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 #if defined(_MSC_VER)||defined(__BORLANDCPP__)
  51 #pragma message("\n\nRedefining snprintf\n")
  52 #define snprintf _snprintf
  53 #endif
  54
  55 #include "FGState.h"
  56
  57 static const char *IdSrc = "$Id$";
  58 static const char *IdHdr = ID_STATE;
  59
  60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  61 MACROS
  62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  63
  64 #define RegisterVariable(ID,DEF) coeffdef[#ID] = ID; paramdef[ID] = DEF
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS IMPLEMENTATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  71 //
  72 // For every term registered here there must be a corresponding handler in
  73 // GetParameter() below that retrieves that parameter. Also, there must be an
  74 // entry in the enum eParam definition in FGJSBBase.h. The ID is what must be used
  75 // in any config file entry which references that item.
  76
  77 FGState::FGState(FGFDMExec* fdex)
  78 {
  79   FDMExec = fdex;
  80
  81   a = 1000.0;
  82   sim_time = 0.0;
  83   dt = 1.0/120.0;
  84   ActiveEngine = -1;
  85
  86   Aircraft     = FDMExec->GetAircraft();
  87   Translation  = FDMExec->GetTranslation();
  88   Rotation     = FDMExec->GetRotation();
  89   Position     = FDMExec->GetPosition();
  90   FCS          = FDMExec->GetFCS();
  91   Output       = FDMExec->GetOutput();
  92   Atmosphere   = FDMExec->GetAtmosphere();
  93   Aerodynamics = FDMExec->GetAerodynamics();
  94   GroundReactions = FDMExec->GetGroundReactions();
  95   Propulsion      = FDMExec->GetPropulsion();
  96   PropertyManager = FDMExec->GetPropertyManager();
  97
  98   InitPropertyMaps();
  99
 100   RegisterVariable(FG_TIME,               " time "                );
 101   RegisterVariable(FG_QBAR,               " qbar "                );
 102   RegisterVariable(FG_WINGAREA,           " wing_area "           );
 103   RegisterVariable(FG_WINGSPAN,           " wingspan "            );
 104   RegisterVariable(FG_CBAR,               " cbar "                );
 105   RegisterVariable(FG_ALPHA,              " alpha "               );
 106   RegisterVariable(FG_ALPHADOT,           " alphadot "            );
 107   RegisterVariable(FG_BETA,               " beta "                );
 108   RegisterVariable(FG_ABETA,              " |beta| "              );
 109   RegisterVariable(FG_BETADOT,            " betadot "             );
 110   RegisterVariable(FG_PHI,                " roll_angle "          );
 111   RegisterVariable(FG_THT,                " pitch_angle "         );
 112   RegisterVariable(FG_PSI,                " heading_angle "       );
 113   RegisterVariable(FG_PITCHRATE,          " pitch_rate "          );
 114   RegisterVariable(FG_ROLLRATE,           " roll_rate "           );
 115   RegisterVariable(FG_YAWRATE,            " yaw_rate "            );
 116   RegisterVariable(FG_AEROQ,              " aero_pitch_rate "     );
 117   RegisterVariable(FG_AEROP,              " aero_roll_rate "      );
 118   RegisterVariable(FG_AEROR,              " aero_yaw_rate "       );
 119   RegisterVariable(FG_CL_SQRD,            " Clift_sqrd "          );
 120   RegisterVariable(FG_MACH,               " mach "                );
 121   RegisterVariable(FG_ALTITUDE,           " altitude "            );
 122   RegisterVariable(FG_BI2VEL,             " BI2Vel "              );
 123   RegisterVariable(FG_CI2VEL,             " CI2Vel "              );
 124   RegisterVariable(FG_ELEVATOR_POS,       " elevator_pos "        );
 125   RegisterVariable(FG_AELEVATOR_POS,      " |elevator_pos| "      );
 126   RegisterVariable(FG_NELEVATOR_POS,      " elevator_pos_n "      );
 127   RegisterVariable(FG_AILERON_POS,        " aileron_pos "         );
 128   RegisterVariable(FG_AAILERON_POS,       " |aileron_pos| "       );
 129   RegisterVariable(FG_NAILERON_POS,       " aileron_pos_n "       );
 130   RegisterVariable(FG_LEFT_AILERON_POS,   " left_aileron_pos "    );
 131   RegisterVariable(FG_ALEFT_AILERON_POS,  " |left_aileron_pos| "  );
 132   RegisterVariable(FG_NLEFT_AILERON_POS,  " left_aileron_pos_n "  );
 133   RegisterVariable(FG_RIGHT_AILERON_POS,  " right_aileron_pos "   );
 134   RegisterVariable(FG_ARIGHT_AILERON_POS, " |right_aileron_pos| " );
 135   RegisterVariable(FG_NRIGHT_AILERON_POS, " right_aileron_pos_n " );
 136   RegisterVariable(FG_RUDDER_POS,         " rudder_pos "          );
 137   RegisterVariable(FG_ARUDDER_POS,        " |rudder_pos| "        );
 138   RegisterVariable(FG_NRUDDER_POS,        " rudder_pos_n "        );
 139   RegisterVariable(FG_SPDBRAKE_POS,       " speedbrake_pos "      );
 140   RegisterVariable(FG_NSPDBRAKE_POS,      " speedbrake_pos_n "    );
 141   RegisterVariable(FG_SPOILERS_POS,       " spoiler_pos "         );
 142   RegisterVariable(FG_NSPOILERS_POS,      " spoiler_pos_n "       );
 143   RegisterVariable(FG_FLAPS_POS,          " flaps_pos "           );
 144   RegisterVariable(FG_NFLAPS_POS,         " flaps_pos_n "         );
 145   RegisterVariable(FG_GEAR_POS,           " gear_pos "            );
 146   RegisterVariable(FG_ELEVATOR_CMD,       " elevator_cmd "        );
 147   RegisterVariable(FG_AILERON_CMD,        " aileron_cmd "         );
 148   RegisterVariable(FG_RUDDER_CMD,         " rudder_cmd "          );
 149   RegisterVariable(FG_SPDBRAKE_CMD,       " speedbrake_cmd "      );
 150   RegisterVariable(FG_SPOILERS_CMD,       " spoiler_cmd "         );
 151   RegisterVariable(FG_FLAPS_CMD,          " flaps_cmd "           );
 152   RegisterVariable(FG_THROTTLE_CMD,       " throttle_cmd "        );
 153   RegisterVariable(FG_GEAR_CMD,           " gear_cmd "            );
 154   RegisterVariable(FG_THROTTLE_POS,       " throttle_pos "        );
 155   RegisterVariable(FG_MIXTURE_CMD,        " mixture_cmd "         );
 156   RegisterVariable(FG_MIXTURE_POS,        " mixture_pos "         );
 157   RegisterVariable(FG_MAGNETO_CMD,        " magneto_cmd "         );
 158   RegisterVariable(FG_STARTER_CMD,        " starter_cmd "         );
 159   RegisterVariable(FG_ACTIVE_ENGINE,      " active_engine "       );
 160   RegisterVariable(FG_HOVERB,             " height/span "         );
