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 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.
  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 // Lesser General Public License for more details.
  16 //
  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.
  20 //
  21 // $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
  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/controls.hxx>
  42 #include <Main/globals.hxx>
  43 #include <Main/fg_props.hxx>
  44
  45 #include "JSBSim.hxx"
  46 #include <FDM/JSBSim/FGFDMExec.h>
  47 #include <FDM/JSBSim/FGJSBBase.h>
  48 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
  49 #include <FDM/JSBSim/initialization/FGTrim.h>
  50 #include <FDM/JSBSim/models/FGModel.h>
  51 #include <FDM/JSBSim/models/FGAircraft.h>
  52 #include <FDM/JSBSim/models/FGFCS.h>
  53 #include <FDM/JSBSim/models/FGPropagate.h>
  54 #include <FDM/JSBSim/models/FGAuxiliary.h>
  55 #include <FDM/JSBSim/models/FGInertial.h>
  56 #include <FDM/JSBSim/models/FGAtmosphere.h>
  57 #include <FDM/JSBSim/models/FGMassBalance.h>
  58 #include <FDM/JSBSim/models/FGAerodynamics.h>
  59 #include <FDM/JSBSim/models/FGLGear.h>
  60 #include <FDM/JSBSim/models/FGGroundReactions.h>
  61 #include <FDM/JSBSim/models/FGPropulsion.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, FGColumnVector3& n,
 101                             FGColumnVector3& v, FGColumnVector3& w) const {
 102     double loc_cart[3] = { l(eX), l(eY), l(eZ) };
 103     double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
 104     mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
 105                            vel, angularVel, &agl);
 106     n = FGColumnVector3( normal[0], normal[1], normal[2] );
 107     v = FGColumnVector3( vel[0], vel[1], vel[2] );
 108     w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
 109     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
 110     return agl;
 111   }
 112 private:
 113   FGJSBsim* mInterface;
 114 };
 115
 116 /******************************************************************************/
 117
 118 FGJSBsim::FGJSBsim( double dt )
 119   : FGInterface(dt), got_wire(false)
 120 {
 121     bool result;
 122                                 // Set up the debugging level
 123                                 // FIXME: this will not respond to
 124                                 // runtime changes
 125
 126                                 // if flight is excluded, don't bother
 127     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
 128
 129                                 // do a rough-and-ready mapping to
 130                                 // the levels documented in FGFDMExec.h
 131         switch (logbuf::get_log_priority()) {
 132         case SG_BULK:
 133             FGJSBBase::debug_lvl = 0x1f;
 134             break;
 135         case SG_DEBUG:
 136             FGJSBBase::debug_lvl = 0x0f;
 137         case SG_INFO:
 138             FGJSBBase::debug_lvl = 0x01;
 139             break;
 140         case SG_WARN:
 141         case SG_ALERT:
 142             FGJSBBase::debug_lvl = 0x00;
 143             break;
 144         }
 145     }
 146
 147     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 148
 149     // Register ground callback.
 150     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
 151
 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 // deprecate sim-time-sec for simulation/sim-time-sec
 175 // remove alias with increased configuration file version number (2.1 or later)
 176     SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
 177     fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
 178 // end of sim-time-sec deprecation patch
 179
 180     fdmex->Setdt( dt );
 181
 182     result = fdmex->LoadModel( aircraft_path.str(),
 183                                engine_path.str(),
 184                                systems_path.str(),
 185                                fgGetString("/sim/aero"), false );
 186
 187     if (result) {
 188       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 189     } else {
 190       SG_LOG( SG_FLIGHT, SG_INFO,
 191               "  aero does not exist (you may have mis-typed the name).");
 192       throw(-1);
 193     }
 194
 195     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 196     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 197     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 198
 199     int Neng = Propulsion->GetNumEngines();
 200     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 201
 202     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 203         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 204                 << GroundReactions->GetNumGearUnits() );
 205         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 206         SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 207         SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 208         exit(-1);
 209     }
 210
 211     init_gear();
 212
 213     // Set initial fuel levels if provided.
