1 // JSBsim.cxx -- interface to the JSBsim flight model
3 // Written by Curtis Olson, started February 1999.
5 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU Lesser 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.
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 // Lesser General Public License for more details.
17 // You should have received a copy of the GNU Lesser 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.
21 // $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
28 #include <simgear/compiler.h>
29 #include <simgear/sg_inlines.h>
31 #include <stdio.h> // size_t
34 #include <simgear/constants.h>
35 #include <simgear/debug/logstream.hxx>
36 #include <simgear/math/sg_geodesy.hxx>
37 #include <simgear/misc/sg_path.hxx>
38 #include <simgear/structure/commands.hxx>
40 #include <FDM/flight.hxx>
42 #include <Aircraft/controls.hxx>
43 #include <Main/globals.hxx>
44 #include <Main/fg_props.hxx>
47 #include <FDM/JSBSim/FGFDMExec.h>
48 #include <FDM/JSBSim/FGJSBBase.h>
49 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
50 #include <FDM/JSBSim/initialization/FGTrim.h>
51 #include <FDM/JSBSim/models/FGModel.h>
52 #include <FDM/JSBSim/models/FGAircraft.h>
53 #include <FDM/JSBSim/models/FGFCS.h>
54 #include <FDM/JSBSim/models/FGPropagate.h>
55 #include <FDM/JSBSim/models/FGAuxiliary.h>
56 #include <FDM/JSBSim/models/FGInertial.h>
57 #include <FDM/JSBSim/models/FGAtmosphere.h>
58 #include <FDM/JSBSim/models/FGMassBalance.h>
59 #include <FDM/JSBSim/models/FGAerodynamics.h>
60 #include <FDM/JSBSim/models/FGLGear.h>
61 #include <FDM/JSBSim/models/FGGroundReactions.h>
62 #include <FDM/JSBSim/models/FGPropulsion.h>
63 #include <FDM/JSBSim/models/FGAccelerations.h>
64 #include <FDM/JSBSim/models/atmosphere/FGWinds.h>
65 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
66 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
67 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
68 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
69 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
70 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
71 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
72 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
73 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
74 #include <FDM/JSBSim/models/propulsion/FGTank.h>
75 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
76 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
78 using namespace JSBSim;
81 FMAX (double a, double b)
86 class FGFSGroundCallback : public FGGroundCallback {
88 FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
89 virtual ~FGFSGroundCallback() {}
91 /** Get the altitude above sea level dependent on the location. */
92 virtual double GetAltitude(const FGLocation& l) const {
93 double pt[3] = { SG_FEET_TO_METER*l(eX),
94 SG_FEET_TO_METER*l(eY),
95 SG_FEET_TO_METER*l(eZ) };
97 sgCartToGeod( pt, &lat, &lon, &alt);
98 return alt * SG_METER_TO_FEET;
101 /** Compute the altitude above ground. */
102 virtual double GetAGLevel(double t, const FGLocation& l,
103 FGLocation& cont, FGColumnVector3& n,
104 FGColumnVector3& v, FGColumnVector3& w) const {
105 double loc_cart[3] = { l(eX), l(eY), l(eZ) };
106 double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
107 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
108 vel, angularVel, &agl);
109 n = FGColumnVector3( normal[0], normal[1], normal[2] );
110 v = FGColumnVector3( vel[0], vel[1], vel[2] );
111 w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
112 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
116 virtual double GetTerrainGeoCentRadius(double t, const FGLocation& l) const {
117 double loc_cart[3] = { l(eX), l(eY), l(eZ) };
118 double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
119 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
120 vel, angularVel, &agl);
121 return sqrt(contact[0]*contact[0]+contact[1]*contact[1]+contact[2]*contact[2]);
124 virtual double GetSeaLevelRadius(const FGLocation& l) const {
125 double seaLevelRadius, latGeoc;
127 sgGeodToGeoc(l.GetGeodLatitudeRad(), l.GetGeodAltitude(),
128 &seaLevelRadius, &latGeoc);
130 return seaLevelRadius * SG_METER_TO_FEET;
133 virtual void SetTerrainGeoCentRadius(double radius) {}
134 virtual void SetSeaLevelRadius(double radius) {}
136 FGJSBsim* mInterface;
139 // FG uses a squared normalized magnitude for turbulence
140 // this lookup table maps fg's severity levels
141 // none(0), light(1/3), moderate(2/3) and severe(3/3)
142 // to the POE table indexes 0, 3, 4 and 7
143 class FGTurbulenceSeverityTable : public FGTable {
145 FGTurbulenceSeverityTable() : FGTable(4) {
146 *this << (0.0/9.0) << 0.0;
147 *this << (1.0/9.0) << 3.0;
148 *this << (4.0/9.0) << 4.0;
149 *this << (9.0/9.0) << 7.0;
153 /******************************************************************************/
154 std::map<std::string,int> FGJSBsim::TURBULENCE_TYPE_NAMES;
156 static FGTurbulenceSeverityTable TurbulenceSeverityTable;
158 FGJSBsim::FGJSBsim( double dt )
159 : FGInterface(dt), got_wire(false)
162 if( TURBULENCE_TYPE_NAMES.empty() ) {
163 TURBULENCE_TYPE_NAMES["ttNone"] = FGWinds::ttNone;
164 TURBULENCE_TYPE_NAMES["ttStandard"] = FGWinds::ttStandard;
165 TURBULENCE_TYPE_NAMES["ttCulp"] = FGWinds::ttCulp;
166 TURBULENCE_TYPE_NAMES["ttMilspec"] = FGWinds::ttMilspec;
167 TURBULENCE_TYPE_NAMES["ttTustin"] = FGWinds::ttTustin;
170 // Set up the debugging level
171 // FIXME: this will not respond to
174 // if flight is excluded, don't bother
175 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
177 // do a rough-and-ready mapping to
178 // the levels documented in FGFDMExec.h
179 switch (logbuf::get_log_priority()) {
181 FGJSBBase::debug_lvl = 0x1f;
184 FGJSBBase::debug_lvl = 0x0f;
186 FGJSBBase::debug_lvl = 0x01;
190 FGJSBBase::debug_lvl = 0x00;
195 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
197 // Register ground callback.