 161   RegisterVariable(FG_PITCH_TRIM_CMD,     " pitch_trim_cmd "      );
 162   RegisterVariable(FG_YAW_TRIM_CMD,       " yaw_trim_cmd "        );
 163   RegisterVariable(FG_ROLL_TRIM_CMD,      " roll_trim_cmd "       );
 164   RegisterVariable(FG_LEFT_BRAKE_CMD,     " left_brake_cmd "      );
 165   RegisterVariable(FG_RIGHT_BRAKE_CMD,    " right_brake_cmd "     );
 166   RegisterVariable(FG_CENTER_BRAKE_CMD,   " center_brake_cmd "    );
 167   RegisterVariable(FG_ALPHAH,             " h-tail alpha "        );
 168   RegisterVariable(FG_ALPHAW,             " wing alpha "          );
 169   RegisterVariable(FG_LBARH,              " h-tail arm "          );
 170   RegisterVariable(FG_LBARV,              " v-tail arm "          );
 171   RegisterVariable(FG_HTAILAREA,          " h-tail area "         );
 172   RegisterVariable(FG_VTAILAREA,          " v-tail area "         );
 173   RegisterVariable(FG_VBARH,              " h-tail volume "       );
 174   RegisterVariable(FG_VBARV,              " v-tail volume "       );
 175   RegisterVariable(FG_SET_LOGGING,        " data_logging "        );
 176
 177   bind();
 178
 179   Debug(0);
 180 }
 181
 182 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 183
 184 FGState::~FGState()
 185 {
 186   unbind();
 187   Debug(1);
 188 }
 189
 190 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 191
 192 double FGState::GetParameter(eParam val_idx) {
 193   double scratch;
 194
 195   switch(val_idx) {
 196   case FG_TIME:
 197     return sim_time;
 198   case FG_QBAR:
 199     return Translation->Getqbar();
 200   case FG_WINGAREA:
 201     return Aircraft->GetWingArea();
 202   case FG_WINGSPAN:
 203     return Aircraft->GetWingSpan();
 204   case FG_CBAR:
 205     return Aircraft->Getcbar();
 206   case FG_LBARH:
 207     return Aircraft->Getlbarh();
 208   case FG_LBARV:
 209     return Aircraft->Getvbarh();
 210   case FG_HTAILAREA:
 211     return Aircraft->GetHTailArea();
 212   case FG_VTAILAREA:
 213     return Aircraft->GetVTailArea();
 214   case FG_VBARH:
 215     return Aircraft->Getvbarh();
 216   case FG_VBARV:
 217     return Aircraft->Getvbarv();
 218   case FG_ALPHA:
 219     return Translation->Getalpha();
 220   case FG_ALPHAW:
 221     return  Translation->Getalpha() + Aircraft->GetWingIncidence();
 222   case FG_ALPHADOT:
 223     return Translation->Getadot();
 224   case FG_BETA:
 225     return Translation->Getbeta();
 226   case FG_ABETA:
 227     return fabs(Translation->Getbeta());
 228   case FG_BETADOT:
 229     return Translation->Getbdot();
 230   case FG_PHI:
 231     return Rotation->Getphi();
 232   case FG_THT:
 233     return Rotation->Gettht();
 234   case FG_PSI:
 235     return Rotation->Getpsi();
 236   case FG_PITCHRATE:
 237     return Rotation->GetPQR(eQ);
 238   case FG_ROLLRATE:
 239     return Rotation->GetPQR(eP);
 240   case FG_YAWRATE:
 241     return Rotation->GetPQR(eR);
 242   case FG_AEROP:
 243     return Rotation->GetAeroPQR(eP);
 244   case FG_AEROQ:
 245     return Rotation->GetAeroPQR(eQ);
 246   case FG_AEROR:
 247     return Rotation->GetAeroPQR(eR);
 248   case FG_CL_SQRD:
 249     if (Translation->Getqbar() > 0.00)
 250       scratch = Aerodynamics->GetvLastFs(eLift)/(Aircraft->GetWingArea()*Translation->Getqbar());
 251     else
 252       scratch = 0.0;
 253     return scratch*scratch;
 254   case FG_ELEVATOR_POS:
 255     return FCS->GetDePos();
 256   case FG_AELEVATOR_POS:
 257     return fabs(FCS->GetDePos());
 258   case FG_NELEVATOR_POS:
 259     return FCS->GetDePos(ofNorm);
 260   case FG_AILERON_POS:
 261     return FCS->GetDaLPos();
 262   case FG_AAILERON_POS:
 263     return fabs(FCS->GetDaLPos());
 264   case FG_NAILERON_POS:
 265     return FCS->GetDaLPos(ofNorm);
 266   case FG_LEFT_AILERON_POS:
 267     return FCS->GetDaLPos();
 268   case FG_ALEFT_AILERON_POS:
 269     return FCS->GetDaLPos(ofMag);
 270   case FG_NLEFT_AILERON_POS:
 271     return FCS->GetDaLPos(ofNorm);
 272   case FG_RIGHT_AILERON_POS:
 273     return FCS->GetDaRPos();
 274   case FG_ARIGHT_AILERON_POS:
 275     return FCS->GetDaRPos(ofMag);
 276   case FG_NRIGHT_AILERON_POS:
 277     return FCS->GetDaRPos(ofNorm);
 278   case FG_RUDDER_POS:
 279     return FCS->GetDrPos();
 280   case FG_ARUDDER_POS:
 281     return FCS->GetDrPos(ofMag);
 282   case FG_NRUDDER_POS:
 283     return FCS->GetDrPos(ofNorm);
 284   case FG_SPDBRAKE_POS:
 285     return FCS->GetDsbPos();
 286   case FG_NSPDBRAKE_POS:
 287     return FCS->GetDsbPos(ofNorm);
 288   case FG_SPOILERS_POS:
 289     return FCS->GetDspPos();
 290   case FG_NSPOILERS_POS:
 291     return FCS->GetDspPos(ofNorm);
 292   case FG_FLAPS_POS:
 293     return FCS->GetDfPos();
 294   case FG_NFLAPS_POS:
 295     return FCS->GetDfPos(ofNorm);
 296   case FG_ELEVATOR_CMD:
 297     return FCS->GetDeCmd();
 298   case FG_AILERON_CMD:
 299     return FCS->GetDaCmd();
 300   case FG_RUDDER_CMD:
 301     return FCS->GetDrCmd();
 302   case FG_SPDBRAKE_CMD:
 303     return FCS->GetDsbCmd();
 304   case FG_SPOILERS_CMD:
 305     return FCS->GetDspCmd();
 306   case FG_FLAPS_CMD:
 307     return FCS->GetDfCmd();
 308   case FG_MACH:
 309     return Translation->GetMach();
 310   case FG_ALTITUDE:
 311     return Position->Geth();
 312   case FG_BI2VEL:
 313     if(Translation->GetVt() > 0)
 314         return Aircraft->GetWingSpan()/(2.0 * Translation->GetVt());
 315     else
 316         return 0;
 317   case FG_CI2VEL:
 318     if(Translation->GetVt() > 0)
 319         return Aircraft->Getcbar()/(2.0 * Translation->GetVt());
 320     else
 321         return 0;
 322   case FG_THROTTLE_CMD:
 323     if (ActiveEngine < 0) return FCS->GetThrottleCmd(0);
 324     else return FCS->GetThrottleCmd(ActiveEngine);
 325   case FG_THROTTLE_POS:
 326     if (ActiveEngine < 0) return FCS->GetThrottlePos(0);
 327     else return FCS->GetThrottlePos(ActiveEngine);
 328   case FG_MAGNETO_CMD:
 329     if (ActiveEngine < 0) return Propulsion->GetEngine(0)->GetMagnetos();
 330     else return Propulsion->GetEngine(ActiveEngine)->GetMagnetos();
 331   case FG_STARTER_CMD:
 332     if (ActiveEngine < 0) {