 214     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 215       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 216       if (node->getChild("level-gal_us", 0, false) != 0) {
 217         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 218       } else {
 219         node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
 220         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 221       }
 222       node->setDoubleValue("capacity-gal_us",
 223                            Propulsion->GetTank(i)->GetCapacity() / 6.6);
 224     }
 225     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 226
 227     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 228     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 229     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 230     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 231
 232     startup_trim = fgGetNode("/sim/presets/trim", true);
 233
 234     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 235     trimmed->setBoolValue(false);
 236
 237     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 238     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 239     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 240     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 241
 242     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 243     stall_warning->setDoubleValue(0);
 244
 245
 246     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 247     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 248     left_aileron_pos_pct
 249         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 250     right_aileron_pos_pct
 251         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 252     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 253     speedbrake_pos_pct
 254         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 255     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 256     tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
 257     wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
 258
 259     elevator_pos_pct->setDoubleValue(0);
 260     left_aileron_pos_pct->setDoubleValue(0);
 261     right_aileron_pos_pct->setDoubleValue(0);
 262     rudder_pos_pct->setDoubleValue(0);
 263     flap_pos_pct->setDoubleValue(0);
 264     speedbrake_pos_pct->setDoubleValue(0);
 265     spoilers_pos_pct->setDoubleValue(0);
 266
 267     ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
 268     ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
 269     ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
 270
 271     temperature = fgGetNode("/environment/temperature-degc",true);
 272     pressure = fgGetNode("/environment/pressure-inhg",true);
 273     density = fgGetNode("/environment/density-slugft3",true);
 274     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 275     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 276
 277     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 278     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 279     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 280
 281     slaved = fgGetNode("/sim/slaved/enabled", true);
 282
 283     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 284       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 285       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 286                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 287     }
 288
 289     hook_root_struct = FGColumnVector3(
 290         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
 291         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
 292         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
 293
 294     crashed = false;
 295 }
 296
 297 /******************************************************************************/
 298 FGJSBsim::~FGJSBsim(void)
 299 {
 300   delete fdmex;
 301
 302   SGPropertyNode_ptr jsbsimRoot = fgGetNode("/fdm/jsbsim");
 303   if (jsbsimRoot) {
 304     SGPropertyNode* fdm = jsbsimRoot->getParent();
 305     fdm->removeChild("jsbsim", 0, false);
 306   }
 307   // properties are deleted when the sharedPtr above goes away
 308 }
 309
 310 /******************************************************************************/
 311
 312 // Initialize the JSBsim flight model, dt is the time increment for
 313 // each subsequent iteration through the EOM
 314
 315 void FGJSBsim::init()
 316 {
 317     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 318
 319     // Explicitly call the superclass's
 320     // init method first.
 321
 322     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 323       Atmosphere->UseExternal();
 324       Atmosphere->SetExTemperature(
 325                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 326       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 327       Atmosphere->SetExDensity(density->getDoubleValue());
 328       Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
 329       Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
 330       Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
 331
 332     } else {
 333       Atmosphere->UseInternal();
 334     }
 335
 336     fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
 337     fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
 338     fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
 339
 340     //Atmosphere->SetExTemperature(get_Static_temperature());
 341     //Atmosphere->SetExPressure(get_Static_pressure());
 342     //Atmosphere->SetExDensity(get_Density());
 343     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 344      << ", " << fdmex->GetAtmosphere()->GetPressure()
 345      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 346
 347 // deprecate egt_degf for egt-degf to have consistent naming
 348 // TODO: raise log-level to ALERT in summer 2010,
 349 // remove alias in fall 2010,
 350 // remove this code in winter 2010
 351     for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
 352       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 353       SGPropertyNode * egtn = node->getNode( "egt_degf" );
 354       if( egtn != NULL ) {
 355         SG_LOG(SG_FLIGHT,SG_WARN,
 356                "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
 357         node->getNode("egt-degf", true)->alias( egtn );
 358       }
 359     }
 360 // end of egt_degf deprecation patch
 361
 362     if (fgGetBool("/sim/presets/running")) {
 363           for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
 364             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 365             node->setBoolValue("running", true);
 366             Propulsion->GetEngine(i)->SetRunning(true);
 367           }
 368     }
 369
 370     FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
 371
 372     common_init();
 373
 374     copy_to_JSBsim();
 375     fdmex->RunIC();     //loop JSBSim once w/o integrating
 376     copy_from_JSBsim(); //update the bus
 377
 378     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 379
 380     switch(fgic->GetSpeedSet()) {
 381     case setned:
 382         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 383                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
 384                << Propagate->GetVel(FGJSBBase::eEast) << ", "
 385                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
 386     break;
 387     case setuvw:
 388         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 389                << Propagate->GetUVW(1) << ", "
 390                << Propagate->GetUVW(2) << ", "
 391                << Propagate->GetUVW(3) << " ft/s");
 392     break;
 393     case setmach:
 394         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 395                << Auxiliary->GetMach() );
 396     break;
 397     case setvc:
 398     default:
 399         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 400                << Auxiliary->GetVcalibratedKTS() << " knots" );
 401     break;
 402     }
 403
 404     stall_warning->setDoubleValue(0);
 405
 406     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 407             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
 408     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 409             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
 410     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 411             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
 412     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 413             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 414     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 415             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 416     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 417             << Propagate->GetAltitudeASL() << " feet" );
 418     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 419
 420     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 421
 422     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 423
 424     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 425                                   globals->get_controls()->get_gear_down() );
 426 }
 427
 428 /******************************************************************************/
 429
 430 // Run an iteration of the EOM (equations of motion)
 431
 432 void FGJSBsim::update( double dt )
 433 {
 434     if(crashed) {
 435       if(!fgGetBool("/sim/crashed"))
 436         fgSetBool("/sim/crashed", true);
 437       return;
 438     }
 439
 440     if (is_suspended())
 441       return;
 442
 443     int multiloop = _calc_multiloop(dt);
 444
 445     int i;
 446
 447     // Compute the radius of the aircraft. That is the radius of a ball
 448     // where all gear units are in. At the moment it is at least 10ft ...
