113 {
 114   double alpha, beta;
 115   double qbar, Vt;
 116   FGColumnVector3 vAeroUVW;
 117
 118   Position->SetLatitude(Latitude);
 119   Position->SetLongitude(Longitude);
 120   Position->Seth(H);
 121
 122   Atmosphere->Run();
 123
 124   vLocalEuler << phi << tht << psi;
 125   Rotation->SetEuler(vLocalEuler);
 126
 127   InitMatrices(phi, tht, psi);
 128
 129   vUVW << U << V << W;
 130   Translation->SetUVW(vUVW);
 131
 132   Atmosphere->SetWindNED(wnorth, weast, wdown);
 133
 134   vAeroUVW = vUVW + mTl2b*Atmosphere->GetWindNED();
 135
 136   if (vAeroUVW(eW) != 0.0)
 137     alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
 138   else
 139     alpha = 0.0;
 140   if (vAeroUVW(eV) != 0.0)
 141     beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
 142   else
 143     beta = 0.0;
 144
 145   Translation->SetAB(alpha, beta);
 146
 147   Vt = sqrt(U*U + V*V + W*W);
 148   Translation->SetVt(Vt);
 149
 150   Translation->SetMach(Vt/Atmosphere->GetSoundSpeed());
 151
 152   qbar = 0.5*(U*U + V*V + W*W)*Atmosphere->GetDensity();
 153   Translation->Setqbar(qbar);
 154
 155   vLocalVelNED = mTb2l*vUVW;
 156   Position->SetvVel(vLocalVelNED);
 157 }
 158
 159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 160
 161 void FGState::Initialize(FGInitialCondition *FGIC)
 162 {
 163   double tht,psi,phi;
 164   double U, V, W, h;
 165   double latitude, longitude;
 166   double wnorth,weast, wdown;
 167
 168   latitude = FGIC->GetLatitudeRadIC();
 169   longitude = FGIC->GetLongitudeRadIC();
 170   h = FGIC->GetAltitudeFtIC();
 171   U = FGIC->GetUBodyFpsIC();
 172   V = FGIC->GetVBodyFpsIC();
 173   W = FGIC->GetWBodyFpsIC();
 174   tht = FGIC->GetThetaRadIC();
 175   phi = FGIC->GetPhiRadIC();
 176   psi = FGIC->GetPsiRadIC();
 177   wnorth = FGIC->GetWindNFpsIC();
 178   weast = FGIC->GetWindEFpsIC();
 179   wdown = FGIC->GetWindDFpsIC();
 180
 181   Position->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
 182   Position->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() +
 183                                              FGIC->GetTerrainAltitudeFtIC() );
 184
 185   // need to fix the wind speed args, here.
 186   Initialize(U, V, W, phi, tht, psi, latitude, longitude, h, wnorth, weast, wdown);
 187 }
 188
 189 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 190
 191 void FGState::InitMatrices(double phi, double tht, double psi)
 192 {
 193   double thtd2, psid2, phid2;
 194   double Sthtd2, Spsid2, Sphid2;
 195   double Cthtd2, Cpsid2, Cphid2;
 196   double Cphid2Cthtd2;
 197   double Cphid2Sthtd2;
 198   double Sphid2Sthtd2;
 199   double Sphid2Cthtd2;
 200
 201   thtd2 = tht/2.0;
 202   psid2 = psi/2.0;
 203   phid2 = phi/2.0;
 204
 205   Sthtd2 = sin(thtd2);
 206   Spsid2 = sin(psid2);
 207   Sphid2 = sin(phid2);
 208
 209   Cthtd2 = cos(thtd2);
 210   Cpsid2 = cos(psid2);
 211   Cphid2 = cos(phid2);
 212
 213   Cphid2Cthtd2 = Cphid2*Cthtd2;
 214   Cphid2Sthtd2 = Cphid2*Sthtd2;
 215   Sphid2Sthtd2 = Sphid2*Sthtd2;
 216   Sphid2Cthtd2 = Sphid2*Cthtd2;
 217
 218   vQtrn(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
 219   vQtrn(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