 333       if (Propulsion->GetEngine(0)->GetStarter()) return 1.0;
 334       else return 0.0;
 335     } else {
 336       if (Propulsion->GetEngine(ActiveEngine)->GetStarter()) return 1.0;
 337       else return 0.0;
 338     }
 339   case FG_MIXTURE_CMD:
 340     if (ActiveEngine < 0) return FCS->GetMixtureCmd(0);
 341     else return FCS->GetMixtureCmd(ActiveEngine);
 342   case FG_MIXTURE_POS:
 343     if (ActiveEngine < 0) return FCS->GetMixturePos(0);
 344     else return FCS->GetMixturePos(ActiveEngine);
 345   case FG_HOVERB:
 346     return Position->GetHOverBMAC();
 347   case FG_PITCH_TRIM_CMD:
 348     return FCS->GetPitchTrimCmd();
 349   case FG_YAW_TRIM_CMD:
 350     return FCS->GetYawTrimCmd();
 351   case FG_ROLL_TRIM_CMD:
 352     return FCS->GetRollTrimCmd();
 353   case FG_GEAR_CMD:
 354     return FCS->GetGearCmd();
 355   case FG_GEAR_POS:
 356     return FCS->GetGearPos();
 357   default:
 358     cerr << "FGState::GetParameter() - No handler for parameter " << paramdef[val_idx] << endl;
 359     return 0.0;
 360   }
 361   return 0;
 362 }
 363
 364 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 365
 366 double FGState::GetParameter(string val_string) {
 367   return GetParameter(coeffdef[val_string]);
 368 }
 369
 370 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 371
 372 eParam FGState::GetParameterIndex(string val_string)
 373 {
 374   return coeffdef[val_string];
 375 }
 376
 377 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 378
 379 void FGState::SetParameter(eParam val_idx, double val)
 380 {
 381   unsigned i;
 382
 383   switch(val_idx) {
 384   case FG_ELEVATOR_POS:
 385     FCS->SetDePos(ofRad,val);
 386     break;
 387   case FG_NELEVATOR_POS:
 388     FCS->SetDePos(ofNorm,val);
 389     break;
 390   case FG_AILERON_POS:
 391     FCS->SetDaLPos(ofRad,val);
 392     break;
 393   case FG_NAILERON_POS:
 394     FCS->SetDaLPos(ofNorm,val);
 395     break;
 396   case FG_LEFT_AILERON_POS:
 397     FCS->SetDaLPos(ofRad,val);
 398     break;
 399   case FG_NLEFT_AILERON_POS:
 400     FCS->SetDaLPos(ofNorm,val);
 401     break;
 402   case FG_RIGHT_AILERON_POS:
 403     FCS->SetDaRPos(ofRad,val);
 404     break;
 405   case FG_NRIGHT_AILERON_POS:
 406     FCS->SetDaRPos(ofNorm,val);
 407     break;
 408   case FG_RUDDER_POS:
 409     FCS->SetDrPos(ofRad,val);
 410     break;
 411   case FG_NRUDDER_POS:
 412     FCS->SetDrPos(ofNorm,val);
 413     break;
 414   case FG_SPDBRAKE_POS:
 415     FCS->SetDsbPos(ofRad,val);
 416     break;
 417   case FG_NSPDBRAKE_POS:
 418     FCS->SetDsbPos(ofNorm,val);
 419     break;
 420   case FG_SPOILERS_POS:
 421     FCS->SetDspPos(ofRad,val);
 422     break;
 423   case FG_NSPOILERS_POS:
 424     FCS->SetDspPos(ofNorm,val);
 425     break;
 426   case FG_FLAPS_POS:
 427     FCS->SetDfPos(ofRad,val);
 428     break;
 429   case FG_NFLAPS_POS:
 430     FCS->SetDfPos(ofNorm,val);
 431     break;
 432   case FG_THROTTLE_POS:
 433     if (ActiveEngine == -1) {
 434       for (i=0; i<Propulsion->GetNumEngines(); i++) {
 435         FCS->SetThrottlePos(i,val);
 436             }
 437           } else {
 438       FCS->SetThrottlePos(ActiveEngine,val);
 439           }
 440     break;
 441   case FG_MIXTURE_POS:
 442     if (ActiveEngine == -1) {
 443       for (i=0; i<Propulsion->GetNumEngines(); i++) {
 444         FCS->SetMixturePos(i,val);
 445             }
 446           } else {
 447       FCS->SetMixturePos(ActiveEngine,val);
 448           }
 449     break;
 450
 451   case FG_ELEVATOR_CMD:
 452     FCS->SetDeCmd(val);
 453     break;
 454   case FG_AILERON_CMD:
 455     FCS->SetDaCmd(val);
 456     break;
 457   case FG_RUDDER_CMD:
 458     FCS->SetDrCmd(val);
 459     break;
 460   case FG_SPDBRAKE_CMD:
 461     FCS->SetDsbCmd(val);
 462     break;
 463   case FG_SPOILERS_CMD:
 464     FCS->SetDspCmd(val);
 465     break;
 466   case FG_FLAPS_CMD:
 467     FCS->SetDfCmd(val);
 468     break;
 469   case FG_THROTTLE_CMD:
 470     if (ActiveEngine == -1) {
 471       for (i=0; i<Propulsion->GetNumEngines(); i++) {
 472         FCS->SetThrottleCmd(i,val);
 473             }
 474           } else {
 475       FCS->SetThrottleCmd(ActiveEngine,val);
 476           }
 477     break;
 478   case FG_MIXTURE_CMD:
 479     if (ActiveEngine == -1) {
 480       for (i=0; i<Propulsion->GetNumEngines(); i++) {
 481         FCS->SetMixtureCmd(i,val);
 482             }
 483           } else {
 484       FCS->SetMixtureCmd(ActiveEngine,val);
 485           }
 486     break;
 487   case FG_MAGNETO_CMD:
 488     if (ActiveEngine == -1) {
 489       for (i=0; i<Propulsion->GetNumEngines(); i++) {
 490         Propulsion->GetEngine(i)->SetMagnetos((int)val);
 491       }
 492     } else {
 493       Propulsion->GetEngine(ActiveEngine)->SetMagnetos((int)val);
 494     }
 495     break;
 496   case FG_STARTER_CMD:
 497     if (ActiveEngine == -1) {
 498       for (i=0; i<Propulsion->GetNumEngines(); i++) {
 499         if (val < 0.001)
 500           Propulsion->GetEngine(i)->SetStarter(false);
 501         else if (val >=  0.001)
 502           Propulsion->GetEngine(i)->SetStarter(true);
 503       }
 504     } else {
 505       Propulsion->GetEngine(ActiveEngine)->SetStarter(true);
 506     }
 507     break;
 508   case FG_ACTIVE_ENGINE:
 509     ActiveEngine = (int)val;
 510     break;
 511
 512   case FG_LEFT_BRAKE_CMD:
 513     FCS->SetLBrake(val);
 514     break;
 515   case FG_CENTER_BRAKE_CMD:
 516     FCS->SetCBrake(val);
 517     break;
 518   case FG_RIGHT_BRAKE_CMD:
 519     FCS->SetRBrake(val);
 520     break;
 521   case FG_GEAR_CMD:
 522     FCS->SetGearCmd(val);
 523     break;
 524   case  FG_GEAR_POS:
 525     FCS->SetGearPos(val);
 526     break;
 527   case FG_SET_LOGGING:
 528     if      (val < -0.01) Output->Disable();
 529     else if (val >  0.01) Output->Enable();
 530     else                  Output->Toggle();
 531     break;
 532
 533   default:
 534     cerr << "Parameter '" << val_idx << "' (" << paramdef[val_idx] << ") not handled" << endl;
 535   }
 536 }
 537
 538 //***************************************************************************
 539 //
 540 // Reset: Assume all angles READ FROM FILE IN DEGREES !!