 449     double acrad = 10.0;
 450     int n_gears = GroundReactions->GetNumGearUnits();
 451     for (i=0; i<n_gears; ++i) {
 452       FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
 453       double r = bl.Magnitude();
 454       if (acrad < r)
 455         acrad = r;
 456     }
 457
 458     // Compute the potential movement of this aircraft and query for the
 459     // ground in this area.
 460     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
 461     double alt, slr, lat, lon;
 462     FGLocation cart = Auxiliary->GetLocationVRP();
 463     if ( needTrim && startup_trim->getBoolValue() ) {
 464       alt = fgic->GetAltitudeASLFtIC();
 465       slr = fgic->GetSeaLevelRadiusFtIC();
 466       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 467       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 468       cart = FGLocation(lon, lat, alt+slr);
 469     }
 470     double cart_pos[3] = { cart(1), cart(2), cart(3) };
 471     double t0 = fdmex->GetSimTime();
 472     bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
 473                                              groundCacheRadius );
 474     if (!cache_ok) {
 475       SG_LOG(SG_FLIGHT, SG_WARN,
 476              "FGInterface is being called without scenery below the aircraft!");
 477
 478       alt = fgic->GetAltitudeASLFtIC();
 479       SG_LOG(SG_FLIGHT, SG_WARN, "altitude         = " << alt);
 480
 481       slr = fgic->GetSeaLevelRadiusFtIC();
 482       SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
 483
 484       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 485       SG_LOG(SG_FLIGHT, SG_WARN, "latitude         = " << lat);
 486
 487       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 488       SG_LOG(SG_FLIGHT, SG_WARN, "longitude        = " << lon);
 489       //return;
 490     }
 491
 492     copy_to_JSBsim();
 493
 494     trimmed->setBoolValue(false);
 495
 496     if ( needTrim ) {
 497       if ( startup_trim->getBoolValue() ) {
 498         double contact[3], d[3], vel[3], agl;
 499         get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
 500                    d, vel, d, &agl);
 501         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
 502              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 503
 504         SG_LOG(SG_FLIGHT, SG_INFO,
 505           "Ready to trim, terrain elevation is: "
 506             << terrain_alt * SG_METER_TO_FEET );
 507
 508         if (fgGetBool("/sim/presets/onground")) {
 509           FGColumnVector3 gndVelNED = cart.GetTec2l()
 510                                     * FGColumnVector3(vel[0], vel[1], vel[2]);
 511           fgic->SetVNorthFpsIC(gndVelNED(1));
 512           fgic->SetVEastFpsIC(gndVelNED(2));
 513           fgic->SetVDownFpsIC(gndVelNED(3));
 514         }
 515         fgic->SetTerrainElevationFtIC( terrain_alt );
 516         do_trim();
 517       } else {
 518         fdmex->RunIC();  //apply any changes made through the set_ functions
 519       }
 520       needTrim = false;
 521     }
 522
 523     for ( i=0; i < multiloop; i++ ) {
 524       fdmex->Run();
 525       update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
 526     }
 527
 528     FGJSBBase::Message* msg;
 529     while (msg = fdmex->ProcessNextMessage()) {
 530 //      msg = fdmex->ProcessNextMessage();
 531       switch (msg->type) {
 532       case FGJSBBase::Message::eText:
 533         if (msg->text == "Crash Detected: Simulation FREEZE.")