 220   vQtrn(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
 221   vQtrn(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
 222
 223   CalcMatrices();
 224 }
 225
 226 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 227
 228 void FGState::CalcMatrices(void)
 229 {
 230   double Q0Q0, Q1Q1, Q2Q2, Q3Q3;
 231   double Q0Q1, Q0Q2, Q0Q3, Q1Q2;
 232   double Q1Q3, Q2Q3;
 233
 234   Q0Q0 = vQtrn(1)*vQtrn(1);
 235   Q1Q1 = vQtrn(2)*vQtrn(2);
 236   Q2Q2 = vQtrn(3)*vQtrn(3);
 237   Q3Q3 = vQtrn(4)*vQtrn(4);
 238   Q0Q1 = vQtrn(1)*vQtrn(2);
 239   Q0Q2 = vQtrn(1)*vQtrn(3);
 240   Q0Q3 = vQtrn(1)*vQtrn(4);
 241   Q1Q2 = vQtrn(2)*vQtrn(3);
 242   Q1Q3 = vQtrn(2)*vQtrn(4);
 243   Q2Q3 = vQtrn(3)*vQtrn(4);
 244
 245   mTl2b(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
 246   mTl2b(1,2) = 2*(Q1Q2 + Q0Q3);
 247   mTl2b(1,3) = 2*(Q1Q3 - Q0Q2);
 248   mTl2b(2,1) = 2*(Q1Q2 - Q0Q3);
 249   mTl2b(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
 250   mTl2b(2,3) = 2*(Q2Q3 + Q0Q1);
 251   mTl2b(3,1) = 2*(Q1Q3 + Q0Q2);
 252   mTl2b(3,2) = 2*(Q2Q3 - Q0Q1);
 253   mTl2b(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
 254
 255   mTb2l = mTl2b;
 256   mTb2l.T();
 257 }
 258
 259 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 260
 261 void FGState::IntegrateQuat(FGColumnVector3 vPQR, int rate)
 262 {
 263   vQdot(1) = -0.5*(vQtrn(2)*vPQR(eP) + vQtrn(3)*vPQR(eQ) + vQtrn(4)*vPQR(eR));
 264   vQdot(2) =  0.5*(vQtrn(1)*vPQR(eP) + vQtrn(3)*vPQR(eR) - vQtrn(4)*vPQR(eQ));
 265   vQdot(3) =  0.5*(vQtrn(1)*vPQR(eQ) + vQtrn(4)*vPQR(eP) - vQtrn(2)*vPQR(eR));
 266   vQdot(4) =  0.5*(vQtrn(1)*vPQR(eR) + vQtrn(2)*vPQR(eQ) - vQtrn(3)*vPQR(eP));
 267
 268   vQtrn += Integrate(TRAPZ, dt*rate, vQdot, vQdot_prev);
 269
 270   vQtrn.Normalize();
 271 }
 272
 273 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 274
 275 FGColumnVector3& FGState::CalcEuler(void)
 276 {
 277   if (mTl2b(3,3) == 0.0) mTl2b(3,3) = 0.0000001;
 278   if (mTl2b(1,1) == 0.0) mTl2b(1,1) = 0.0000001;
 279
 280   vEuler(ePhi) = atan2(mTl2b(2,3), mTl2b(3,3));
 281   vEuler(eTht) = asin(-mTl2b(1,3));
 282   vEuler(ePsi) = atan2(mTl2b(1,2), mTl2b(1,1));
 283
 284   if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;
 285
 286   return vEuler;
 287 }
 288
 289 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 290
 291 FGMatrix33& FGState::GetTs2b(void)
 292 {
 293   double ca, cb, sa, sb;
 294
 295   double alpha = Translation->Getalpha();
 296   double beta  = Translation->Getbeta();
 297
 298   ca = cos(alpha);
 299   sa = sin(alpha);
 300   cb = cos(beta);
 301   sb = sin(beta);
 302
 303   mTs2b(1,1) = ca*cb;
 304   mTs2b(1,2) = -ca*sb;
 305   mTs2b(1,3) = -sa;
 306   mTs2b(2,1) = sb;
 307   mTs2b(2,2) = cb;
 308   mTs2b(2,3) = 0.0;
 309   mTs2b(3,1) = sa*cb;
 310   mTs2b(3,2) = -sa*sb;
 311   mTs2b(3,3) = ca;
 312
 313   return mTs2b;
 314 }
 315
 316 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 317
 318 FGMatrix33& FGState::GetTb2s(void)
 319 {
 320   float alpha,beta;
 321   float ca, cb, sa, sb;
 322
 323   alpha = Translation->Getalpha();
 324   beta  = Translation->Getbeta();
 325
