src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #include <stdio.h>    //    size_t
  31 #include <string>
  32
  33 #include <simgear/constants.h>
  34 #include <simgear/debug/logstream.hxx>
  35 #include <simgear/math/sg_geodesy.hxx>
  36 #include <simgear/misc/sg_path.hxx>
  37 #include <simgear/structure/commands.hxx>
  38
  39 #include <FDM/flight.hxx>
  40
  41 #include <Aircraft/aircraft.hxx>
  42 #include <Aircraft/controls.hxx>
  43 #include <Main/globals.hxx>
  44 #include <Main/fg_props.hxx>
  45
  46 #include "JSBSim.hxx"
  47 #include <FDM/JSBSim/FGFDMExec.h>
  48 #include <FDM/JSBSim/FGJSBBase.h>
  49 #include <FDM/JSBSim/FGState.h>
  50 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
  51 #include <FDM/JSBSim/initialization/FGTrim.h>
  52 #include <FDM/JSBSim/models/FGModel.h>
  53 #include <FDM/JSBSim/models/FGAircraft.h>
  54 #include <FDM/JSBSim/models/FGFCS.h>
  55 #include <FDM/JSBSim/models/FGPropagate.h>
  56 #include <FDM/JSBSim/models/FGAuxiliary.h>
  57 #include <FDM/JSBSim/models/FGInertial.h>
  58 #include <FDM/JSBSim/models/FGAtmosphere.h>
  59 #include <FDM/JSBSim/models/FGMassBalance.h>
  60 #include <FDM/JSBSim/models/FGAerodynamics.h>
  61 #include <FDM/JSBSim/models/FGLGear.h>
  62 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
  63 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
  64 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
  65 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
  66 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
  67 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
  68 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
  69 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
  70 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
  71 #include <FDM/JSBSim/models/propulsion/FGTank.h>
  72 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
  73 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
  74
  75 using namespace JSBSim;
  76
  77 static inline double
  78 FMAX (double a, double b)
  79 {
  80   return a > b ? a : b;
  81 }
  82
  83 class FGFSGroundCallback : public FGGroundCallback {
  84 public:
  85   FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
  86   virtual ~FGFSGroundCallback() {}
  87
  88   /** Get the altitude above sea level dependent on the location. */
  89   virtual double GetAltitude(const FGLocation& l) const {
  90     double pt[3] = { SG_FEET_TO_METER*l(eX),
  91                      SG_FEET_TO_METER*l(eY),
  92                      SG_FEET_TO_METER*l(eZ) };
  93     double lat, lon, alt;
  94     sgCartToGeod( pt, &lat, &lon, &alt);
  95     return alt * SG_METER_TO_FEET;
  96   }
  97
  98   /** Compute the altitude above ground. */
  99   virtual double GetAGLevel(double t, const FGLocation& l,
 100                             FGLocation& cont,
 101                             FGColumnVector3& n, FGColumnVector3& v) const {
 102     double loc_cart[3] = { l(eX), l(eY), l(eZ) };
 103     double contact[3], normal[3], vel[3], agl = 0;
 104     mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
 105                            vel, &agl);
 106     n = FGColumnVector3( -normal[0], -normal[1], -normal[2] );
 107     v = FGColumnVector3( vel[0], vel[1], vel[2] );
 108     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
 109     return agl;
 110   }
 111 private:
 112   FGJSBsim* mInterface;
 113 };
 114
 115 /******************************************************************************/
 116
 117 FGJSBsim::FGJSBsim( double dt )
 118   : FGInterface(dt), got_wire(false)
 119 {
 120     bool result;
 121                                 // Set up the debugging level
 122                                 // FIXME: this will not respond to
 123                                 // runtime changes
 124
 125                                 // if flight is excluded, don't bother
 126     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
 127
 128                                 // do a rough-and-ready mapping to
 129                                 // the levels documented in FGFDMExec.h
 130         switch (logbuf::get_log_priority()) {
 131         case SG_BULK:
 132             FGJSBBase::debug_lvl = 0x1f;
 133             break;
 134         case SG_DEBUG:
 135             FGJSBBase::debug_lvl = 0x0f;
 136         case SG_INFO:
 137             FGJSBBase::debug_lvl = 0x01;
 138             break;
 139         case SG_WARN:
 140         case SG_ALERT:
 141             FGJSBBase::debug_lvl = 0x00;
 142             break;
 143         }
 144     }
 145
 146     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 147
 148     // Register ground callback.