 534           crashed = true;
 535         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 536         break;
 537       case FGJSBBase::Message::eBool:
 538         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 539         break;
 540       case FGJSBBase::Message::eInteger:
 541         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 542         break;
 543       case FGJSBBase::Message::eDouble:
 544         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 545         break;
 546       default:
 547         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 548         break;
 549       }
 550     }
 551
 552     // translate JSBsim back to FG structure so that the
 553     // autopilot (and the rest of the sim can use the updated values
 554     copy_from_JSBsim();
 555 }
 556
 557 /******************************************************************************/
 558
 559 // Convert from the FGInterface struct to the JSBsim generic_ struct
 560
 561 bool FGJSBsim::copy_to_JSBsim()
 562 {
 563     double tmp;
 564     unsigned int i;
 565
 566     // copy control positions into the JSBsim structure
 567
 568     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 569     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 570     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 571     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 572     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 573     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 574     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 575     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 576     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 577     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 578
 579         // Parking brake sets minimum braking
 580         // level for mains.
 581     double parking_brake = globals->get_controls()->get_brake_parking();
 582     double left_brake = globals->get_controls()->get_brake_left();
 583     double right_brake = globals->get_controls()->get_brake_right();
 584
 585     if (ab_brake_engaged->getBoolValue()) {
 586       left_brake = ab_brake_left_pct->getDoubleValue();
 587       right_brake = ab_brake_right_pct->getDoubleValue();
 588     }
 589
 590     FCS->SetLBrake(FMAX(left_brake, parking_brake));
 591     FCS->SetRBrake(FMAX(right_brake, parking_brake));
 592
 593
 594     FCS->SetCBrake( 0.0 );
 595     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 596
 597     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 598     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 599       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 600
 601       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 602       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 603       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 604       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
 605
 606       switch (Propulsion->GetEngine(i)->GetType()) {
 607       case FGEngine::etPiston:
 608         { // FGPiston code block
 609         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 610         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 611         break;
 612         } // end FGPiston code block
 613       case FGEngine::etTurbine:
 614         { // FGTurbine code block
 615         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 616         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 617         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 618         //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 619         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 620         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 621         break;
 622         } // end FGTurbine code block
 623       case FGEngine::etRocket:
 624         { // FGRocket code block
 625         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 626         break;
 627         } // end FGRocket code block
 628       case FGEngine::etTurboprop:
 629         { // FGTurboProp code block
 630         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 631         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 632         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 633         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 634
 635         eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
 636         eng->SetCondition( globals->get_controls()->get_condition(i) );
 637         break;
 638         } // end FGTurboProp code block
 639       default:
 640         break;
 641       }
 642
 643       { // FGEngine code block
 644       FGEngine* eng = Propulsion->GetEngine(i);
 645
 646       eng->SetStarter( globals->get_controls()->get_starter(i) );
 647       eng->SetRunning( node->getBoolValue("running") );
 648       } // end FGEngine code block
 649     }
 650
 651
 652     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 653
 654     Atmosphere->SetExTemperature(
 655                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 656     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 657     Atmosphere->SetExDensity(density->getDoubleValue());
 658
 659     tmp = turbulence_gain->getDoubleValue();
 660     //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 661
 662     tmp = turbulence_rate->getDoubleValue();
 663     //Atmosphere->SetTurbRate(tmp);
 664
 665     Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
 666                             -wind_from_east->getDoubleValue(),
 667                             -wind_from_down->getDoubleValue() );
 668 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 669 //                  << get_V_north_airmass() << ", "
 670 //                  << get_V_east_airmass()  << ", "
 671 //                  << get_V_down_airmass() );
 672
 673     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 674       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 675       FGTank * tank = Propulsion->GetTank(i);
 676       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 677 //       tank->SetContents(node->getDoubleValue("level-lbs"));
 678     }
 679
 680     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 681     fdmex->SetChild(slaved->getBoolValue());
 682
 683     return true;
 684 }
 685
 686 /******************************************************************************/
 687
 688 // Convert from the JSBsim generic_ struct to the FGInterface struct
 689
 690 bool FGJSBsim::copy_from_JSBsim()
 691 {
 692     unsigned int i, j;
 693 /*
 694     _set_Inertias( MassBalance->GetMass(),
 695                    MassBalance->GetIxx(),
 696                    MassBalance->GetIyy(),
 697                    MassBalance->GetIzz(),
 698                    MassBalance->GetIxz() );
 699 */
 700     _set_CG_Position( MassBalance->GetXYZcg(1),
 701                       MassBalance->GetXYZcg(2),
 702                       MassBalance->GetXYZcg(3) );
 703
 704     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 705                       Aircraft->GetBodyAccel(2),
 706                       Aircraft->GetBodyAccel(3) );
 707
 708     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 709                             Aircraft->GetNcg(2),
 710                             Aircraft->GetNcg(3) );
 711
 712     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 713                             Auxiliary->GetPilotAccel(2),
 714                             Auxiliary->GetPilotAccel(3) );
 715
 716     _set_Nlf( Aircraft->GetNlf() );
 717
 718     // Velocities
 719
 720     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
 721                            Propagate->GetVel(FGJSBBase::eEast),
 722                            Propagate->GetVel(FGJSBBase::eDown) );
 723
 724     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 725                                Propagate->GetUVW(2),
 726                                Propagate->GetUVW(3) );
 727
 728     // Make the HUD work ...