198 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
200 Atmosphere = fdmex->GetAtmosphere();
201 Winds = fdmex->GetWinds();
202 FCS = fdmex->GetFCS();
203 MassBalance = fdmex->GetMassBalance();
204 Propulsion = fdmex->GetPropulsion();
205 Aircraft = fdmex->GetAircraft();
206 Propagate = fdmex->GetPropagate();
207 Auxiliary = fdmex->GetAuxiliary();
208 Inertial = fdmex->GetInertial();
209 Aerodynamics = fdmex->GetAerodynamics();
210 GroundReactions = fdmex->GetGroundReactions();
211 Accelerations = fdmex->GetAccelerations();
216 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
218 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
219 engine_path.append( "Engine" );
221 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
222 systems_path.append( "Systems" );
224 // deprecate sim-time-sec for simulation/sim-time-sec
225 // remove alias with increased configuration file version number (2.1 or later)
226 SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
227 fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
228 // end of sim-time-sec deprecation patch
232 result = fdmex->LoadModel( aircraft_path.str(),
235 fgGetString("/sim/aero"), false );
238 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
240 SG_LOG( SG_FLIGHT, SG_INFO,
241 " aero does not exist (you may have mis-typed the name).");
245 SG_LOG( SG_FLIGHT, SG_INFO, "" );
246 SG_LOG( SG_FLIGHT, SG_INFO, "" );
247 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
249 int Neng = Propulsion->GetNumEngines();
250 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
252 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
253 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
254 << GroundReactions->GetNumGearUnits() );
255 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
256 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
257 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
263 // Set initial fuel levels if provided.
264 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
266 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
267 FGTank* tank = Propulsion->GetTank(i);
269 d = node->getNode( "density-ppg", true )->getDoubleValue();
271 tank->SetDensity( d );
273 node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
276 d = node->getNode( "level-lbs", true )->getDoubleValue();
278 tank->SetContents( d );
280 node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
282 /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
283 node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
285 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
287 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
288 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
289 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
290 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
292 startup_trim = fgGetNode("/sim/presets/trim", true);
294 trimmed = fgGetNode("/fdm/trim/trimmed", true);
295 trimmed->setBoolValue(false);
297 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
298 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
299 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
300 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
302 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
303 stall_warning->setDoubleValue(0);
306 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
307 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
309 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
310 right_aileron_pos_pct
311 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
312 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
314 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
315 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
316 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
317 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
319 elevator_pos_pct->setDoubleValue(0);
320 left_aileron_pos_pct->setDoubleValue(0);
321 right_aileron_pos_pct->setDoubleValue(0);
322 rudder_pos_pct->setDoubleValue(0);
323 flap_pos_pct->setDoubleValue(0);
324 speedbrake_pos_pct->setDoubleValue(0);
325 spoilers_pos_pct->setDoubleValue(0);
327 ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
328 ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
329 ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
331 temperature = fgGetNode("/environment/temperature-degc",true);
332 pressure = fgGetNode("/environment/pressure-inhg",true);
333 pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true);
334 ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true);
335 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
336 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
337 turbulence_model = fgGetNode("/environment/params/jsbsim-turbulence-model",true);
339 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
340 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
341 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
343 slaved = fgGetNode("/sim/slaved/enabled", true);
345 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
346 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
347 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
348 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
351 hook_root_struct = FGColumnVector3(
352 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
353 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
354 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
355 last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
356 last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
361 /******************************************************************************/
362 FGJSBsim::~FGJSBsim(void)
367 /******************************************************************************/
369 // Initialize the JSBsim flight model, dt is the time increment for
370 // each subsequent iteration through the EOM
372 void FGJSBsim::init()
374 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
376 // Explicitly call the superclass's
377 // init method first.