 149     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
 150
 151     State           = fdmex->GetState();
 152     Atmosphere      = fdmex->GetAtmosphere();
 153     FCS             = fdmex->GetFCS();
 154     MassBalance     = fdmex->GetMassBalance();
 155     Propulsion      = fdmex->GetPropulsion();
 156     Aircraft        = fdmex->GetAircraft();
 157     Propagate        = fdmex->GetPropagate();
 158     Auxiliary       = fdmex->GetAuxiliary();
 159     Inertial        = fdmex->GetInertial();
 160     Aerodynamics    = fdmex->GetAerodynamics();
 161     GroundReactions = fdmex->GetGroundReactions();
 162
 163     fgic=fdmex->GetIC();
 164     needTrim=true;
 165
 166     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
 167
 168     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
 169     engine_path.append( "Engine" );
 170
 171     SGPath systems_path( fgGetString("/sim/aircraft-dir") );
 172     systems_path.append( "Systems" );
 173
 174     State->Setdt( dt );
 175
 176     result = fdmex->LoadModel( aircraft_path.str(),
 177                                engine_path.str(),
 178                                systems_path.str(),
 179                                fgGetString("/sim/aero"), false );
 180
 181     if (result) {
 182       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 183     } else {
 184       SG_LOG( SG_FLIGHT, SG_INFO,
 185               "  aero does not exist (you may have mis-typed the name).");
 186       throw(-1);
 187     }
 188
 189     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 190     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 191     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 192
 193     int Neng = Propulsion->GetNumEngines();
 194     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 195
 196     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 197         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 198                 << GroundReactions->GetNumGearUnits() );
 199         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 200         SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 201         SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 202         exit(-1);
 203     }
 204
 205     init_gear();
 206
 207     // Set initial fuel levels if provided.
 208     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 209       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 210       if (node->getChild("level-gal_us", 0, false) != 0) {
 211         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 212       } else {
 213         node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
 214         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 215       }
 216       node->setDoubleValue("capacity-gal_us",
 217                            Propulsion->GetTank(i)->GetCapacity() / 6.6);
 218     }
 219     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 220
 221     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 222     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 223     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 224     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 225
 226     startup_trim = fgGetNode("/sim/presets/trim", true);
 227
 228     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 229     trimmed->setBoolValue(false);
 230
 231     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 232     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 233     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 234     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 235
 236     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 237     stall_warning->setDoubleValue(0);
 238
 239
 240     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 241     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 242     left_aileron_pos_pct
 243         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 244     right_aileron_pos_pct
 245         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 246     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 247     speedbrake_pos_pct
 248         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 249     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 250     tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
 251     wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
 252
 253     elevator_pos_pct->setDoubleValue(0);
 254     left_aileron_pos_pct->setDoubleValue(0);
 255     right_aileron_pos_pct->setDoubleValue(0);
 256     rudder_pos_pct->setDoubleValue(0);
 257     flap_pos_pct->setDoubleValue(0);
 258     speedbrake_pos_pct->setDoubleValue(0);
 259     spoilers_pos_pct->setDoubleValue(0);
 260
 261     temperature = fgGetNode("/environment/temperature-degc",true);
 262     pressure = fgGetNode("/environment/pressure-inhg",true);
 263     density = fgGetNode("/environment/density-slugft3",true);
 264     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 265     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 266
 267     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 268     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 269     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 270
 271     slaved = fgGetNode("/sim/slaved/enabled", true);
 272
 273     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 274       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 275       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 276                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 277     }
 278
 279     hook_root_struct = FGColumnVector3(
 280         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
 281         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
 282         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
 283
 284     crashed = false;
 285 }
 286
 287 /******************************************************************************/
 288 FGJSBsim::~FGJSBsim(void)
 289 {
 290   delete fdmex;
 291 }
 292
 293 /******************************************************************************/
 294
 295 // Initialize the JSBsim flight model, dt is the time increment for
 296 // each subsequent iteration through the EOM
 297
 298 void FGJSBsim::init()
 299 {
 300     double tmp;
 301
 302     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 303
 304     // Explicitly call the superclass's
 305     // init method first.
 306
 307     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 308       Atmosphere->UseExternal();
 309       Atmosphere->SetExTemperature(
 310                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 311       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 312       Atmosphere->SetExDensity(density->getDoubleValue());
 313       Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
 314       Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
 315       Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
 316
 317     } else {
 318       Atmosphere->UseInternal();
 319     }
 320
 321     fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
 322     fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
 323     fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
 324
 325     //Atmosphere->SetExTemperature(get_Static_temperature());
 326     //Atmosphere->SetExPressure(get_Static_pressure());
 327     //Atmosphere->SetExDensity(get_Density());
 328     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 329      << ", " << fdmex->GetAtmosphere()->GetPressure()
 330      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 331
 332     if (fgGetBool("/sim/presets/running")) {
 333           for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
 334             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 335             node->setBoolValue("running", true);
 336             Propulsion->GetEngine(i)->SetRunning(true);
 337           }
 338     }
 339
 340     FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
 341
 342     common_init();
 343
 344     copy_to_JSBsim();
 345     fdmex->RunIC();     //loop JSBSim once w/o integrating
 346     copy_from_JSBsim(); //update the bus
 347
 348     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 349
 350     switch(fgic->GetSpeedSet()) {
 351     case setned:
 352         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 353                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
 354                << Propagate->GetVel(FGJSBBase::eEast) << ", "
 355                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
 356     break;
 357     case setuvw:
 358         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 359                << Propagate->GetUVW(1) << ", "
 360                << Propagate->GetUVW(2) << ", "
 361                << Propagate->GetUVW(3) << " ft/s");
 362     break;
 363     case setmach:
 364         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 365                << Auxiliary->GetMach() );
 366     break;
 367     case setvc:
 368     default:
 369         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 370                << Auxiliary->GetVcalibratedKTS() << " knots" );
 371     break;
 372     }
 373
 374     stall_warning->setDoubleValue(0);
 375
 376     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 377             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
 378     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 379             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
 380     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 381             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
 382     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 383             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 384     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 385             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 386     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 387             << Propagate->GetAltitudeASL() << " feet" );
 388     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 389
 390     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 391
 392     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 393
 394     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 395                                   globals->get_controls()->get_gear_down() );
 396 }
 397
 398 /******************************************************************************/
 399
 400 // Run an iteration of the EOM (equations of motion)
 401
 402 void FGJSBsim::update( double dt )
 403 {
 404     if(crashed) {
 405       if(!fgGetBool("/sim/crashed"))
 406         fgSetBool("/sim/crashed", true);
 407       return;
 408     }
 409
 410     if (is_suspended())
 411       return;
 412
 413     int multiloop = _calc_multiloop(dt);
 414
 415     int i;
 416
 417     // Compute the radius of the aircraft. That is the radius of a ball
 418     // where all gear units are in. At the moment it is at least 10ft ...