 729     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
 730                             Propagate->GetVel(FGJSBBase::eEast),
 731                             -Propagate->GetVel(FGJSBBase::eDown) );
 732
 733     _set_V_rel_wind( Auxiliary->GetVt() );
 734
 735     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 736
 737     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 738
 739     _set_V_ground_speed( Auxiliary->GetVground() );
 740
 741     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
 742                      Propagate->GetPQR(FGJSBBase::eQ),
 743                      Propagate->GetPQR(FGJSBBase::eR) );
 744
 745     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
 746                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
 747                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
 748
 749     _set_Mach_number( Auxiliary->GetMach() );
 750
 751     // Positions of Visual Reference Point
 752     FGLocation l = Auxiliary->GetLocationVRP();
 753     _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
 754                                l.GetRadius() - get_Sea_level_radius() );
 755
 756     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 757     {
 758       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
 759       double contact[3], d[3], sd, t;
 760       is_valid_m(&t, d, &sd);
 761       get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
 762       double rwrad
 763         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
 764       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
 765     }
 766
 767     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
 768                        Propagate->GetEuler(FGJSBBase::eTht),
 769                        Propagate->GetEuler(FGJSBBase::ePsi) );
 770
 771     _set_Alpha( Auxiliary->Getalpha() );
 772     _set_Beta( Auxiliary->Getbeta() );
 773
 774
 775     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 776
 777     _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
 778
 779     _set_Climb_Rate( Propagate->Gethdot() );
 780
 781     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 782     for ( i = 1; i <= 3; i++ ) {
 783         for ( j = 1; j <= 3; j++ ) {
 784             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 785         }
 786     }
 787
 788     // Copy the engine values from JSBSim.
 789     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 790       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 791       SGPropertyNode * tnode = node->getChild("thruster", 0, true);
 792       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 793
 794       switch (Propulsion->GetEngine(i)->GetType()) {
 795       case FGEngine::etPiston:
 796         { // FGPiston code block
 797         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 798         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 799         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 800         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 801         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 802         // NOTE: mp-osi is not in ounces per square inch.
 803         // This error is left for reasons of backwards compatibility with
 804         // existing FlightGear sound and instrument configurations.