 541 //
 542
 543 bool FGState::Reset(string path, string acname, string fname)
 544 {
 545   string resetDef;
 546   string token="";
 547
 548   double U, V, W;
 549   double phi, tht, psi;
 550   double latitude, longitude, h;
 551   double wdir, wmag, wnorth, weast;
 552
 553 # ifndef macintosh
 554   resetDef = path + "/" + acname + "/" + fname + ".xml";
 555 # else
 556   resetDef = path + ";" + acname + ";" + fname + ".xml";
 557 # endif
 558
 559   FGConfigFile resetfile(resetDef);
 560   if (!resetfile.IsOpen()) return false;
 561
 562   resetfile.GetNextConfigLine();
 563   token = resetfile.GetValue();
 564   if (token != string("initialize")) {
 565     cerr << "The reset file " << resetDef
 566          << " does not appear to be a reset file" << endl;
 567     return false;
 568   } else {
 569     resetfile.GetNextConfigLine();
 570     resetfile >> token;
 571     cout << "Resetting using: " << token << endl << endl;
 572   }
 573
 574   while (token != string("/initialize") && token != string("EOF")) {
 575     if (token == "UBODY") resetfile >> U;
 576     if (token == "VBODY") resetfile >> V;
 577     if (token == "WBODY") resetfile >> W;
 578     if (token == "LATITUDE") resetfile >> latitude;
 579     if (token == "LONGITUDE") resetfile >> longitude;
 580     if (token == "PHI") resetfile >> phi;
 581     if (token == "THETA") resetfile >> tht;
 582     if (token == "PSI") resetfile >> psi;
 583     if (token == "ALTITUDE") resetfile >> h;
 584     if (token == "WINDDIR") resetfile >> wdir;
 585     if (token == "VWIND") resetfile >> wmag;
 586
 587     resetfile >> token;
 588   }
 589
 590
 591   Position->SetLatitude(latitude*degtorad);
 592   Position->SetLongitude(longitude*degtorad);
 593   Position->Seth(h);
 594
 595   wnorth = wmag*ktstofps*cos(wdir*degtorad);
 596   weast = wmag*ktstofps*sin(wdir*degtorad);
 597
 598   Initialize(U, V, W, phi*degtorad, tht*degtorad, psi*degtorad,
 599                latitude*degtorad, longitude*degtorad, h, wnorth, weast, 0.0);
 600
 601   return true;
 602 }
 603
 604 //***************************************************************************
 605 //
 606 // Initialize: Assume all angles GIVEN IN RADIANS !!
 607 //
 608
 609 void FGState::Initialize(double U, double V, double W,
 610                          double phi, double tht, double psi,
 611                          double Latitude, double Longitude, double H,
 612                          double wnorth, double weast, double wdown)
 613 {
 614   double alpha, beta;
 615   double qbar, Vt;
 616   FGColumnVector3 vAeroUVW;
 617
 618   Position->SetLatitude(Latitude);
 619   Position->SetLongitude(Longitude);
 620   Position->Seth(H);
 621
 622   Atmosphere->Run();
 623
 624   vLocalEuler << phi << tht << psi;
 625   Rotation->SetEuler(vLocalEuler);
 626
 627   InitMatrices(phi, tht, psi);
 628
 629   vUVW << U << V << W;
 630   Translation->SetUVW(vUVW);
 631
 632   Atmosphere->SetWindNED(wnorth, weast, wdown);
 633
 634   vAeroUVW = vUVW + mTl2b*Atmosphere->GetWindNED();
 635
 636   if (vAeroUVW(eW) != 0.0)
 637     alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
 638   else
 639     alpha = 0.0;
 640   if (vAeroUVW(eV) != 0.0)
 641     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;
 642   else
 643     beta = 0.0;
 644
 645   Translation->SetAB(alpha, beta);
 646
 647   Vt = sqrt(U*U + V*V + W*W);
 648   Translation->SetVt(Vt);
 649
 650   Translation->SetMach(Vt/Atmosphere->GetSoundSpeed());
 651
 652   qbar = 0.5*(U*U + V*V + W*W)*Atmosphere->GetDensity();
 653   Translation->Setqbar(qbar);
 654
 655   vLocalVelNED = mTb2l*vUVW;
 656   Position->SetvVel(vLocalVelNED);
 657 }
 658
 659 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 660
 661 void FGState::Initialize(FGInitialCondition *FGIC) {
 662
 663   double tht,psi,phi;
 664   double U, V, W, h;
 665   double latitude, longitude;
 666   double wnorth,weast, wdown;
 667
 668   latitude = FGIC->GetLatitudeRadIC();
 669   longitude = FGIC->GetLongitudeRadIC();
 670   h = FGIC->GetAltitudeFtIC();
 671   U = FGIC->GetUBodyFpsIC();
 672   V = FGIC->GetVBodyFpsIC();
 673   W = FGIC->GetWBodyFpsIC();
 674   tht = FGIC->GetThetaRadIC();
 675   phi = FGIC->GetPhiRadIC();
 676   psi = FGIC->GetPsiRadIC();
 677   wnorth = FGIC->GetWindNFpsIC();
 678   weast = FGIC->GetWindEFpsIC();
 679   wdown = FGIC->GetWindDFpsIC();
 680
 681   Position->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
 682   Position->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() +
 683                                              FGIC->GetTerrainAltitudeFtIC() );
 684
 685   // need to fix the wind speed args, here.