379 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
380 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
381 Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg);
382 // initialize to no turbulence, these values get set in the update loop
383 Winds->SetTurbType(FGWinds::ttNone);
384 Winds->SetTurbGain(0.0);
385 Winds->SetTurbRate(0.0);
386 Winds->SetWindspeed20ft(0.0);
387 Winds->SetProbabilityOfExceedence(0.0);
390 fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(),
391 -wind_from_east->getDoubleValue(),
392 -wind_from_down->getDoubleValue() );
394 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature()
395 << ", " << Atmosphere->GetPressure()
396 << ", " << Atmosphere->GetDensity() );
398 // deprecate egt_degf for egt-degf to have consistent naming
399 // TODO: remove this for 2.6.0
400 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
401 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
402 SGPropertyNode * egtn = node->getNode( "egt_degf" );
404 SG_LOG(SG_FLIGHT,SG_ALERT,
405 "*** Aircraft uses deprecated and now unsupported node egt_degf. Please upgrade to egt-degf");
408 // end of egt_degf deprecation patch
410 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
412 needTrim = startup_trim->getBoolValue();
416 fdmex->RunIC(); //loop JSBSim once w/o integrating
417 if (fgGetBool("/sim/presets/running")) {
418 Propulsion->InitRunning(-1);
419 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
420 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
421 globals->get_controls()->set_magnetos(i, eng->GetMagnetos());
422 globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i));
427 FGLocation cart(fgic->GetLongitudeRadIC(), fgic->GetLatitudeRadIC(),
428 get_Sea_level_radius() + fgic->GetAltitudeASLFtIC());
429 double cart_pos[3], contact[3], d[3], vel[3], agl;
430 update_ground_cache(cart, cart_pos, 0.01);
432 get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
434 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
435 + contact[2]*contact[2]) - get_Sea_level_radius();
437 SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain elevation is: "
438 << terrain_alt * SG_METER_TO_FEET );
440 if (fgGetBool("/sim/presets/onground")) {
441 FGColumnVector3 gndVelNED = cart.GetTec2l()
442 * FGColumnVector3(vel[0], vel[1], vel[2]);
443 fgic->SetVNorthFpsIC(gndVelNED(1));
444 fgic->SetVEastFpsIC(gndVelNED(2));
445 fgic->SetVDownFpsIC(gndVelNED(3));
447 fgic->SetTerrainElevationFtIC( terrain_alt );
452 copy_from_JSBsim(); //update the bus
454 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
456 switch(fgic->GetSpeedSet()) {
458 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
459 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
460 << Propagate->GetVel(FGJSBBase::eEast) << ", "
461 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
464 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
465 << Propagate->GetUVW(1) << ", "
466 << Propagate->GetUVW(2) << ", "
467 << Propagate->GetUVW(3) << " ft/s");
470 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
471 << Auxiliary->GetMach() );
475 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
476 << Auxiliary->GetVcalibratedKTS() << " knots" );
480 stall_warning->setDoubleValue(0);
482 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
483 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
484 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
485 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
486 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
487 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
488 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
489 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
490 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
491 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
492 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
493 << Propagate->GetAltitudeASL() << " feet" );
494 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
496 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
498 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
500 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
501 globals->get_controls()->get_gear_down() );
504 /******************************************************************************/
506 void FGJSBsim::unbind()
509 FGInterface::unbind();
512 /******************************************************************************/
514 // Run an iteration of the EOM (equations of motion)
516 void FGJSBsim::update( double dt )
519 if(!fgGetBool("/sim/crashed"))
520 fgSetBool("/sim/crashed", true);
527 int multiloop = _calc_multiloop(dt);
528 FGLocation cart = Auxiliary->GetLocationVRP();
531 update_ground_cache(cart, cart_pos, dt);
535 trimmed->setBoolValue(false);
537 for ( int i=0; i < multiloop; i++ ) {
539 update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
542 FGJSBBase::Message* msg;
543 while ((msg = fdmex->ProcessNextMessage()) != NULL) {
544 // msg = fdmex->ProcessNextMessage();
546 case FGJSBBase::Message::eText:
547 if (msg->text == "Crash Detected: Simulation FREEZE.")