 805         node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
 806         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 807         node->setDoubleValue("rpm", eng->getRPM());
 808         } // end FGPiston code block
 809         break;
 810       case FGEngine::etRocket:
 811         { // FGRocket code block
 812         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 813         } // end FGRocket code block
 814         break;
 815       case FGEngine::etTurbine:
 816         { // FGTurbine code block
 817         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 818         node->setDoubleValue("n1", eng->GetN1());
 819         node->setDoubleValue("n2", eng->GetN2());
 820         node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
 821         node->setBoolValue("augmentation", eng->GetAugmentation());
 822         node->setBoolValue("water-injection", eng->GetInjection());
 823         node->setBoolValue("ignition", eng->GetIgnition());
 824         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 825         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 826         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 827         node->setBoolValue("reversed", eng->GetReversed());
 828         node->setBoolValue("cutoff", eng->GetCutoff());
 829         node->setDoubleValue("epr", eng->GetEPR());
 830         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 831         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 832         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 833         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 834         } // end FGTurbine code block
 835         break;
 836       case FGEngine::etTurboprop:
 837         { // FGTurboProp code block
 838         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 839         node->setDoubleValue("n1", eng->GetN1());
 840         //node->setDoubleValue("n2", eng->GetN2());
 841         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
 842         node->setBoolValue("ignition", eng->GetIgnition());
 843         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 844         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 845         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 846         node->setBoolValue("reversed", eng->GetReversed());
 847         node->setBoolValue("cutoff", eng->GetCutoff());
 848         node->setBoolValue("starting", eng->GetEngStarting());
 849         node->setBoolValue("generator-power", eng->GetGeneratorPower());
 850         node->setBoolValue("damaged", eng->GetCondition());
 851         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
 852         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 853 //        node->setBoolValue("onfire", eng->GetFire());
 854         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 855         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 856         } // end FGTurboProp code block
 857         break;
 858       case FGEngine::etElectric:
 859         { // FGElectric code block
 860         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 861         node->setDoubleValue("rpm", eng->getRPM());
 862         } // end FGElectric code block
 863         break;
 864       case FGEngine::etUnknown:
 865         break;
 866       }
 867
 868       { // FGEngine code block
 869       FGEngine* eng = Propulsion->GetEngine(i);
 870       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 871       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 872       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 873       node->setBoolValue("running", eng->GetRunning());
 874       node->setBoolValue("starter", eng->GetStarter());
 875       node->setBoolValue("cranking", eng->GetCranking());
 876       globals->get_controls()->set_starter(i, eng->GetStarter() );
 877       } // end FGEngine code block
 878
 879       switch (thruster->GetType()) {
 880       case FGThruster::ttNozzle:
 881         { // FGNozzle code block
 882         FGNozzle* noz = (FGNozzle*)thruster;
 883         } // end FGNozzle code block
 884         break;
 885       case FGThruster::ttPropeller:
 886         { // FGPropeller code block
 887         FGPropeller* prop = (FGPropeller*)thruster;
 888         tnode->setDoubleValue("rpm", thruster->GetRPM());
 889         tnode->setDoubleValue("pitch", prop->GetPitch());
 890         tnode->setDoubleValue("torque", prop->GetTorque());
 891         tnode->setBoolValue("feathered", prop->GetFeather());
 892         } // end FGPropeller code block
 893         break;
 894       case FGThruster::ttRotor:
 895         { // FGRotor code block
 896         FGRotor* rotor = (FGRotor*)thruster;
 897         } // end FGRotor code block
 898         break;
 899       case FGThruster::ttDirect:
 900         { // Direct code block
 901         } // end Direct code block
 902         break;
 903       }
 904
 905     }
 906
 907     // Copy the fuel levels from JSBSim if fuel
 908     // freeze not enabled.
 909     if ( ! Propulsion->GetFuelFreeze() ) {
 910       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 911         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 912         FGTank* tank = Propulsion->GetTank(i);
 913         double contents = tank->GetContents();
 914         double temp = tank->GetTemperature_degC();
 915         node->setDoubleValue("level-gal_us", contents/6.6);
 916         node->setDoubleValue("level-lbs", contents);
 917         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 918       }
 919     }
 920
 921     update_gear();
 922
 923     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 924
 925     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 926     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 927     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 928     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 929     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 930     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 931     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 932     tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
 933     wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
 934
 935     // force a sim crashed if crashed (altitude AGL < 0)
 936     if (get_Altitude_AGL() < -100.0) {
 937          fdmex->SuspendIntegration();
 938          crashed = true;
 939     }
 940
 941     return true;
 942 }
 943
 944
 945 bool FGJSBsim::ToggleDataLogging(void)
 946 {
 947   // ToDo: handle this properly
 948   fdmex->DisableOutput();
 949   return false;
 950 }
 951
 952
 953 bool FGJSBsim::ToggleDataLogging(bool state)
 954 {
 955     if (state) {
 956       fdmex->EnableOutput();
 957       return true;
 958     } else {
 959       fdmex->DisableOutput();
 960       return false;
 961     }
 962 }
 963
 964
 965 //Positions
 966 void FGJSBsim::set_Latitude(double lat)
 967 {
 968     static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
 969     double alt;
 970     double sea_level_radius_meters, lat_geoc;
 971
 972     // In case we're not trimming
 973     FGInterface::set_Latitude(lat);
 974
 975     if ( altitude->getDoubleValue() > -9990 ) {
 976       alt = altitude->getDoubleValue();
 977     } else {
 978       alt = 0.0;
 979     }
 980
 981     update_ic();
 982     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 983     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 984
 985     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 986                       &sea_level_radius_meters, &lat_geoc );
 987     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 988     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 989     fgic->SetLatitudeRadIC( lat_geoc );
 990     needTrim=true;
 991 }
 992
 993
 994 void FGJSBsim::set_Longitude(double lon)
 995 {
 996     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 997
 998     // In case we're not trimming
 999     FGInterface::set_Longitude(lon);
1000
1001     update_ic();
1002     fgic->SetLongitudeRadIC( lon );
1003     needTrim=true;
1004 }
1005
1006 // Sets the altitude above sea level.