 326   ca = cos(alpha);
 327   sa = sin(alpha);
 328   cb = cos(beta);
 329   sb = sin(beta);
 330
 331   mTb2s(1,1) = ca*cb;
 332   mTb2s(1,2) = sb;
 333   mTb2s(1,3) = sa*cb;
 334   mTb2s(2,1) = -ca*sb;
 335   mTb2s(2,2) = cb;
 336   mTb2s(2,3) = -sa*sb;
 337   mTb2s(3,1) = -sa;
 338   mTb2s(3,2) = 0.0;
 339   mTb2s(3,3) = ca;
 340
 341   return mTb2s;
 342 }
 343
 344 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 345
 346 void FGState::ReportState(void)
 347 {
 348 #if !defined(__BORLANDCPP__)
 349   char out[80], flap[10], gear[12];
 350
 351   cout << endl << "  JSBSim State" << endl;
 352   snprintf(out,80,"    Weight: %7.0f lbs.  CG: %5.1f, %5.1f, %5.1f inches\n",
 353                    FDMExec->GetMassBalance()->GetWeight(),
 354                    FDMExec->GetMassBalance()->GetXYZcg(1),
 355                    FDMExec->GetMassBalance()->GetXYZcg(2),
 356                    FDMExec->GetMassBalance()->GetXYZcg(3));
 357   cout << out;
 358   if ( FCS->GetDfPos() <= 0.01)
 359     snprintf(flap,10,"Up");
 360   else
 361     snprintf(flap,10,"%2.0f",FCS->GetDfPos());
 362
 363   if (FCS->GetGearPos() < 0.01)
 364     snprintf(gear,12,"Up");
 365   else if (FCS->GetGearPos() > 0.99)
 366     snprintf(gear,12,"Down");
 367   else
 368     snprintf(gear,12,"In Transit");
 369
 370   snprintf(out,80, "    Flaps: %3s  Gear: %12s\n",flap,gear);
 371   cout << out;
 372   snprintf(out,80, "    Speed: %4.0f KCAS  Mach: %5.2f\n",
 373                     FDMExec->GetAuxiliary()->GetVcalibratedKTS(),
 374                     Translation->GetMach() );
 375   cout << out;
 376   snprintf(out,80, "    Altitude: %7.0f ft.  AGL Altitude: %7.0f ft.\n",
 377                     Position->Geth(),
 378                     Position->GetDistanceAGL() );
 379   cout << out;
 380   snprintf(out,80, "    Angle of Attack: %6.2f deg  Pitch Angle: %6.2f deg\n",
 381                     Translation->Getalpha()*radtodeg,
 382                     Rotation->Gettht()*radtodeg );
 383   cout << out;
 384   snprintf(out,80, "    Flight Path Angle: %6.2f deg  Climb Rate: %5.0f ft/min\n",
 385                     Position->GetGamma()*radtodeg,
 386                     Position->Gethdot()*60 );
 387   cout << out;
 388   snprintf(out,80, "    Normal Load Factor: %4.2f g's  Pitch Rate: %5.2f deg/s\n",
 389                     Aircraft->GetNlf(),
 390                     Rotation->GetPQR(2)*radtodeg );
 391   cout << out;
 392   snprintf(out,80, "    Heading: %3.0f deg true  Sideslip: %5.2f deg  Yaw Rate: %5.2f deg/s\n",
 393                     Rotation->Getpsi()*radtodeg,
 394                     Translation->Getbeta()*radtodeg,
 395                     Rotation->GetPQR(3)*radtodeg  );
 396   cout << out;
 397   snprintf(out,80, "    Bank Angle: %5.2f deg  Roll Rate: %5.2f deg/s\n",
 398                     Rotation->Getphi()*radtodeg,
 399                     Rotation->GetPQR(1)*radtodeg );
 400   cout << out;
 401   snprintf(out,80, "    Elevator: %5.2f deg  Left Aileron: %5.2f deg  Rudder: %5.2f deg\n",
 402                     FCS->GetDePos(ofRad)*radtodeg,
 403                     FCS->GetDaLPos(ofRad)*radtodeg,