 419     double acrad = 10.0;
 420     int n_gears = GroundReactions->GetNumGearUnits();
 421     for (i=0; i<n_gears; ++i) {
 422       FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
 423       double r = bl.Magnitude();
 424       if (acrad < r)
 425         acrad = r;
 426     }
 427
 428     // Compute the potential movement of this aircraft and query for the
 429     // ground in this area.
 430     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
 431     double alt, slr, lat, lon;
 432     FGColumnVector3 cart = Auxiliary->GetLocationVRP();
 433     if ( needTrim && startup_trim->getBoolValue() ) {
 434       alt = fgic->GetAltitudeASLFtIC();
 435       slr = fgic->GetSeaLevelRadiusFtIC();
 436       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 437       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 438       cart = FGLocation(lon, lat, alt+slr);
 439     }
 440     double cart_pos[3] = { cart(1), cart(2), cart(3) };
 441     double t0 = State->Getsim_time();
 442     bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
 443                                              groundCacheRadius );
 444     if (!cache_ok) {
 445       SG_LOG(SG_FLIGHT, SG_WARN,
 446              "FGInterface is being called without scenery below the aircraft!");
 447
 448       alt = fgic->GetAltitudeASLFtIC();
 449       SG_LOG(SG_FLIGHT, SG_WARN, "altitude         = " << alt);
 450
 451       slr = fgic->GetSeaLevelRadiusFtIC();
 452       SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
 453
 454       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 455       SG_LOG(SG_FLIGHT, SG_WARN, "latitude         = " << lat);
 456
 457       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 458       SG_LOG(SG_FLIGHT, SG_WARN, "longitude        = " << lon);
 459       //return;
 460     }
 461
 462     copy_to_JSBsim();
 463
 464     trimmed->setBoolValue(false);
 465
 466     if ( needTrim ) {
 467       if ( startup_trim->getBoolValue() ) {
 468         double contact[3], d[3], agl;
 469         get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact,
 470                    d, d, &agl);
 471         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
 472              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 473
 474         SG_LOG(SG_FLIGHT, SG_INFO,
 475           "Ready to trim, terrain elevation is: "
 476             << terrain_alt * SG_METER_TO_FEET );
 477
 478         fgic->SetTerrainElevationFtIC( terrain_alt );
 479         do_trim();
 480       } else {
 481         fdmex->RunIC();  //apply any changes made through the set_ functions
 482       }
 483       needTrim = false;
 484     }
 485
 486     for ( i=0; i < multiloop; i++ ) {
 487       fdmex->Run();
 488       update_external_forces(State->Getsim_time() + i * State->Getdt());
 489     }
 490
 491     FGJSBBase::Message* msg;
 492     while (msg = fdmex->ProcessNextMessage()) {
 493 //      msg = fdmex->ProcessNextMessage();
 494       switch (msg->type) {
 495       case FGJSBBase::Message::eText:
 496         if (msg->text == "Crash Detected: Simulation FREEZE.")
 497           crashed = true;
 498         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 499         break;
 500       case FGJSBBase::Message::eBool:
 501         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 502         break;
 503       case FGJSBBase::Message::eInteger:
 504         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 505         break;
 506       case FGJSBBase::Message::eDouble:
 507         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 508         break;
 509       default:
 510         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 511         break;
 512       }
 513     }
 514
 515     // translate JSBsim back to FG structure so that the
 516     // autopilot (and the rest of the sim can use the updated values
 517     copy_from_JSBsim();
 518 }
 519
 520 /******************************************************************************/
 521
 522 // Convert from the FGInterface struct to the JSBsim generic_ struct
 523
 524 bool FGJSBsim::copy_to_JSBsim()
 525 {
 526     double tmp;
 527     unsigned int i;
 528
 529     // copy control positions into the JSBsim structure
 530
 531     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 532     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 533     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 534     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 535     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 536     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 537     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 538     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 539     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 540     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 541
 542         // Parking brake sets minimum braking
 543         // level for mains.