 686   Initialize(U, V, W, phi, tht, psi, latitude, longitude, h, wnorth, weast, wdown);
 687 }
 688
 689 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 690
 691 bool FGState::StoreData(string fname) {
 692   ofstream datafile(fname.c_str());
 693
 694   if (datafile) {
 695     datafile << Translation->GetUVW(eU);
 696     datafile << Translation->GetUVW(eV);
 697     datafile << Translation->GetUVW(eW);
 698     datafile << Position->GetLatitude();
 699     datafile << Position->GetLongitude();
 700     datafile << Rotation->GetEuler(ePhi);
 701     datafile << Rotation->GetEuler(eTht);
 702     datafile << Rotation->GetEuler(ePsi);
 703     datafile << Position->Geth();
 704     datafile.close();
 705     return true;
 706   } else {
 707     cerr << "Could not open dump file " << fname << endl;
 708     return false;
 709   }
 710 }
 711
 712 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 713
 714 void FGState::InitMatrices(double phi, double tht, double psi) {
 715   double thtd2, psid2, phid2;
 716   double Sthtd2, Spsid2, Sphid2;
 717   double Cthtd2, Cpsid2, Cphid2;
 718   double Cphid2Cthtd2;
 719   double Cphid2Sthtd2;
 720   double Sphid2Sthtd2;
 721   double Sphid2Cthtd2;
 722
 723   thtd2 = tht/2.0;
 724   psid2 = psi/2.0;
 725   phid2 = phi/2.0;
 726
 727   Sthtd2 = sin(thtd2);
 728   Spsid2 = sin(psid2);
 729   Sphid2 = sin(phid2);
 730
 731   Cthtd2 = cos(thtd2);
 732   Cpsid2 = cos(psid2);
 733   Cphid2 = cos(phid2);
 734
 735   Cphid2Cthtd2 = Cphid2*Cthtd2;
 736   Cphid2Sthtd2 = Cphid2*Sthtd2;
 737   Sphid2Sthtd2 = Sphid2*Sthtd2;
 738   Sphid2Cthtd2 = Sphid2*Cthtd2;
 739
 740   vQtrn(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
 741   vQtrn(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
 742   vQtrn(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
 743   vQtrn(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
 744
 745   CalcMatrices();
 746 }
 747
 748 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 749
 750 void FGState::CalcMatrices(void) {
 751   double Q0Q0, Q1Q1, Q2Q2, Q3Q3;
 752   double Q0Q1, Q0Q2, Q0Q3, Q1Q2;
 753   double Q1Q3, Q2Q3;
 754
 755   Q0Q0 = vQtrn(1)*vQtrn(1);
 756   Q1Q1 = vQtrn(2)*vQtrn(2);
 757   Q2Q2 = vQtrn(3)*vQtrn(3);
 758   Q3Q3 = vQtrn(4)*vQtrn(4);
 759   Q0Q1 = vQtrn(1)*vQtrn(2);
 760   Q0Q2 = vQtrn(1)*vQtrn(3);
 761   Q0Q3 = vQtrn(1)*vQtrn(4);
 762   Q1Q2 = vQtrn(2)*vQtrn(3);
 763   Q1Q3 = vQtrn(2)*vQtrn(4);
 764   Q2Q3 = vQtrn(3)*vQtrn(4);
 765
 766   mTl2b(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
 767   mTl2b(1,2) = 2*(Q1Q2 + Q0Q3);
 768   mTl2b(1,3) = 2*(Q1Q3 - Q0Q2);
 769   mTl2b(2,1) = 2*(Q1Q2 - Q0Q3);
 770   mTl2b(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
 771   mTl2b(2,3) = 2*(Q2Q3 + Q0Q1);
 772   mTl2b(3,1) = 2*(Q1Q3 + Q0Q2);
 773   mTl2b(3,2) = 2*(Q2Q3 - Q0Q1);
 774   mTl2b(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
 775
 776   mTb2l = mTl2b;
 777   mTb2l.T();
 778 }
 779
 780 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 781
 782 void FGState::IntegrateQuat(FGColumnVector3 vPQR, int rate) {
 783   vQdot(1) = -0.5*(vQtrn(2)*vPQR(eP) + vQtrn(3)*vPQR(eQ) + vQtrn(4)*vPQR(eR));
 784   vQdot(2) =  0.5*(vQtrn(1)*vPQR(eP) + vQtrn(3)*vPQR(eR) - vQtrn(4)*vPQR(eQ));
 785   vQdot(3) =  0.5*(vQtrn(1)*vPQR(eQ) + vQtrn(4)*vPQR(eP) - vQtrn(2)*vPQR(eR));
 786   vQdot(4) =  0.5*(vQtrn(1)*vPQR(eR) + vQtrn(2)*vPQR(eQ) - vQtrn(3)*vPQR(eP));
 787   vQtrn += 0.5*dt*rate*(vlastQdot + vQdot);
 788
 789   vQtrn.Normalize();
 790
 791   vlastQdot = vQdot;
 792 }
 793
 794 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 795
 796 FGColumnVector3& FGState::CalcEuler(void) {
 797   if (mTl2b(3,3) == 0.0) mTl2b(3,3) = 0.0000001;
 798   if (mTl2b(1,1) == 0.0) mTl2b(1,1) = 0.0000001;
 799
 800   vEuler(ePhi) = atan2(mTl2b(2,3), mTl2b(3,3));
 801   vEuler(eTht) = asin(-mTl2b(1,3));
 802   vEuler(ePsi) = atan2(mTl2b(1,2), mTl2b(1,1));
 803
 804   if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;
 805
 806   return vEuler;
 807 }
 808
 809 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 810
 811 FGMatrix33& FGState::GetTs2b(void)
 812 {
 813   double ca, cb, sa, sb;
 814
 815   double alpha = Translation->Getalpha();
 816   double beta  = Translation->Getbeta();
 817
 818   ca = cos(alpha);
 819   sa = sin(alpha);
 820   cb = cos(beta);
 821   sb = sin(beta);
 822
 823   mTs2b(1,1) = ca*cb;
 824   mTs2b(1,2) = -ca*sb;
 825   mTs2b(1,3) = -sa;
 826   mTs2b(2,1) = sb;
 827   mTs2b(2,2) = cb;
 828   mTs2b(2,3) = 0.0;
 829   mTs2b(3,1) = sa*cb;
 830   mTs2b(3,2) = -sa*sb;
 831   mTs2b(3,3) = ca;
 832
 833   return mTs2b;
 834 }
 835
 836 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 837
 838 FGMatrix33& FGState::GetTb2s(void)
 839 {
 840   float alpha,beta;
 841   float ca, cb, sa, sb;
 842
 843   alpha = Translation->Getalpha();
 844   beta  = Translation->Getbeta();
 845
 846   ca = cos(alpha);
 847   sa = sin(alpha);
 848   cb = cos(beta);
 849   sb = sin(beta);
 850