549 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
551 case FGJSBBase::Message::eBool:
552 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
554 case FGJSBBase::Message::eInteger:
555 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
557 case FGJSBBase::Message::eDouble:
558 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
561 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
566 // translate JSBsim back to FG structure so that the
567 // autopilot (and the rest of the sim can use the updated values
571 /******************************************************************************/
573 void FGJSBsim::suspend()
576 SGSubsystem::suspend();
579 /******************************************************************************/
581 void FGJSBsim::resume()
584 SGSubsystem::resume();
587 /******************************************************************************/
589 // Convert from the FGInterface struct to the JSBsim generic_ struct
591 bool FGJSBsim::copy_to_JSBsim()
595 // copy control positions into the JSBsim structure
597 FCS->SetDaCmd( globals->get_controls()->get_aileron());
598 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
599 FCS->SetDeCmd( globals->get_controls()->get_elevator());
600 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
601 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
602 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
603 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
604 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
605 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
606 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
608 // Parking brake sets minimum braking
610 double parking_brake = globals->get_controls()->get_brake_parking();
611 double left_brake = globals->get_controls()->get_brake_left();
612 double right_brake = globals->get_controls()->get_brake_right();
614 if (ab_brake_engaged->getBoolValue()) {
615 left_brake = ab_brake_left_pct->getDoubleValue();
616 right_brake = ab_brake_right_pct->getDoubleValue();
619 FCS->SetLBrake(FMAX(left_brake, parking_brake));
620 FCS->SetRBrake(FMAX(right_brake, parking_brake));
623 FCS->SetCBrake( 0.0 );
624 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
626 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
627 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
628 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
630 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
631 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
632 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
633 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
635 switch (Propulsion->GetEngine(i)->GetType()) {
636 case FGEngine::etPiston:
637 { // FGPiston code block
638 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
639 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
641 } // end FGPiston code block
642 case FGEngine::etTurbine:
643 { // FGTurbine code block
644 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
645 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
646 eng->SetReverse( globals->get_controls()->get_reverser(i) );
647 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
648 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
649 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
651 } // end FGTurbine code block
652 case FGEngine::etRocket:
653 { // FGRocket code block
654 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
656 } // end FGRocket code block
657 case FGEngine::etTurboprop:
658 { // FGTurboProp code block
659 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
660 eng->SetReverse( globals->get_controls()->get_reverser(i) );
661 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
662 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
664 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
665 eng->SetCondition( globals->get_controls()->get_condition(i) );
667 } // end FGTurboProp code block
672 { // FGEngine code block
673 FGEngine* eng = Propulsion->GetEngine(i);
675 eng->SetStarter( globals->get_controls()->get_starter(i) );
676 eng->SetRunning( node->getBoolValue("running") );
677 } // end FGEngine code block
680 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
681 Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg);
683 Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]);
684 switch( Winds->GetTurbType() ) {
685 case FGWinds::ttStandard:
686 case FGWinds::ttCulp: {
687 double tmp = turbulence_gain->getDoubleValue();
688 Winds->SetTurbGain(tmp * tmp * 100.0);
689 Winds->SetTurbRate(turbulence_rate->getDoubleValue());
692 case FGWinds::ttMilspec:
693 case FGWinds::ttTustin: {
694 // milspec turbulence: 3=light, 4=moderate, 6=severe turbulence
695 // turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe
696 double tmp = turbulence_gain->getDoubleValue();
697 Winds->SetProbabilityOfExceedence(
698 SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) )
700 Winds->SetWindspeed20ft(ground_wind->getDoubleValue());
708 Winds->SetWindNED( -wind_from_north->getDoubleValue(),
709 -wind_from_east->getDoubleValue(),
710 -wind_from_down->getDoubleValue() );
711 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
712 // << get_V_north_airmass() << ", "
713 // << get_V_east_airmass() << ", "
714 // << get_V_down_airmass() );
716 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
717 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
718 FGTank * tank = Propulsion->GetTank(i);
719 double fuelDensity = node->getDoubleValue("density-ppg");
721 if (fuelDensity < 0.1)
722 fuelDensity = 6.0; // Use average fuel value
724 tank->SetDensity(fuelDensity);
725 tank->SetContents(node->getDoubleValue("level-lbs"));
728 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
729 fdmex->SetChild(slaved->getBoolValue());
734 /******************************************************************************/
736 // Convert from the JSBsim generic_ struct to the FGInterface struct
738 bool FGJSBsim::copy_from_JSBsim()
742 _set_Inertias( MassBalance->GetMass(),
743 MassBalance->GetIxx(),
744 MassBalance->GetIyy(),
745 MassBalance->GetIzz(),
746 MassBalance->GetIxz() );
748 _set_CG_Position( MassBalance->GetXYZcg(1),
749 MassBalance->GetXYZcg(2),
750 MassBalance->GetXYZcg(3) );
752 _set_Accels_Body( Accelerations->GetBodyAccel(1),
753 Accelerations->GetBodyAccel(2),
754 Accelerations->GetBodyAccel(3) );
756 _set_Accels_CG_Body_N ( Auxiliary->GetNcg(1),
757 Auxiliary->GetNcg(2),
758 Auxiliary->GetNcg(3) );
760 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
761 Auxiliary->GetPilotAccel(2),
762 Auxiliary->GetPilotAccel(3) );
764 _set_Nlf( Auxiliary->GetNlf() );
768 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
769 Propagate->GetVel(FGJSBBase::eEast),
770 Propagate->GetVel(FGJSBBase::eDown) );
772 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
773 Propagate->GetUVW(2),
774 Propagate->GetUVW(3) );
776 // Make the HUD work ...