 544     double parking_brake = globals->get_controls()->get_brake_parking();
 545     double left_brake = globals->get_controls()->get_brake_left();
 546     double right_brake = globals->get_controls()->get_brake_right();
 547     FCS->SetLBrake(FMAX(left_brake, parking_brake));
 548     FCS->SetRBrake(FMAX(right_brake, parking_brake));
 549
 550
 551     FCS->SetCBrake( 0.0 );
 552     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 553
 554     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 555     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 556       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 557
 558       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 559       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 560       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 561       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
 562
 563       switch (Propulsion->GetEngine(i)->GetType()) {
 564       case FGEngine::etPiston:
 565         { // FGPiston code block
 566         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 567         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 568         break;
 569         } // end FGPiston code block
 570       case FGEngine::etTurbine:
 571         { // FGTurbine code block
 572         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 573         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 574         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 575         //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 576         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 577         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 578         break;
 579         } // end FGTurbine code block
 580       case FGEngine::etRocket:
 581         { // FGRocket code block
 582         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 583         break;
 584         } // end FGRocket code block
 585       case FGEngine::etTurboprop:
 586         { // FGTurboProp code block
 587         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 588         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 589         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 590         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 591
 592         eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
 593         eng->SetCondition( globals->get_controls()->get_condition(i) );
 594         break;
 595         } // end FGTurboProp code block
 596       default:
 597         break;
 598       }
 599
 600       { // FGEngine code block
 601       FGEngine* eng = Propulsion->GetEngine(i);
 602
 603       eng->SetStarter( globals->get_controls()->get_starter(i) );
 604       eng->SetRunning( node->getBoolValue("running") );
 605       } // end FGEngine code block
 606     }
 607
 608
 609     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 610
 611     Atmosphere->SetExTemperature(
 612                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 613     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 614     Atmosphere->SetExDensity(density->getDoubleValue());
 615
 616     tmp = turbulence_gain->getDoubleValue();
 617     //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 618
 619     tmp = turbulence_rate->getDoubleValue();
 620     //Atmosphere->SetTurbRate(tmp);
 621
 622     Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
 623                             -wind_from_east->getDoubleValue(),
 624                             -wind_from_down->getDoubleValue() );
 625 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 626 //                  << get_V_north_airmass() << ", "
 627 //                  << get_V_east_airmass()  << ", "
 628 //                  << get_V_down_airmass() );
 629
 630     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 631       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 632       FGTank * tank = Propulsion->GetTank(i);
 633       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 634 //       tank->SetContents(node->getDoubleValue("level-lbs"));
 635     }
 636
 637     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 638     fdmex->SetChild(slaved->getBoolValue());
 639
 640     return true;
 641 }
 642
 643 /******************************************************************************/
 644
 645 // Convert from the JSBsim generic_ struct to the FGInterface struct
 646
 647 bool FGJSBsim::copy_from_JSBsim()
 648 {
 649     unsigned int i, j;
 650 /*
 651     _set_Inertias( MassBalance->GetMass(),
 652                    MassBalance->GetIxx(),
 653                    MassBalance->GetIyy(),
 654                    MassBalance->GetIzz(),
 655                    MassBalance->GetIxz() );
 656 */
 657     _set_CG_Position( MassBalance->GetXYZcg(1),
 658                       MassBalance->GetXYZcg(2),
 659                       MassBalance->GetXYZcg(3) );
 660
 661     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 662                       Aircraft->GetBodyAccel(2),
 663                       Aircraft->GetBodyAccel(3) );
 664
 665     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 666                             Aircraft->GetNcg(2),
 667                             Aircraft->GetNcg(3) );
 668
 669     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 670                             Auxiliary->GetPilotAccel(2),
 671                             Auxiliary->GetPilotAccel(3) );
 672
 673     _set_Nlf( Aircraft->GetNlf() );
 674
 675     // Velocities
 676
 677     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
 678                            Propagate->GetVel(FGJSBBase::eEast),
 679                            Propagate->GetVel(FGJSBBase::eDown) );
 680
 681     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 682                                Propagate->GetUVW(2),
 683                                Propagate->GetUVW(3) );
 684
 685     // Make the HUD work ...