 851   mTb2s(1,1) = ca*cb;
 852   mTb2s(1,2) = sb;
 853   mTb2s(1,3) = sa*cb;
 854   mTb2s(2,1) = -ca*sb;
 855   mTb2s(2,2) = cb;
 856   mTb2s(2,3) = -sa*sb;
 857   mTb2s(3,1) = -sa;
 858   mTb2s(3,2) = 0.0;
 859   mTb2s(3,3) = ca;
 860
 861   return mTb2s;
 862 }
 863
 864 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 865
 866 void FGState::ReportState(void)
 867 {
 868 #if !defined(__BORLANDCPP__)
 869   char out[80], flap[10], gear[12];
 870
 871   cout << endl << "  JSBSim State" << endl;
 872   snprintf(out,80,"    Weight: %7.0f lbs.  CG: %5.1f, %5.1f, %5.1f inches\n",
 873                    FDMExec->GetMassBalance()->GetWeight(),
 874                    FDMExec->GetMassBalance()->GetXYZcg(1),
 875                    FDMExec->GetMassBalance()->GetXYZcg(2),
 876                    FDMExec->GetMassBalance()->GetXYZcg(3));
 877   cout << out;
 878   if( FCS->GetDfPos() <= 0.01)
 879     snprintf(flap,10,"Up");
 880   else
 881     snprintf(flap,10,"%2.0f",FCS->GetDfPos());
 882   if(FCS->GetGearPos() < 0.01)
 883     snprintf(gear,12,"Up");
 884   else if(FCS->GetGearPos() > 0.99)
 885     snprintf(gear,12,"Down");
 886   else
 887     snprintf(gear,12,"In Transit");
 888   snprintf(out,80, "    Flaps: %3s  Gear: %12s\n",flap,gear);
 889   cout << out;
 890   snprintf(out,80, "    Speed: %4.0f KCAS  Mach: %5.2f\n",
 891                     FDMExec->GetAuxiliary()->GetVcalibratedKTS(),
 892                     GetParameter(FG_MACH) );
 893   cout << out;
 894   snprintf(out,80, "    Altitude: %7.0f ft.  AGL Altitude: %7.0f ft.\n",
 895                     Position->Geth(),
 896                     Position->GetDistanceAGL() );
 897   cout << out;
 898   snprintf(out,80, "    Angle of Attack: %6.2f deg  Pitch Angle: %6.2f deg\n",
 899                     GetParameter(FG_ALPHA)*radtodeg,
 900                     Rotation->Gettht()*radtodeg );
 901   cout << out;
 902   snprintf(out,80, "    Flight Path Angle: %6.2f deg  Climb Rate: %5.0f ft/min\n",
 903                     Position->GetGamma()*radtodeg,
 904                     Position->Gethdot()*60 );
 905   cout << out;
 906   snprintf(out,80, "    Normal Load Factor: %4.2f g's  Pitch Rate: %5.2f deg/s\n",
 907                     Aircraft->GetNlf(),
 908                     GetParameter(FG_PITCHRATE)*radtodeg );
 909   cout << out;
 910   snprintf(out,80, "    Heading: %3.0f deg true  Sideslip: %5.2f deg  Yaw Rate: %5.2f deg/s\n",
 911                     Rotation->Getpsi()*radtodeg,
 912                     GetParameter(FG_BETA)*radtodeg,
 913                     Rotation->GetPQR(3)*radtodeg  );
 914   cout << out;
 915   snprintf(out,80, "    Bank Angle: %5.2f deg  Roll Rate: %5.2f deg/s\n",
 916                     Rotation->Getphi()*radtodeg,
 917                     Rotation->GetPQR(1)*radtodeg );
 918   cout << out;
 919   snprintf(out,80, "    Elevator: %5.2f deg  Left Aileron: %5.2f deg  Rudder: %5.2f deg\n",
 920                     GetParameter(FG_ELEVATOR_POS)*radtodeg,
 921                     GetParameter(FG_AILERON_POS)*radtodeg,
 922                     GetParameter(FG_RUDDER_POS)*radtodeg );
 923   cout << out;
 924   snprintf(out,80, "    Throttle: %5.2f%c\n",
 925                     FCS->GetThrottlePos(0)*100,'%' );
 926   cout << out;
 927
 928   snprintf(out,80, "    Wind Components: %5.2f kts head wind, %5.2f kts cross wind\n",
 929                     FDMExec->GetAuxiliary()->GetHeadWind()*fpstokts,
 930                     FDMExec->GetAuxiliary()->GetCrossWind()*fpstokts );
 931   cout << out;
 932
 933   snprintf(out,80, "    Ground Speed: %4.0f knots , Ground Track: %3.0f deg true\n",
 934                     Position->GetVground()*fpstokts,
 935                     Position->GetGroundTrack()*radtodeg );
 936   cout << out;
 937 #endif
 938 }
 939
 940 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 941
 942 void FGState::InitPropertyMaps(void)  {
 943   ParamToProp[  FG_TIME ]="sim-time-sec";
 944   ParamToProp[  FG_QBAR ]="aero/qbar-psf";
 945   ParamToProp[  FG_WINGAREA ]="metrics/Sw-sqft";
 946   ParamToProp[  FG_WINGSPAN ]="metrics/bw-ft";
 947   ParamToProp[  FG_CBAR ]="metrics/cbarw-ft";
 948   ParamToProp[  FG_ALPHA ]="aero/alpha-rad";
 949   ParamToProp[  FG_ALPHADOT ]="aero/alphadot-rad_sec";
 950   ParamToProp[  FG_BETA ]="aero/beta-rad";
 951   ParamToProp[  FG_ABETA ]="aero/mag-beta-rad";
 952   ParamToProp[  FG_BETADOT ]="aero/betadot-rad_sec";
 953   ParamToProp[  FG_PHI ]="attitude/phi-rad";
 954   ParamToProp[  FG_THT ]="attitude/theta-rad";
 955   ParamToProp[  FG_PSI ]="attitude/psi-true-rad";
 956   ParamToProp[  FG_PITCHRATE ]="velocities/q-rad_sec";
 957   ParamToProp[  FG_ROLLRATE ]="velocities/p-rad_sec";
 958   ParamToProp[  FG_YAWRATE ]="velocities/r-rad_sec";
 959   ParamToProp[  FG_AEROP ]="velocities/p-aero-rad_sec";
 960   ParamToProp[  FG_AEROQ ]="velocities/q-aero-rad_sec";
 961   ParamToProp[  FG_AEROR ]="velocities/r-aero-rad_sec";
 962   ParamToProp[  FG_CL_SQRD ]="aero/cl-squared-norm";