777 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
778 Propagate->GetVel(FGJSBBase::eEast),
779 -Propagate->GetVel(FGJSBBase::eDown) );
781 _set_V_rel_wind( Auxiliary->GetVt() );
783 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
785 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
787 _set_V_ground_speed( Auxiliary->GetVground() );
789 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
790 Propagate->GetPQR(FGJSBBase::eQ),
791 Propagate->GetPQR(FGJSBBase::eR) );
793 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
794 Auxiliary->GetEulerRates(FGJSBBase::eTht),
795 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
797 _set_Mach_number( Auxiliary->GetMach() );
799 // Positions of Visual Reference Point
800 FGLocation l = Auxiliary->GetLocationVRP();
801 _updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(),
804 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
806 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
807 double contact[3], d[3], sd, t;
808 is_valid_m(&t, d, &sd);
809 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
811 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
812 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
815 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
816 Propagate->GetEuler(FGJSBBase::eTht),
817 Propagate->GetEuler(FGJSBBase::ePsi) );
819 _set_Alpha( Auxiliary->Getalpha() );
820 _set_Beta( Auxiliary->Getbeta() );
823 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
825 _set_Earth_position_angle( Propagate->GetEarthPositionAngle() );
827 _set_Climb_Rate( Propagate->Gethdot() );
829 const FGMatrix33& Tl2b = Propagate->GetTl2b();
830 for ( i = 1; i <= 3; i++ ) {
831 for ( j = 1; j <= 3; j++ ) {
832 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
836 // Copy the engine values from JSBSim.
837 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
838 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
839 SGPropertyNode * tnode = node->getChild("thruster", 0, true);
840 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
842 switch (Propulsion->GetEngine(i)->GetType()) {
843 case FGEngine::etPiston:
844 { // FGPiston code block
845 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
846 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
847 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
848 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
849 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
850 // NOTE: mp-osi is not in ounces per square inch.
851 // This error is left for reasons of backwards compatibility with
852 // existing FlightGear sound and instrument configurations.
853 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
854 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
855 node->setDoubleValue("rpm", eng->getRPM());
856 } // end FGPiston code block
858 case FGEngine::etRocket:
859 { // FGRocket code block
860 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
861 } // end FGRocket code block
863 case FGEngine::etTurbine:
864 { // FGTurbine code block
865 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
866 node->setDoubleValue("n1", eng->GetN1());
867 node->setDoubleValue("n2", eng->GetN2());
868 node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
869 node->setBoolValue("augmentation", eng->GetAugmentation());
870 node->setBoolValue("water-injection", eng->GetInjection());
871 node->setBoolValue("ignition", eng->GetIgnition() != 0);
872 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
873 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
874 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
875 node->setBoolValue("reversed", eng->GetReversed());
876 node->setBoolValue("cutoff", eng->GetCutoff());
877 node->setDoubleValue("epr", eng->GetEPR());
878 globals->get_controls()->set_reverser(i, eng->GetReversed() );
879 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
880 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
881 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
882 } // end FGTurbine code block
884 case FGEngine::etTurboprop:
885 { // FGTurboProp code block
886 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
887 node->setDoubleValue("n1", eng->GetN1());
888 //node->setDoubleValue("n2", eng->GetN2());
889 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
890 node->setBoolValue("ignition", eng->GetIgnition() != 0);
891 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
892 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
893 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
894 node->setBoolValue("reversed", eng->GetReversed());
895 node->setBoolValue("cutoff", eng->GetCutoff());
896 node->setBoolValue("starting", eng->GetEngStarting());
897 node->setBoolValue("generator-power", eng->GetGeneratorPower());
898 node->setBoolValue("damaged", eng->GetCondition() != 0);
899 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
900 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
901 // node->setBoolValue("onfire", eng->GetFire());
902 globals->get_controls()->set_reverser(i, eng->GetReversed() );
903 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
904 } // end FGTurboProp code block
906 case FGEngine::etElectric:
907 { // FGElectric code block
908 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
909 node->setDoubleValue("rpm", eng->getRPM());
910 } // end FGElectric code block
912 case FGEngine::etUnknown:
916 { // FGEngine code block
917 FGEngine* eng = Propulsion->GetEngine(i);
918 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
919 node->setDoubleValue("thrust_lb", thruster->GetThrust());
920 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
921 node->setBoolValue("running", eng->GetRunning());
922 node->setBoolValue("starter", eng->GetStarter());
923 node->setBoolValue("cranking", eng->GetCranking());
924 globals->get_controls()->set_starter(i, eng->GetStarter() );
925 } // end FGEngine code block
927 switch (thruster->GetType()) {
928 case FGThruster::ttNozzle:
929 { // FGNozzle code block
930 // FGNozzle* noz = (FGNozzle*)thruster;
931 } // end FGNozzle code block
933 case FGThruster::ttPropeller:
934 { // FGPropeller code block
935 FGPropeller* prop = (FGPropeller*)thruster;
936 tnode->setDoubleValue("rpm", thruster->GetRPM());
937 tnode->setDoubleValue("pitch", prop->GetPitch());
938 tnode->setDoubleValue("torque", prop->GetTorque());
939 tnode->setBoolValue("feathered", prop->GetFeather());
940 } // end FGPropeller code block
942 case FGThruster::ttRotor:
943 { // FGRotor code block
944 // FGRotor* rotor = (FGRotor*)thruster;
945 } // end FGRotor code block
947 case FGThruster::ttDirect:
948 { // Direct code block
949 } // end Direct code block
955 // Copy the fuel levels from JSBSim if fuel
956 // freeze not enabled.