 686     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
 687                             Propagate->GetVel(FGJSBBase::eEast),
 688                             -Propagate->GetVel(FGJSBBase::eDown) );
 689
 690     _set_V_rel_wind( Auxiliary->GetVt() );
 691
 692     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 693
 694     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 695
 696     _set_V_ground_speed( Auxiliary->GetVground() );
 697
 698     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
 699                      Propagate->GetPQR(FGJSBBase::eQ),
 700                      Propagate->GetPQR(FGJSBBase::eR) );
 701
 702     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
 703                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
 704                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
 705
 706     _set_Mach_number( Auxiliary->GetMach() );
 707
 708     // Positions of Visual Reference Point
 709     FGLocation l = Auxiliary->GetLocationVRP();
 710     _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
 711                                l.GetRadius() - get_Sea_level_radius() );
 712
 713     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 714     {
 715       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
 716       double contact[3], d[3], sd, t;
 717       is_valid_m(&t, d, &sd);
 718       get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
 719       double rwrad
 720         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
 721       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
 722     }
 723
 724     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
 725                        Propagate->GetEuler(FGJSBBase::eTht),
 726                        Propagate->GetEuler(FGJSBBase::ePsi) );
 727
 728     _set_Alpha( Auxiliary->Getalpha() );
 729     _set_Beta( Auxiliary->Getbeta() );
 730
 731
 732     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 733
 734     _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
 735
 736     _set_Climb_Rate( Propagate->Gethdot() );
 737
 738     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 739     for ( i = 1; i <= 3; i++ ) {
 740         for ( j = 1; j <= 3; j++ ) {
 741             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 742         }
 743     }
 744
 745     // Copy the engine values from JSBSim.
 746     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 747       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 748       SGPropertyNode * tnode = node->getChild("thruster", 0, true);
 749       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 750
 751       switch (Propulsion->GetEngine(i)->GetType()) {
 752       case FGEngine::etPiston:
 753         { // FGPiston code block
 754         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 755         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 756         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 757         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 758         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 759         // NOTE: mp-osi is not in ounces per square inch.
 760         // This error is left for reasons of backwards compatibility with
 761         // existing FlightGear sound and instrument configurations.
 762         node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
 763         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 764         node->setDoubleValue("rpm", eng->getRPM());
 765         } // end FGPiston code block
 766         break;
 767       case FGEngine::etRocket:
 768         { // FGRocket code block
 769         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 770         } // end FGRocket code block
 771         break;
 772       case FGEngine::etTurbine:
 773         { // FGTurbine code block
 774         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 775         node->setDoubleValue("n1", eng->GetN1());
 776         node->setDoubleValue("n2", eng->GetN2());
 777         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 778         node->setBoolValue("augmentation", eng->GetAugmentation());
 779         node->setBoolValue("water-injection", eng->GetInjection());
 780         node->setBoolValue("ignition", eng->GetIgnition());
 781         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 782         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 783         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 784         node->setBoolValue("reversed", eng->GetReversed());
 785         node->setBoolValue("cutoff", eng->GetCutoff());
 786         node->setDoubleValue("epr", eng->GetEPR());
 787         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 788         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 789         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 790         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 791         } // end FGTurbine code block
 792         break;
 793       case FGEngine::etTurboprop:
 794         { // FGTurboProp code block
 795         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 796         node->setDoubleValue("n1", eng->GetN1());
 797         //node->setDoubleValue("n2", eng->GetN2());
 798         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
 799         node->setBoolValue("ignition", eng->GetIgnition());
 800         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 801         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 802         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 803         node->setBoolValue("reversed", eng->GetReversed());
 804         node->setBoolValue("cutoff", eng->GetCutoff());
 805         node->setBoolValue("starting", eng->GetEngStarting());
 806         node->setBoolValue("generator-power", eng->GetGeneratorPower());
 807         node->setBoolValue("damaged", eng->GetCondition());
 808         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
 809         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 810 //        node->setBoolValue("onfire", eng->GetFire());
 811         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 812         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 813         } // end FGTurboProp code block
 814         break;
 815       case FGEngine::etElectric:
 816         { // FGElectric code block
 817         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 818         node->setDoubleValue("rpm", eng->getRPM());
 819         } // end FGElectric code block
 820         break;
 821       }
 822
 823       { // FGEngine code block
 824       FGEngine* eng = Propulsion->GetEngine(i);
 825       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 826       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 827       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 828       node->setBoolValue("running", eng->GetRunning());
 829       node->setBoolValue("starter", eng->GetStarter());
 830       node->setBoolValue("cranking", eng->GetCranking());
 831       globals->get_controls()->set_starter(i, eng->GetStarter() );
 832       } // end FGEngine code block
 833
 834       switch (thruster->GetType()) {
 835       case FGThruster::ttNozzle:
 836         { // FGNozzle code block
 837         FGNozzle* noz = (FGNozzle*)thruster;
 838         } // end FGNozzle code block
 839         break;
 840       case FGThruster::ttPropeller:
 841         { // FGPropeller code block
 842         FGPropeller* prop = (FGPropeller*)thruster;
 843         tnode->setDoubleValue("rpm", thruster->GetRPM());
 844         tnode->setDoubleValue("pitch", prop->GetPitch());
 845         tnode->setDoubleValue("torque", prop->GetTorque());
 846         tnode->setBoolValue("feathered", prop->GetFeather());
 847         } // end FGPropeller code block
 848         break;
 849       case FGThruster::ttRotor:
 850         { // FGRotor code block
 851         FGRotor* rotor = (FGRotor*)thruster;
 852         } // end FGRotor code block
 853         break;
 854       case FGThruster::ttDirect:
 855         { // Direct code block
 856         } // end Direct code block
 857         break;
 858       }
 859
 860     }
 861
 862     // Copy the fuel levels from JSBSim if fuel
 863     // freeze not enabled.