 404                     FCS->GetDrPos(ofRad)*radtodeg );
 405   cout << out;
 406   snprintf(out,80, "    Throttle: %5.2f%c\n",
 407                     FCS->GetThrottlePos(0)*100,'%' );
 408   cout << out;
 409
 410   snprintf(out,80, "    Wind Components: %5.2f kts head wind, %5.2f kts cross wind\n",
 411                     FDMExec->GetAuxiliary()->GetHeadWind()*fpstokts,
 412                     FDMExec->GetAuxiliary()->GetCrossWind()*fpstokts );
 413   cout << out;
 414
 415   snprintf(out,80, "    Ground Speed: %4.0f knots , Ground Track: %3.0f deg true\n",
 416                     Position->GetVground()*fpstokts,
 417                     Position->GetGroundTrack()*radtodeg );
 418   cout << out;
 419 #endif
 420 }
 421
 422 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 423
 424 void FGState::InitPropertyMaps(void)
 425 {
 426   ParamNameToProp[  "FG_TIME" ]="sim-time-sec";
 427   ParamNameToProp[  "FG_QBAR" ]="aero/qbar-psf";
 428   ParamNameToProp[  "FG_QBARUW" ]="aero/qbarUW-psf";
 429   ParamNameToProp[  "FG_QBARUV" ]="aero/qbarUV-psf";
 430   ParamNameToProp[  "FG_WINGAREA" ]="metrics/Sw-sqft";
 431   ParamNameToProp[  "FG_WINGSPAN" ]="metrics/bw-ft";
 432   ParamNameToProp[  "FG_CBAR" ]="metrics/cbarw-ft";
 433   ParamNameToProp[  "FG_ALPHA" ]="aero/alpha-rad";
 434   ParamNameToProp[  "FG_ALPHADOT" ]="aero/alphadot-rad_sec";
 435   ParamNameToProp[  "FG_BETA" ]="aero/beta-rad";
 436   ParamNameToProp[  "FG_ABETA" ]="aero/mag-beta-rad";
 437   ParamNameToProp[  "FG_BETADOT" ]="aero/betadot-rad_sec";
 438   ParamNameToProp[  "FG_PHI" ]="attitude/phi-rad";
 439   ParamNameToProp[  "FG_THT" ]="attitude/theta-rad";
 440   ParamNameToProp[  "FG_PSI" ]="attitude/psi-true-rad";
 441   ParamNameToProp[  "FG_PITCHRATE" ]="velocities/q-rad_sec";
 442   ParamNameToProp[  "FG_ROLLRATE" ]="velocities/p-rad_sec";
 443   ParamNameToProp[  "FG_YAWRATE" ]="velocities/r-rad_sec";
 444   ParamNameToProp[  "FG_AEROP" ]="velocities/p-aero-rad_sec";
 445   ParamNameToProp[  "FG_AEROQ" ]="velocities/q-aero-rad_sec";
 446   ParamNameToProp[  "FG_AEROR" ]="velocities/r-aero-rad_sec";
 447   ParamNameToProp[  "FG_CL_SQRD" ]="aero/cl-squared-norm";
 448   ParamNameToProp[  "FG_MACH" ]="velocities/mach-norm";
 449   ParamNameToProp[  "FG_ALTITUDE" ]="position/h-sl-ft";
 450   ParamNameToProp[  "FG_BI2VEL" ]="aero/bi2vel";
 451   ParamNameToProp[  "FG_CI2VEL" ]="aero/ci2vel";
 452   ParamNameToProp[  "FG_ELEVATOR_POS" ]="fcs/elevator-pos-rad";
 453   ParamNameToProp[  "FG_AELEVATOR_POS" ]="fcs/mag-elevator-pos-rad";
 454   ParamNameToProp[  "FG_NELEVATOR_POS" ]="fcs/elevator-pos-norm";
 455   ParamNameToProp[  "FG_AILERON_POS" ]="fcs/left-aileron-pos-rad";
 456   ParamNameToProp[  "FG_AAILERON_POS" ]="fcs/mag-aileron-pos-rad";
 457   ParamNameToProp[  "FG_NAILERON_POS" ]="fcs/left-aileron-pos-norm";
 458   ParamNameToProp[  "FG_LEFT_AILERON_POS" ]="fcs/left-aileron-pos-rad";
 459   ParamNameToProp[  "FG_ALEFT_AILERON_POS" ]="fcs/mag-left-aileron-pos-rad";
 460   ParamNameToProp[  "FG_NLEFT_AILERON_POS" ]="fcs/left-aileron-pos-norm";
 461   ParamNameToProp[  "FG_RIGHT_AILERON_POS" ]="fcs/right-aileron-pos-rad";