957 if ( ! Propulsion->GetFuelFreeze() ) {
958 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
959 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
960 FGTank* tank = Propulsion->GetTank(i);
961 double contents = tank->GetContents();
962 double temp = tank->GetTemperature_degC();
963 double fuelDensity = tank->GetDensity();
965 if (fuelDensity < 0.1)
966 fuelDensity = 6.0; // Use average fuel value
968 node->setDoubleValue("density-ppg" , fuelDensity);
969 node->setDoubleValue("level-lbs", contents);
970 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
976 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
978 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
979 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
980 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
981 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
982 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
983 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
984 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
985 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
986 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
988 // force a sim crashed if crashed (altitude AGL < 0)
989 if (get_Altitude_AGL() < -100.0) {
990 fdmex->SuspendIntegration();
998 bool FGJSBsim::ToggleDataLogging(void)
1000 // ToDo: handle this properly
1001 fdmex->DisableOutput();
1006 bool FGJSBsim::ToggleDataLogging(bool state)
1009 fdmex->EnableOutput();
1012 fdmex->DisableOutput();
1019 void FGJSBsim::set_Latitude(double lat)
1021 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
1022 double alt = altitude->getDoubleValue();
1023 double sea_level_radius_meters, lat_geoc;
1025 if ( alt < -9990 ) alt = 0.0;
1027 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
1028 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
1030 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
1031 &sea_level_radius_meters, &lat_geoc );
1033 double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET;
1034 _set_Sea_level_radius( sea_level_radius_ft );
1037 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_ft );
1038 fgic->SetLatitudeRadIC( lat_geoc );
1041 Propagate->SetLatitude(lat_geoc);
1043 FGInterface::set_Latitude(lat);
1047 void FGJSBsim::set_Longitude(double lon)
1049 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
1052 fgic->SetLongitudeRadIC(lon);
1054 Propagate->SetLongitude(lon);
1056 FGInterface::set_Longitude(lon);
1059 // Sets the altitude above sea level.
1060 void FGJSBsim::set_Altitude(double alt)
1062 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1065 fgic->SetAltitudeASLFtIC(alt);
1067 Propagate->SetAltitudeASL(alt);
1069 FGInterface::set_Altitude(alt);
1072 void FGJSBsim::set_V_calibrated_kts(double vc)
1074 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1077 fgic->SetVcalibratedKtsIC(vc);
1079 double p=pressure->getDoubleValue();
1080 double psl=fdmex->GetAtmosphere()->GetPressureSL();
1081 double rhosl=fdmex->GetAtmosphere()->GetDensitySL();
1082 double mach = FGJSBBase::MachFromVcalibrated(vc, p, psl, rhosl);
1083 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1084 double soundSpeed = sqrt(1.4*1716.0*temp);
1085 FGColumnVector3 vUVW = Propagate->GetUVW();
1087 vUVW *= mach * soundSpeed;
1088 Propagate->SetUVW(1, vUVW(1));
1089 Propagate->SetUVW(2, vUVW(2));
1090 Propagate->SetUVW(3, vUVW(3));
1093 FGInterface::set_V_calibrated_kts(vc);
1096 void FGJSBsim::set_Mach_number(double mach)
1098 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1101 fgic->SetMachIC(mach);
1103 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1104 double soundSpeed = sqrt(1.4*1716.0*temp);
1105 FGColumnVector3 vUVW = Propagate->GetUVW();
1107 vUVW *= mach * soundSpeed;
1108 Propagate->SetUVW(1, vUVW(1));
1109 Propagate->SetUVW(2, vUVW(2));
1110 Propagate->SetUVW(3, vUVW(3));
1113 FGInterface::set_Mach_number(mach);
1116 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1118 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1119 << north << ", " << east << ", " << down );
1122 fgic->SetVNorthFpsIC(north);
1123 fgic->SetVEastFpsIC(east);
1124 fgic->SetVDownFpsIC(down);
1127 FGColumnVector3 vNED(north, east, down);
1128 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1129 Propagate->SetUVW(1, vUVW(1));
1130 Propagate->SetUVW(2, vUVW(2));
1131 Propagate->SetUVW(3, vUVW(3));
1134 FGInterface::set_Velocities_Local(north, east, down);
1137 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1139 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1140 << u << ", " << v << ", " << w );
1143 fgic->SetUBodyFpsIC(u);
1144 fgic->SetVBodyFpsIC(v);
1145 fgic->SetWBodyFpsIC(w);
1148 Propagate->SetUVW(1, u);
1149 Propagate->SetUVW(2, v);
1150 Propagate->SetUVW(3, w);
1153 FGInterface::set_Velocities_Wind_Body(u, v, w);