 864     if ( ! Propulsion->GetFuelFreeze() ) {
 865       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 866         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 867         FGTank* tank = Propulsion->GetTank(i);
 868         double contents = tank->GetContents();
 869         double temp = tank->GetTemperature_degC();
 870         node->setDoubleValue("level-gal_us", contents/6.6);
 871         node->setDoubleValue("level-lbs", contents);
 872         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 873       }
 874     }
 875
 876     update_gear();
 877
 878     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 879
 880     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 881     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 882     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 883     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 884     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 885     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 886     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 887     tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
 888     wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
 889
 890     // force a sim crashed if crashed (altitude AGL < 0)
 891     if (get_Altitude_AGL() < -100.0) {
 892          State->SuspendIntegration();
 893          crashed = true;
 894     }
 895
 896     return true;
 897 }
 898
 899
 900 bool FGJSBsim::ToggleDataLogging(void)
 901 {
 902   // ToDo: handle this properly
 903   fdmex->DisableOutput();
 904   return false;
 905 }
 906
 907
 908 bool FGJSBsim::ToggleDataLogging(bool state)
 909 {
 910     if (state) {
 911       fdmex->EnableOutput();
 912       return true;
 913     } else {
 914       fdmex->DisableOutput();
 915       return false;
 916     }
 917 }
 918
 919
 920 //Positions
 921 void FGJSBsim::set_Latitude(double lat)
 922 {
 923     static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
 924     double alt;
 925     double sea_level_radius_meters, lat_geoc;
 926
 927     // In case we're not trimming
 928     FGInterface::set_Latitude(lat);
 929
 930     if ( altitude->getDoubleValue() > -9990 ) {
 931       alt = altitude->getDoubleValue();
 932     } else {
 933       alt = 0.0;
 934     }
 935
 936     update_ic();
 937     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 938     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 939
 940     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 941                       &sea_level_radius_meters, &lat_geoc );
 942     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 943     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 944     fgic->SetLatitudeRadIC( lat_geoc );
 945     needTrim=true;
 946 }
 947
 948
 949 void FGJSBsim::set_Longitude(double lon)
 950 {
 951     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 952
 953     // In case we're not trimming
 954     FGInterface::set_Longitude(lon);
 955
 956     update_ic();
 957     fgic->SetLongitudeRadIC( lon );
 958     needTrim=true;
 959 }
 960
 961 // Sets the altitude above sea level.
 962 void FGJSBsim::set_Altitude(double alt)
 963 {
 964     static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
 965
 966     double sea_level_radius_meters,lat_geoc;
 967
 968     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 969     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 970
 971     // In case we're not trimming
 972     FGInterface::set_Altitude(alt);
 973
 974     update_ic();
 975     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 976                   &sea_level_radius_meters, &lat_geoc);
 977     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 978     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 979     SG_LOG(SG_FLIGHT, SG_INFO,
 980           "Terrain elevation: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 981     fgic->SetLatitudeRadIC( lat_geoc );
 982     fgic->SetAltitudeASLFtIC(alt);
 983     needTrim=true;
 984 }
 985
 986 void FGJSBsim::set_V_calibrated_kts(double vc)
 987 {
 988     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 989
 990     // In case we're not trimming
 991     FGInterface::set_V_calibrated_kts(vc);
 992
 993     update_ic();
 994     fgic->SetVcalibratedKtsIC(vc);
 995     needTrim=true;
 996 }
 997
 998 void FGJSBsim::set_Mach_number(double mach)
 999 {
1000     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
1001
1002     // In case we're not trimming
1003     FGInterface::set_Mach_number(mach);
1004
1005     update_ic();
1006     fgic->SetMachIC(mach);
1007     needTrim=true;
1008 }
1009
1010 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1011 {
1012     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1013        << north << ", " <<  east << ", " << down );
1014
1015     // In case we're not trimming
1016     FGInterface::set_Velocities_Local(north, east, down);
1017
1018     update_ic();
1019     fgic->SetVNorthFpsIC(north);
1020     fgic->SetVEastFpsIC(east);
1021     fgic->SetVDownFpsIC(down);
1022     needTrim=true;
1023 }
1024
1025 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1026 {
1027     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1028        << u << ", " <<  v << ", " <<  w );
1029
1030     // In case we're not trimming
1031     FGInterface::set_Velocities_Wind_Body(u, v, w);
1032
1033     update_ic();
1034     fgic->SetUBodyFpsIC(u);
1035     fgic->SetVBodyFpsIC(v);
1036     fgic->SetWBodyFpsIC(w);
1037     needTrim=true;
1038 }
1039
1040 //Euler angles
1041 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1042 {
1043     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1044        << phi << ", " << theta << ", " << psi );
1045
1046     // In case we're not trimming
1047     FGInterface::set_Euler_Angles(phi, theta, psi);
1048
1049     update_ic();
1050     fgic->SetThetaRadIC(theta);
1051     fgic->SetPhiRadIC(phi);
1052     fgic->SetPsiRadIC(psi);
1053     needTrim=true;
1054 }
1055
1056 //Flight Path
1057 void FGJSBsim::set_Climb_Rate( double roc)
1058 {
1059     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1060
1061     // In case we're not trimming
1062     FGInterface::set_Climb_Rate(roc);
1063
1064     update_ic();
1065     //since both climb rate and flight path angle are set in the FG
1066     //startup sequence, something is needed to keep one from cancelling
1067     //out the other.