 963   ParamToProp[  FG_MACH ]="velocities/mach-norm";
 964   ParamToProp[  FG_ALTITUDE ]="position/h-sl-ft";
 965   ParamToProp[  FG_BI2VEL ]="aero/bi2vel";
 966   ParamToProp[  FG_CI2VEL ]="aero/ci2vel";
 967   ParamToProp[  FG_ELEVATOR_POS ]="fcs/elevator-pos-rad";
 968   ParamToProp[  FG_AELEVATOR_POS ]="fcs/mag-elevator-pos-rad";
 969   ParamToProp[  FG_NELEVATOR_POS ]="fcs/elevator-pos-norm";
 970   ParamToProp[  FG_AILERON_POS ]="fcs/left-aileron-pos-rad";
 971   ParamToProp[  FG_AAILERON_POS ]="fcs/mag-aileron-pos-rad";
 972   ParamToProp[  FG_NAILERON_POS ]="fcs/left-aileron-pos-norm";
 973   ParamToProp[  FG_LEFT_AILERON_POS ]="fcs/left-aileron-pos-rad";
 974   ParamToProp[  FG_ALEFT_AILERON_POS ]="fcs/mag-left-aileron-pos-rad";
 975   ParamToProp[  FG_NLEFT_AILERON_POS ]="fcs/left-aileron-pos-norm";
 976   ParamToProp[  FG_RIGHT_AILERON_POS ]="fcs/right-aileron-pos-rad";
 977   ParamToProp[  FG_ARIGHT_AILERON_POS ]="fcs/mag-aileron-pos-rad";
 978   ParamToProp[  FG_NRIGHT_AILERON_POS ]="fcs/right-aileron-pos-norm";
 979   ParamToProp[  FG_RUDDER_POS ]="fcs/rudder-pos-rad";
 980   ParamToProp[  FG_ARUDDER_POS ]="fcs/mag-rudder-pos-rad";
 981   ParamToProp[  FG_NRUDDER_POS ]="fcs/rudder-pos-norm";
 982   ParamToProp[  FG_SPDBRAKE_POS ]="fcs/speedbrake-pos-rad";
 983   ParamToProp[  FG_NSPDBRAKE_POS ]="fcs/speedbrake-pos-norm";
 984   ParamToProp[  FG_SPOILERS_POS ]="fcs/spoiler-pos-rad";
 985   ParamToProp[  FG_NSPOILERS_POS ]="fcs/spoiler-pos-norm";
 986   ParamToProp[  FG_FLAPS_POS ]="fcs/flap-pos-deg";
 987   ParamToProp[  FG_NFLAPS_POS ]="fcs/flap-pos-norm";
 988   ParamToProp[  FG_ELEVATOR_CMD ]="fcs/elevator-cmd-norm";
 989   ParamToProp[  FG_AILERON_CMD ]="fcs/aileron-cmd-norm";
 990   ParamToProp[  FG_RUDDER_CMD ]="fcs/rudder-cmd-norm";
 991   ParamToProp[  FG_SPDBRAKE_CMD ]="fcs/speedbrake-cmd-norm";
 992   ParamToProp[  FG_SPOILERS_CMD ]="fcs/spoiler-cmd-norm";
 993   ParamToProp[  FG_FLAPS_CMD ]="fcs/flap-cmd-norm";
 994   ParamToProp[  FG_THROTTLE_CMD ]="zero";
 995   ParamToProp[  FG_THROTTLE_POS ]="zero";
 996   ParamToProp[  FG_MIXTURE_CMD ]="zero";
 997   ParamToProp[  FG_MIXTURE_POS ]="zero";
 998   ParamToProp[  FG_MAGNETO_CMD ]="zero";
 999   ParamToProp[  FG_STARTER_CMD ]="zero";
1000   ParamToProp[  FG_ACTIVE_ENGINE ]="zero";
1001   ParamToProp[  FG_HOVERB ]="position/h_b-mac-ft";
1002   ParamToProp[  FG_PITCH_TRIM_CMD ]="fcs/pitch-trim-cmd-norm";
1003   ParamToProp[  FG_YAW_TRIM_CMD ]="fcs/yaw-trim-cmd-norm";
1004   ParamToProp[  FG_ROLL_TRIM_CMD ]="fcs/roll-trim-cmd-norm";
1005   ParamToProp[  FG_LEFT_BRAKE_CMD ]="zero";
1006   ParamToProp[  FG_CENTER_BRAKE_CMD ]="zero";
1007   ParamToProp[  FG_RIGHT_BRAKE_CMD ]="zero";
1008   ParamToProp[  FG_SET_LOGGING ]="zero";
1009   ParamToProp[  FG_ALPHAH ]="aero/alpha-rad";
1010   ParamToProp[  FG_ALPHAW ]="aero/alpha-wing-rad";
1011   ParamToProp[  FG_LBARH ]="metrics/lh-norm";
1012   ParamToProp[  FG_LBARV ]="metrics/lv-norm";
1013   ParamToProp[  FG_HTAILAREA ]="metrics/Sh-sqft";
1014   ParamToProp[  FG_VTAILAREA ]="metrics/Sv-sqft";
1015   ParamToProp[  FG_VBARH ]="metrics/vbarh-norm";
1016   ParamToProp[  FG_VBARV ]="metrics/vbarv-norm";
1017   ParamToProp[  FG_GEAR_CMD ]="gear/gear-cmd-norm";
1018   ParamToProp[  FG_GEAR_POS ]="gear/gear-pos-norm";
1019
1020   PropToParam[ "sim-time-sec" ]                 = FG_TIME;
1021   PropToParam[ "aero/qbar-psf" ]                = FG_QBAR;
1022   PropToParam[ "metrics/Sw-sqft" ]              = FG_WINGAREA;
1023   PropToParam[ "metrics/bw-ft" ]                = FG_WINGSPAN;
1024   PropToParam[ "metrics/cbarw-ft" ]             = FG_CBAR;
1025   PropToParam[ "aero/alpha-rad" ]               = FG_ALPHA;
1026   PropToParam[ "aero/alphadot-rad_sec" ]        = FG_ALPHADOT;
1027   PropToParam[ "aero/beta-rad" ]                = FG_BETA;
1028   PropToParam[ "aero/mag-beta-rad" ]            = FG_ABETA;
1029   PropToParam[ "aero/betadot-rad_sec" ]         = FG_BETADOT;
1030   PropToParam[ "attitude/phi-rad" ]             = FG_PHI;
1031   PropToParam[ "attitude/theta-rad" ]           = FG_THT;
1032   PropToParam[ "attitude/psi-true-rad" ]        = FG_PSI;
1033   PropToParam[ "velocities/q-rad_sec" ]         = FG_PITCHRATE;
1034   PropToParam[ "velocities/p-rad_sec" ]         = FG_ROLLRATE;
1035   PropToParam[ "velocities/r-rad_sec" ]         = FG_YAWRATE;
1036   PropToParam[ "velocities/p-aero-rad_sec" ]    = FG_AEROP;
1037   PropToParam[ "velocities/q-aero-rad_sec" ]    = FG_AEROQ;
1038   PropToParam[ "velocities/r-aero-rad_sec" ]    = FG_AEROR;
1039   PropToParam[ "aero/cl-squared-norm" ]         = FG_CL_SQRD;
1040   PropToParam[ "velocities/mach-norm" ]         = FG_MACH;
1041   PropToParam[ "position/h-sl-ft" ]             = FG_ALTITUDE;
1042   PropToParam[ "aero/bi2vel" ]                  = FG_BI2VEL;
1043   PropToParam[ "aero/ci2vel" ]                  = FG_CI2VEL;
1044   PropToParam[ "fcs/elevator-pos-rad" ]         = FG_ELEVATOR_POS;
1045   PropToParam[ "fcs/mag-elevator-pos-rad" ]     = FG_AELEVATOR_POS;