1007 void FGJSBsim::set_Altitude(double alt)
1008 {
1009     static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
1010
1011     double sea_level_radius_meters,lat_geoc;
1012
1013     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1014     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
1015
1016     // In case we're not trimming
1017     FGInterface::set_Altitude(alt);
1018
1019     update_ic();
1020     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
1021                   &sea_level_radius_meters, &lat_geoc);
1022     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
1023     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
1024     SG_LOG(SG_FLIGHT, SG_INFO,
1025           "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
1026     fgic->SetLatitudeRadIC( lat_geoc );
1027     fgic->SetAltitudeASLFtIC(alt);
1028     needTrim=true;
1029 }
1030
1031 void FGJSBsim::set_V_calibrated_kts(double vc)
1032 {
1033     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
1034
1035     // In case we're not trimming
1036     FGInterface::set_V_calibrated_kts(vc);
1037
1038     update_ic();
1039     fgic->SetVcalibratedKtsIC(vc);
1040     needTrim=true;
1041 }
1042
1043 void FGJSBsim::set_Mach_number(double mach)
1044 {
1045     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
1046
1047     // In case we're not trimming
1048     FGInterface::set_Mach_number(mach);
1049
1050     update_ic();
1051     fgic->SetMachIC(mach);
1052     needTrim=true;
1053 }
1054
1055 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1056 {
1057     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1058        << north << ", " <<  east << ", " << down );
1059
1060     // In case we're not trimming
1061     FGInterface::set_Velocities_Local(north, east, down);
1062
1063     update_ic();
1064     fgic->SetVNorthFpsIC(north);
1065     fgic->SetVEastFpsIC(east);
1066     fgic->SetVDownFpsIC(down);
1067     needTrim=true;
1068 }
1069
1070 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1071 {
1072     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1073        << u << ", " <<  v << ", " <<  w );
1074
1075     // In case we're not trimming
1076     FGInterface::set_Velocities_Wind_Body(u, v, w);
1077
1078     update_ic();
1079     fgic->SetUBodyFpsIC(u);
1080     fgic->SetVBodyFpsIC(v);
1081     fgic->SetWBodyFpsIC(w);
1082     needTrim=true;
1083 }
1084
1085 //Euler angles
1086 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1087 {
1088     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1089        << phi << ", " << theta << ", " << psi );
1090
1091     // In case we're not trimming
1092     FGInterface::set_Euler_Angles(phi, theta, psi);
1093
1094     update_ic();
1095     fgic->SetThetaRadIC(theta);
1096     fgic->SetPhiRadIC(phi);
1097     fgic->SetPsiRadIC(psi);
1098     needTrim=true;
1099 }
1100
1101 //Flight Path
1102 void FGJSBsim::set_Climb_Rate( double roc)
1103 {
1104     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1105
1106     // In case we're not trimming
1107     FGInterface::set_Climb_Rate(roc);
1108
1109     update_ic();
1110     //since both climb rate and flight path angle are set in the FG
1111     //startup sequence, something is needed to keep one from cancelling
1112     //out the other.