 462   ParamNameToProp[  "FG_ARIGHT_AILERON_POS" ]="fcs/mag-aileron-pos-rad";
 463   ParamNameToProp[  "FG_NRIGHT_AILERON_POS" ]="fcs/right-aileron-pos-norm";
 464   ParamNameToProp[  "FG_RUDDER_POS" ]="fcs/rudder-pos-rad";
 465   ParamNameToProp[  "FG_ARUDDER_POS" ]="fcs/mag-rudder-pos-rad";
 466   ParamNameToProp[  "FG_NRUDDER_POS" ]="fcs/rudder-pos-norm";
 467   ParamNameToProp[  "FG_SPDBRAKE_POS" ]="fcs/speedbrake-pos-rad";
 468   ParamNameToProp[  "FG_NSPDBRAKE_POS" ]="fcs/speedbrake-pos-norm";
 469   ParamNameToProp[  "FG_SPOILERS_POS" ]="fcs/spoiler-pos-rad";
 470   ParamNameToProp[  "FG_NSPOILERS_POS" ]="fcs/spoiler-pos-norm";
 471   ParamNameToProp[  "FG_FLAPS_POS" ]="fcs/flap-pos-deg";
 472   ParamNameToProp[  "FG_NFLAPS_POS" ]="fcs/flap-pos-norm";
 473   ParamNameToProp[  "FG_ELEVATOR_CMD" ]="fcs/elevator-cmd-norm";
 474   ParamNameToProp[  "FG_AILERON_CMD" ]="fcs/aileron-cmd-norm";
 475   ParamNameToProp[  "FG_RUDDER_CMD" ]="fcs/rudder-cmd-norm";
 476   ParamNameToProp[  "FG_SPDBRAKE_CMD" ]="fcs/speedbrake-cmd-norm";
 477   ParamNameToProp[  "FG_SPOILERS_CMD" ]="fcs/spoiler-cmd-norm";
 478   ParamNameToProp[  "FG_FLAPS_CMD" ]="fcs/flap-cmd-norm";
 479   ParamNameToProp[  "FG_THROTTLE_CMD" ]="fcs/throttle-cmd-norm";
 480   ParamNameToProp[  "FG_THROTTLE_POS" ]="fcs/throttle-pos-norm";
 481   ParamNameToProp[  "FG_MIXTURE_CMD" ]="fcs/mixture-cmd-norm";
 482   ParamNameToProp[  "FG_MIXTURE_POS" ]="fcs/mixture-pos-norm";
 483   ParamNameToProp[  "FG_MAGNETO_CMD" ]="propulsion/magneto_cmd";
 484   ParamNameToProp[  "FG_STARTER_CMD" ]="propulsion/starter_cmd";
 485   ParamNameToProp[  "FG_ACTIVE_ENGINE" ]="propulsion/active_engine";
 486   ParamNameToProp[  "FG_HOVERB" ]="aero/h_b-mac-ft";
 487   ParamNameToProp[  "FG_PITCH_TRIM_CMD" ]="fcs/pitch-trim-cmd-norm";
 488   ParamNameToProp[  "FG_YAW_TRIM_CMD" ]="fcs/yaw-trim-cmd-norm";
 489   ParamNameToProp[  "FG_ROLL_TRIM_CMD" ]="fcs/roll-trim-cmd-norm";
 490   ParamNameToProp[  "FG_LEFT_BRAKE_CMD" ]="fcs/left_brake";
 491   ParamNameToProp[  "FG_CENTER_BRAKE_CMD" ]="fcs/center_brake";
 492   ParamNameToProp[  "FG_RIGHT_BRAKE_CMD" ]="fcs/right_brake";
 493   ParamNameToProp[  "FG_SET_LOGGING" ]="sim/set_logging";
 494   ParamNameToProp[  "FG_ALPHAH" ]="aero/alpha-rad";
 495   ParamNameToProp[  "FG_ALPHAW" ]="aero/alpha-wing-rad";
 496   ParamNameToProp[  "FG_LBARH" ]="metrics/lh-norm";
 497   ParamNameToProp[  "FG_LBARV" ]="metrics/lv-norm";
 498   ParamNameToProp[  "FG_HTAILAREA" ]="metrics/Sh-sqft";
 499   ParamNameToProp[  "FG_VTAILAREA" ]="metrics/Sv-sqft";
 500   ParamNameToProp[  "FG_VBARH" ]="metrics/vbarh-norm";
 501   ParamNameToProp[  "FG_VBARV" ]="metrics/vbarv-norm";
 502   ParamNameToProp[  "FG_GEAR_CMD" ]="gear/gear-cmd-norm";
 503   ParamNameToProp[  "FG_GEAR_POS" ]="gear/gear-pos-norm";
 504   ParamNameToProp[  "FG_HYSTPARM" ]="aero/stall-hyst-norm";
 505   ParamNameToProp[  "AP_ELEVATOR_CMD" ]="jsbsim/ap/elevator_cmd";
 506   ParamNameToProp[  "AP_AILERON_CMD" ]="jsbsim/ap/aileron_cmd";
 507   ParamNameToProp[  "AP_RUDDER_CMD" ]="jsbsim/ap/rudder_cmd";
 508   ParamNameToProp[  "AP_THROTTLE_CMD" ]="jsbsim/ap/throttle_cmd";
 509   ParamNameToProp[  "AP_SET_ATTITUDE" ]="jsbsim/ap/set_attitude";