1157 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1159 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1160 << phi << ", " << theta << ", " << psi );
1163 fgic->SetThetaRadIC(theta);
1164 fgic->SetPhiRadIC(phi);
1165 fgic->SetPsiRadIC(psi);
1168 FGQuaternion quat(phi, theta, psi);
1169 FGMatrix33 Tl2b = quat.GetT();
1170 FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l();
1171 FGQuaternion Qi = Ti2b.GetQuaternion();
1172 Propagate->SetInertialOrientation(Qi);
1175 FGInterface::set_Euler_Angles(phi, theta, psi);
1179 void FGJSBsim::set_Climb_Rate( double roc)
1181 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1183 //since both climb rate and flight path angle are set in the FG
1184 //startup sequence, something is needed to keep one from cancelling
1186 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1188 fgic->SetClimbRateFpsIC(roc);
1190 FGColumnVector3 vNED = Propagate->GetVel();
1191 vNED(FGJSBBase::eDown) = -roc;
1192 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1193 Propagate->SetUVW(1, vUVW(1));
1194 Propagate->SetUVW(2, vUVW(2));
1195 Propagate->SetUVW(3, vUVW(3));
1198 FGInterface::set_Climb_Rate(roc);
1202 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1204 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1206 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1208 fgic->SetFlightPathAngleRadIC(gamma);
1210 FGColumnVector3 vNED = Propagate->GetVel();
1211 double vt = vNED.Magnitude();
1212 vNED(FGJSBBase::eDown) = -vt * sin(gamma);
1213 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1214 Propagate->SetUVW(1, vUVW(1));
1215 Propagate->SetUVW(2, vUVW(2));
1216 Propagate->SetUVW(3, vUVW(3));
1219 FGInterface::set_Gamma_vert_rad(gamma);
1223 void FGJSBsim::init_gear(void )
1225 FGGroundReactions* gr=fdmex->GetGroundReactions();
1226 int Ngear=GroundReactions->GetNumGearUnits();
1227 for (int i=0;i<Ngear;i++) {
1228 FGLGear *gear = gr->GetGearUnit(i);
1229 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1230 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1231 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1232 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1233 node->setBoolValue("wow", gear->GetWOW());
1234 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1235 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1236 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1237 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1238 node->setDoubleValue("compression-norm", gear->GetCompLen());
1239 node->setDoubleValue("compression-ft", gear->GetCompLen());
1240 if ( gear->GetSteerable() )
1241 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1245 void FGJSBsim::update_gear(void)
1247 FGGroundReactions* gr=fdmex->GetGroundReactions();
1248 int Ngear=GroundReactions->GetNumGearUnits();
1249 for (int i=0;i<Ngear;i++) {
1250 FGLGear *gear = gr->GetGearUnit(i);
1251 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1252 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1253 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1254 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1255 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1256 node->setDoubleValue("compression-norm", gear->GetCompLen());
1257 node->setDoubleValue("compression-ft", gear->GetCompLen());
1258 if ( gear->GetSteerable() )
1259 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1263 void FGJSBsim::do_trim(void)
1267 if ( fgGetBool("/sim/presets/onground") )
1269 fgtrim = new FGTrim(fdmex,tGround);
1271 fgtrim = new FGTrim(fdmex,tFull);
1274 if ( !fgtrim->DoTrim() ) {
1276 fgtrim->TrimStats();
1278 trimmed->setBoolValue(true);
1282 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1283 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1284 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1285 rudder_trim->setDoubleValue( -FCS->GetDrCmd() );
1287 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1288 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1289 for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
1290 globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
1292 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1293 globals->get_controls()->set_rudder( -FCS->GetDrCmd());
1295 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1298 bool FGJSBsim::update_ground_cache(FGLocation cart, double* cart_pos, double dt)
1300 // Compute the radius of the aircraft. That is the radius of a ball
1301 // where all gear units are in. At the moment it is at least 10ft ...
1302 double acrad = 10.0;
1303 int n_gears = GroundReactions->GetNumGearUnits();
1304 for (int i=0; i<n_gears; ++i) {
1305 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
1306 double r = bl.Magnitude();
1311 // Compute the potential movement of this aircraft and query for the
1312 // ground in this area.