1068     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1069       fgic->SetClimbRateFpsIC(roc);
1070     }
1071     needTrim=true;
1072 }
1073
1074 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1075 {
1076     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1077
1078     update_ic();
1079     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1080       fgic->SetFlightPathAngleRadIC(gamma);
1081     }
1082     needTrim=true;
1083 }
1084
1085 void FGJSBsim::init_gear(void )
1086 {
1087     FGGroundReactions* gr=fdmex->GetGroundReactions();
1088     int Ngear=GroundReactions->GetNumGearUnits();
1089     for (int i=0;i<Ngear;i++) {
1090       FGLGear *gear = gr->GetGearUnit(i);
1091       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1092       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1093       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1094       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1095       node->setBoolValue("wow", gear->GetWOW());
1096       node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1097       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1098       node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1099       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1100       node->setDoubleValue("compression-norm", gear->GetCompLen());
1101       node->setDoubleValue("compression-ft", gear->GetCompLen());
1102       if ( gear->GetSteerable() )
1103         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1104     }
1105 }
1106
1107 void FGJSBsim::update_gear(void)
1108 {
1109     FGGroundReactions* gr=fdmex->GetGroundReactions();
1110     int Ngear=GroundReactions->GetNumGearUnits();
1111     for (int i=0;i<Ngear;i++) {
1112       FGLGear *gear = gr->GetGearUnit(i);
1113       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1114       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1115       node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1116       node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1117       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1118       node->setDoubleValue("compression-norm", gear->GetCompLen());
1119       node->setDoubleValue("compression-ft", gear->GetCompLen());
1120       if ( gear->GetSteerable() )
1121         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1122     }
1123 }
1124
1125 void FGJSBsim::do_trim(void)
1126 {
1127   FGTrim *fgtrim;
1128
1129   if ( fgGetBool("/sim/presets/onground") )
1130   {
1131     fgtrim = new FGTrim(fdmex,tGround);
1132   } else {
1133     fgtrim = new FGTrim(fdmex,tLongitudinal);
1134   }
1135
1136   if ( !fgtrim->DoTrim() ) {
1137     fgtrim->Report();
1138     fgtrim->TrimStats();
1139   } else {
1140     trimmed->setBoolValue(true);
1141   }
1142 //  if (FGJSBBase::debug_lvl > 0)
1143 //      State->ReportState();
1144
1145   delete fgtrim;
1146
1147   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1148   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1149   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1150   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1151
1152   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1153   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1154   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1155   FCS->GetThrottleCmd(0));
1156
1157   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1158   globals->get_controls()->set_rudder( FCS->GetDrCmd());
1159
1160   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1161 }
1162
1163 void FGJSBsim::update_ic(void)
1164 {
1165    if ( !needTrim ) {
1166      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1167      fgic->SetLongitudeRadIC( get_Longitude() );
1168      fgic->SetAltitudeASLFtIC( get_Altitude() );
1169      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1170      fgic->SetThetaRadIC( get_Theta() );
1171      fgic->SetPhiRadIC( get_Phi() );
1172      fgic->SetPsiRadIC( get_Psi() );
1173      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1174    }
1175 }
1176
1177 bool
1178 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1179                      double contact[3], double normal[3], double vel[3],
1180                      double *agl)
1181 {
1182    double angularVel[3];
1183    const SGMaterial* material;
1184    simgear::BVHNode::Id id;
1185    if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1186                                 angularVel, material, id))
1187        return false;
1188    SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1189    SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1190    *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1191    return true;
1192 }
1193
1194 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1195 {
1196     return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1197 }
1198
1199 inline static double sqr(double x)
1200 {
1201     return x * x;
1202 }
1203
1204 static double angle_diff(double a, double b)
1205 {
1206     double diff = fabs(a - b);
1207     if (diff > 180) diff = 360 - diff;
1208
1209     return diff;
1210 }
1211
1212 static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double cos_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
1213 {
1214     FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1215     double dist = dot3(tip, ground_normal_body);
1216     if (fabs(dist + E) < 0.0001) {
1217         sin_fis[*points] = sin_fi_guess;
1218         cos_fis[*points] = cos_fi_guess;
1219         fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1220         (*points)++;
1221     }
1222 }
1223
1224
1225 static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
1226 {
1227     if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1228         double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1229         check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1230         if (fabs(cos_fi_guess) > SG_EPSILON) {
1231             check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1232         }
1233     }
1234 }
1235
1236 void FGJSBsim::update_external_forces(double t_off)
1237 {
1238     const FGMatrix33& Tb2l = Propagate->GetTb2l();
1239     const FGMatrix33& Tl2b = Propagate->GetTl2b();
1240     const FGLocation& Location = Propagate->GetLocation();