 510   ParamNameToProp[  "AP_SET_ALTITUDE" ]="jsbsim/ap/set_altitude";
 511   ParamNameToProp[  "AP_SET_HEADING" ]="jsbsim/ap/set_heading";
 512   ParamNameToProp[  "AP_SET_AIRSPEED" ]="jsbsim/ap/set_airspeed";
 513   ParamNameToProp[  "AP_ACQUIRE_ATTITUDE" ]="jsbsim/ap/acquire_attitude";
 514   ParamNameToProp[  "AP_ACQUIRE_ALTITUDE" ]="jsbsim/ap/acquire_altitude";
 515   ParamNameToProp[  "AP_ACQUIRE_HEADING" ]="jsbsim/ap/acquire_heading";
 516   ParamNameToProp[  "AP_ACQUIRE_AIRSPEED" ]="jsbsim/ap/acquire_aispeed";
 517   ParamNameToProp[  "AP_ATTITUDE_HOLD_ON" ]="jsbsim/ap/attitude_hold_on";
 518   ParamNameToProp[  "AP_ALTITUDE,_HOLD_ON" ]="jsbsim/ap/altitude_hold_on";
 519   ParamNameToProp[  "AP_HEADING_HOLD_ON" ]="jsbsim/ap/heading_hold_on";
 520   ParamNameToProp[  "AP_AIRSPEED_HOLD_ON" ]="jsbsim/ap/airspeed_hold_on";
 521   ParamNameToProp[  "AP_WINGSLEVEL_HOLD_ON" ]="jsbsim/ap/wingslevel_hold_on";
 522 }
 523
 524 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 525
 526 void FGState::bind(void)
 527 {
 528   PropertyManager->Tie("sim-time-sec",this,
 529                         &FGState::Getsim_time);
 530 }
 531
 532 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 533
 534 void FGState::unbind(void)
 535 {
 536   PropertyManager->Untie("sim-time-sec");
 537 }
 538
 539 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 540 //    The bitmasked value choices are as follows:
 541 //    unset: In this case (the default) JSBSim would only print
 542 //       out the normally expected messages, essentially echoing
 543 //       the config files as they are read. If the environment
 544 //       variable is not set, debug_lvl is set to 1 internally
 545 //    0: This requests JSBSim not to output any messages
 546 //       whatsoever.
 547 //    1: This value explicity requests the normal JSBSim
 548 //       startup messages
 549 //    2: This value asks for a message to be printed out when
 550 //       a class is instantiated
 551 //    4: When this value is set, a message is displayed when a
 552 //       FGModel object executes its Run() method
 553 //    8: When this value is set, various runtime state variables
 554 //       are printed out periodically
 555 //    16: When set various parameters are sanity checked and
 556 //       a message is printed out when they go out of bounds
 557
 558 void FGState::Debug(int from)
 559 {
 560   if (debug_lvl <= 0) return;
 561
 562   if (debug_lvl & 1) { // Standard console startup message output
 563     if (from == 0) { // Constructor
 564
 565     }
 566   }
 567   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 568     if (from == 0) cout << "Instantiated: FGState" << endl;
 569     if (from == 1) cout << "Destroyed:    FGState" << endl;
 570   }
 571   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 572   }
 573   if (debug_lvl & 8 ) { // Runtime state variables
 574   }
 575   if (debug_lvl & 16) { // Sanity checking
 576   }
 577   if (debug_lvl & 64) {
 578     if (from == 0) { // Constructor
 579       cout << IdSrc << endl;
 580       cout << IdHdr << endl;
 581     }
 582   }
 583 }
 584