1046   PropToParam[ "fcs/elevator-pos-norm" ]        = FG_NELEVATOR_POS;
1047   PropToParam[ "fcs/left-aileron-pos-rad" ]     = FG_AILERON_POS;
1048   PropToParam[ "fcs/mag-aileron-pos-rad" ]      = FG_AAILERON_POS;
1049   PropToParam[ "fcs/left-aileron-pos-norm" ]    = FG_NAILERON_POS;
1050   PropToParam[ "fcs/left-aileron-pos-rad" ]     = FG_LEFT_AILERON_POS;
1051   PropToParam[ "fcs/mag-left-aileron-pos-rad" ] = FG_ALEFT_AILERON_POS;
1052   PropToParam[ "fcs/left-aileron-pos-norm" ]    = FG_NLEFT_AILERON_POS;
1053   PropToParam[ "fcs/right-aileron-pos-rad" ]    = FG_RIGHT_AILERON_POS;
1054   PropToParam[ "fcs/mag-aileron-pos-rad" ]      = FG_ARIGHT_AILERON_POS;
1055   PropToParam[ "fcs/right-aileron-pos-norm" ]   = FG_NRIGHT_AILERON_POS;
1056   PropToParam[ "fcs/rudder-pos-rad" ]           = FG_RUDDER_POS;
1057   PropToParam[ "fcs/mag-rudder-pos-rad" ]       = FG_ARUDDER_POS;
1058   PropToParam[ "fcs/rudder-pos-norm" ]          = FG_NRUDDER_POS;
1059   PropToParam[ "fcs/speedbrake-pos-rad" ]       = FG_SPDBRAKE_POS;
1060   PropToParam[ "fcs/speedbrake-pos-norm" ]      = FG_NSPDBRAKE_POS;
1061   PropToParam[ "fcs/spoiler-pos-rad" ]          = FG_SPOILERS_POS;
1062   PropToParam[ "fcs/spoiler-pos-norm" ]         = FG_NSPOILERS_POS;
1063   PropToParam[ "fcs/flap-pos-deg" ]             = FG_FLAPS_POS;
1064   PropToParam[ "fcs/flap-pos-norm" ]            = FG_NFLAPS_POS;
1065   PropToParam[ "fcs/elevator-cmd-norm" ]        = FG_ELEVATOR_CMD;
1066   PropToParam[ "fcs/aileron-cmd-norm" ]         = FG_AILERON_CMD;
1067   PropToParam[ "fcs/rudder-cmd-norm" ]          = FG_RUDDER_CMD;
1068   PropToParam[ "fcs/speedbrake-cmd-norm" ]      = FG_SPDBRAKE_CMD;
1069   PropToParam[ "fcs/spoiler-cmd-norm" ]         = FG_SPOILERS_CMD;
1070   PropToParam[ "fcs/flap-cmd-norm" ]            = FG_FLAPS_CMD;
1071   PropToParam[ "position/h_b-mac-ft" ]          = FG_HOVERB;
1072   PropToParam[ "fcs/pitch-trim-cmd-norm" ]      = FG_PITCH_TRIM_CMD;
1073   PropToParam[ "fcs/yaw-trim-cmd-norm" ]        = FG_YAW_TRIM_CMD;
1074   PropToParam[ "fcs/roll-trim-cmd-norm" ]       = FG_ROLL_TRIM_CMD;
1075   PropToParam[ "aero/alpha-rad" ]               = FG_ALPHAH;
1076   PropToParam[ "aero/alpha-wing-rad" ]          = FG_ALPHAW;
1077   PropToParam[ "metrics/lh-norm" ]              = FG_LBARH;
1078   PropToParam[ "metrics/lv-norm" ]              = FG_LBARV;
1079   PropToParam[ "metrics/Sh-sqft" ]              = FG_HTAILAREA;
1080   PropToParam[ "metrics/Sv-sqft" ]              = FG_VTAILAREA;
1081   PropToParam[ "metrics/vbarh-norm" ]           = FG_VBARH;
1082   PropToParam[ "metrics/vbarv-norm" ]           = FG_VBARV;
1083   PropToParam[ "gear/gear-cmd-norm" ]           = FG_GEAR_CMD;
1084   PropToParam[ "gear/gear-pos-norm" ]           = FG_GEAR_POS;
1085
1086 }
1087
1088 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1089
1090 void FGState::bind(void) {
1091   PropertyManager->Tie("sim-time-sec",this,
1092                         &FGState::Getsim_time);
1093 }
1094
1095 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1096
1097 void FGState::unbind(void) {
1098   PropertyManager->Untie("sim-time-sec");
1099 }
1100
1101
1102
1103 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1104 //    The bitmasked value choices are as follows:
1105 //    unset: In this case (the default) JSBSim would only print
1106 //       out the normally expected messages, essentially echoing
1107 //       the config files as they are read. If the environment
1108 //       variable is not set, debug_lvl is set to 1 internally
1109 //    0: This requests JSBSim not to output any messages
1110 //       whatsoever.
1111 //    1: This value explicity requests the normal JSBSim
1112 //       startup messages
1113 //    2: This value asks for a message to be printed out when
1114 //       a class is instantiated
1115 //    4: When this value is set, a message is displayed when a
1116 //       FGModel object executes its Run() method
1117 //    8: When this value is set, various runtime state variables
1118 //       are printed out periodically
1119 //    16: When set various parameters are sanity checked and
1120 //       a message is printed out when they go out of bounds
1121
1122 void FGState::Debug(int from)
1123 {
1124   if (debug_lvl <= 0) return;
1125
1126   if (debug_lvl & 1) { // Standard console startup message output
1127     if (from == 0) { // Constructor
1128
1129     }
1130   }
1131   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1132     if (from == 0) cout << "Instantiated: FGState" << endl;
1133     if (from == 1) cout << "Destroyed:    FGState" << endl;
1134   }
1135   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1136   }
1137   if (debug_lvl & 8 ) { // Runtime state variables
1138   }
1139   if (debug_lvl & 16) { // Sanity checking
1140   }
1141   if (debug_lvl & 64) {
1142     if (from == 0) { // Constructor
1143       cout << IdSrc << endl;
1144       cout << IdHdr << endl;
1145     }
1146   }
1147 }
1148
1149