1241     const FGMatrix33& Tec2l = Location.GetTec2l();
1242
1243     double hook_area[4][3];
1244
1245     FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1246     FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l *   hook_root_body);
1247     hook_area[1][0] = hook_root(1);
1248     hook_area[1][1] = hook_root(2);
1249     hook_area[1][2] = hook_root(3);
1250
1251     hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1252     double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1253     double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1254     double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1255     double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1256     double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1257
1258     FGColumnVector3 hook_tip_body = hook_root_body;
1259     hook_tip_body(1) -= hook_length * cos_fi;
1260     hook_tip_body(3) += hook_length * sin_fi;
1261     bool hook_tip_valid = true;
1262
1263     double contact[3];
1264     double ground_normal[3];
1265     double ground_vel[3];
1266     double root_agl_ft;
1267
1268     if (!got_wire) {
1269         bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
1270         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1271             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1272             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1273             double D = -dot3(contact_body, ground_normal_body);
1274
1275             // check hook tip agl against same ground plane
1276             double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1277             if (hook_tip_agl_ft < 0) {
1278
1279                 // hook tip: hx - l cos, hy, hz + l sin
1280                 // on ground:  - n0 l cos + n2 l sin + E = 0
1281
1282                 double E = D + dot3(hook_root_body, ground_normal_body);
1283
1284                 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1285                 // and rearrange to get a quadratic with coeffs:
1286                 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1287                 double b = 2 * E * ground_normal_body(3) * hook_length;
1288                 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1289
1290                 double disc = sqr(b) - 4 * a * c;
1291                 if (disc >= 0) {
1292                     double delta = sqrt(disc) / (2 * a);
1293
1294                     // allow 4 solutions for safety, should never happen
1295                     double sin_fis[4];
1296                     double cos_fis[4];
1297                     double fis[4];
1298                     int points = 0;
1299
1300                     double sin_fi_guess = -b / (2 * a) - delta;
1301                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1302                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1303
1304                     if (points == 2) {
1305                         double diff1 = angle_diff(fi, fis[0]);
1306                         double diff2 = angle_diff(fi, fis[1]);
1307                         int point = diff1 < diff2 ? 0 : 1;
1308                         fi = fis[point];
1309                         sin_fi = sin_fis[point];
1310                         cos_fi = cos_fis[point];
1311                         hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1312                         hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1313                     }
1314                 }
1315             }
1316         }
1317     } else {
1318         FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() *  hook_root_body));
1319         double wire_ends_ec[2][3];
1320         double wire_vel_ec[2][3];
1321         get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1322         FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1323         FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1324         FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1325         if (rel_vel.Magnitude() < 3) {
1326             got_wire = false;
1327             release_wire();
1328             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1329         } else {
1330             FGColumnVector3 wire_end1_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[0][0], wire_ends_ec[0][1], wire_ends_ec[0][2])) - hook_root_body;
1331             FGColumnVector3 wire_end2_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[1][0], wire_ends_ec[1][1], wire_ends_ec[1][2])) - hook_root_body;
1332             FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1333             force_plane_normal.Normalize();
1334             cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1335             if (cos_fi < 0) cos_fi = -cos_fi;
1336             sin_fi = sqrt(1 - sqr(cos_fi));
1337             fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1338
1339             fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1340             fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1341             fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1342             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1343         }
1344     }
1345
1346     FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1347
1348     hook_area[0][0] = hook_tip(1);
1349     hook_area[0][1] = hook_tip(2);
1350     hook_area[0][2] = hook_tip(3);
1351
1352     if (!got_wire) {
1353         // The previous positions.
1354         hook_area[2][0] = last_hook_root[0];
1355         hook_area[2][1] = last_hook_root[1];
1356         hook_area[2][2] = last_hook_root[2];
1357         hook_area[3][0] = last_hook_tip[0];
1358         hook_area[3][1] = last_hook_tip[1];
1359         hook_area[3][2] = last_hook_tip[2];
1360
1361         // Check if we caught a wire.
1362         // Returns true if we caught one.
1363         if (caught_wire_ft(t_off, hook_area)) {
1364                 got_wire = true;
1365         }
1366     }
1367
1368     // save actual position as old position ...
1369     last_hook_tip[0] = hook_area[0][0];
1370     last_hook_tip[1] = hook_area[0][1];
1371     last_hook_tip[2] = hook_area[0][2];
1372     last_hook_root[0] = hook_area[1][0];
1373     last_hook_root[1] = hook_area[1][1];
1374     last_hook_root[2] = hook_area[1][2];
1375
1376     fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
1377 }
1378