1313 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
1314 cart_pos[0] = cart(1);
1315 cart_pos[1] = cart(2);
1316 cart_pos[2] = cart(3);
1317 double t0 = fdmex->GetSimTime();
1318 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
1319 groundCacheRadius );
1321 SG_LOG(SG_FLIGHT, SG_WARN,
1322 "FGInterface is being called without scenery below the aircraft!");
1324 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = "
1325 << fgic->GetAltitudeASLFtIC());
1327 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = "
1328 << get_Sea_level_radius());
1330 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = "
1331 << fgic->GetLatitudeRadIC());
1333 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = "
1334 << fgic->GetLongitudeRadIC());
1341 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1342 double contact[3], double normal[3], double vel[3],
1343 double angularVel[3], double *agl)
1345 const SGMaterial* material;
1346 simgear::BVHNode::Id id;
1347 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1348 angularVel, material, id))
1350 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1351 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1352 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1356 inline static double sqr(double x)
1361 static double angle_diff(double a, double b)
1363 double diff = fabs(a - b);
1364 if (diff > 180) diff = 360 - diff;
1369 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)
1371 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1372 double dist = DotProduct(tip, ground_normal_body);
1373 if (fabs(dist + E) < 0.0001) {
1374 sin_fis[*points] = sin_fi_guess;
1375 cos_fis[*points] = cos_fi_guess;
1376 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1382 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)
1384 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1385 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1386 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1387 if (fabs(cos_fi_guess) > SG_EPSILON) {
1388 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1393 void FGJSBsim::update_external_forces(double t_off)
1395 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1396 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1397 const FGLocation& Location = Propagate->GetLocation();
1398 const FGMatrix33& Tec2l = Location.GetTec2l();
1400 double hook_area[4][3];
1402 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1403 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1404 hook_area[1][0] = hook_root(1);
1405 hook_area[1][1] = hook_root(2);
1406 hook_area[1][2] = hook_root(3);
1408 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1409 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1410 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1411 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1412 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1413 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1415 FGColumnVector3 hook_tip_body = hook_root_body;
1416 hook_tip_body(1) -= hook_length * cos_fi;
1417 hook_tip_body(3) += hook_length * sin_fi;
1420 double ground_normal[3];
1421 double ground_vel[3];
1422 double ground_angular_vel[3];
1426 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1427 ground_vel, ground_angular_vel, &root_agl_ft);
1428 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1429 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1430 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1431 double D = -DotProduct(contact_body, ground_normal_body);
1433 // check hook tip agl against same ground plane
1434 double hook_tip_agl_ft = DotProduct(hook_tip_body, ground_normal_body) + D;
1435 if (hook_tip_agl_ft < 0) {
1437 // hook tip: hx - l cos, hy, hz + l sin
1438 // on ground: - n0 l cos + n2 l sin + E = 0
1440 double E = D + DotProduct(hook_root_body, ground_normal_body);
1442 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1443 // and rearrange to get a quadratic with coeffs:
1444 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1445 double b = 2 * E * ground_normal_body(3) * hook_length;
1446 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1448 double disc = sqr(b) - 4 * a * c;
1450 double delta = sqrt(disc) / (2 * a);
1452 // allow 4 solutions for safety, should never happen
1458 double sin_fi_guess = -b / (2 * a) - delta;
1459 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1460 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1463 double diff1 = angle_diff(fi, fis[0]);
1464 double diff2 = angle_diff(fi, fis[1]);
1465 int point = diff1 < diff2 ? 0 : 1;
1467 sin_fi = sin_fis[point];
1468 cos_fi = cos_fis[point];
1469 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1470 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1476 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1477 double wire_ends_ec[2][3];
1478 double wire_vel_ec[2][3];
1479 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1480 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1481 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1482 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1483 if (rel_vel.Magnitude() < 3) {
1486 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1488 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;
1489 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;
1490 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1491 force_plane_normal.Normalize();
1492 cos_fi = DotProduct(force_plane_normal, FGColumnVector3(0, 0, 1));
1493 if (cos_fi < 0) cos_fi = -cos_fi;
1494 sin_fi = sqrt(1 - sqr(cos_fi));
1495 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1497 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1498 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1499 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1500 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1504 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1506 hook_area[0][0] = hook_tip(1);
1507 hook_area[0][1] = hook_tip(2);
1508 hook_area[0][2] = hook_tip(3);
1511 // The previous positions.
1512 hook_area[2][0] = last_hook_root[0];
1513 hook_area[2][1] = last_hook_root[1];
1514 hook_area[2][2] = last_hook_root[2];
1515 hook_area[3][0] = last_hook_tip[0];
1516 hook_area[3][1] = last_hook_tip[1];
1517 hook_area[3][2] = last_hook_tip[2];
1519 // Check if we caught a wire.
1520 // Returns true if we caught one.
1521 if (caught_wire_ft(t_off, hook_area)) {
1526 // save actual position as old position ...
1527 last_hook_tip[0] = hook_area[0][0];
1528 last_hook_tip[1] = hook_area[0][1];
1529 last_hook_tip[2] = hook_area[0][2];
1530 last_hook_root[0] = hook_area[1][0];
1531 last_hook_root[1] = hook_area[1][1];
1532 last_hook_root[2] = hook_area[1][2];
1534 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);