1113     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1114       fgic->SetClimbRateFpsIC(roc);
1115     }
1116     needTrim=true;
1117 }
1118
1119 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1120 {
1121     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1122
1123     update_ic();
1124     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1125       fgic->SetFlightPathAngleRadIC(gamma);
1126     }
1127     needTrim=true;
1128 }
1129
1130 void FGJSBsim::init_gear(void )
1131 {
1132     FGGroundReactions* gr=fdmex->GetGroundReactions();
1133     int Ngear=GroundReactions->GetNumGearUnits();
1134     for (int i=0;i<Ngear;i++) {
1135       FGLGear *gear = gr->GetGearUnit(i);
1136       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1137       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1138       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1139       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1140       node->setBoolValue("wow", gear->GetWOW());
1141       node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1142       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1143       node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1144       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1145       node->setDoubleValue("compression-norm", gear->GetCompLen());
1146       node->setDoubleValue("compression-ft", gear->GetCompLen());
1147       if ( gear->GetSteerable() )
1148         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1149     }
1150 }
1151
1152 void FGJSBsim::update_gear(void)
1153 {
1154     FGGroundReactions* gr=fdmex->GetGroundReactions();
1155     int Ngear=GroundReactions->GetNumGearUnits();
1156     for (int i=0;i<Ngear;i++) {
1157       FGLGear *gear = gr->GetGearUnit(i);
1158       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1159       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1160       node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1161       node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1162       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1163       node->setDoubleValue("compression-norm", gear->GetCompLen());
1164       node->setDoubleValue("compression-ft", gear->GetCompLen());
1165       if ( gear->GetSteerable() )
1166         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1167     }
1168 }
1169
1170 void FGJSBsim::do_trim(void)
1171 {
1172   FGTrim *fgtrim;
1173
1174   if ( fgGetBool("/sim/presets/onground") )
1175   {
1176     fgtrim = new FGTrim(fdmex,tGround);
1177   } else {
1178     fgtrim = new FGTrim(fdmex,tLongitudinal);
1179   }
1180
1181   if ( !fgtrim->DoTrim() ) {
1182     fgtrim->Report();
1183     fgtrim->TrimStats();
1184   } else {
1185     trimmed->setBoolValue(true);
1186   }
1187   delete fgtrim;
1188
1189   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1190   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1191   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1192   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1193
1194   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1195   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1196   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1197   FCS->GetThrottleCmd(0));
1198
1199   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1200   globals->get_controls()->set_rudder( FCS->GetDrCmd());
1201
1202   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1203 }
1204
1205 void FGJSBsim::update_ic(void)
1206 {
1207    if ( !needTrim ) {
1208      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1209      fgic->SetLongitudeRadIC( get_Longitude() );
1210      fgic->SetAltitudeASLFtIC( get_Altitude() );
1211      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1212      fgic->SetThetaRadIC( get_Theta() );
1213      fgic->SetPhiRadIC( get_Phi() );
1214      fgic->SetPsiRadIC( get_Psi() );
1215      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1216    }
1217 }
1218
1219 bool
1220 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1221                      double contact[3], double normal[3], double vel[3],
1222                      double angularVel[3], double *agl)
1223 {
1224    const SGMaterial* material;
1225    simgear::BVHNode::Id id;
1226    if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1227                                 angularVel, material, id))
1228        return false;
1229    SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1230    SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1231    *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1232    return true;
1233 }
1234
1235 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1236 {
1237     return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1238 }
1239
1240 inline static double sqr(double x)
1241 {
1242     return x * x;
1243 }
1244
1245 static double angle_diff(double a, double b)
1246 {
1247     double diff = fabs(a - b);
1248     if (diff > 180) diff = 360 - diff;
1249
1250     return diff;
1251 }
1252
1253 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)
1254 {
1255     FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1256     double dist = dot3(tip, ground_normal_body);
1257     if (fabs(dist + E) < 0.0001) {
1258         sin_fis[*points] = sin_fi_guess;
1259         cos_fis[*points] = cos_fi_guess;
1260         fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1261         (*points)++;
1262     }
1263 }
1264
1265
1266 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)
1267 {
1268     if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1269         double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1270         check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1271         if (fabs(cos_fi_guess) > SG_EPSILON) {
1272             check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1273         }
1274     }
1275 }
1276
1277 void FGJSBsim::update_external_forces(double t_off)
1278 {
1279     const FGMatrix33& Tb2l = Propagate->GetTb2l();
1280     const FGMatrix33& Tl2b = Propagate->GetTl2b();
1281     const FGLocation& Location = Propagate->GetLocation();
1282     const FGMatrix33& Tec2l = Location.GetTec2l();
1283
1284     double hook_area[4][3];
1285
1286     FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1287     FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l *   hook_root_body);
1288     hook_area[1][0] = hook_root(1);
1289     hook_area[1][1] = hook_root(2);
1290     hook_area[1][2] = hook_root(3);
1291
1292     hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1293     double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1294     double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1295     double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1296     double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1297     double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1298
1299     FGColumnVector3 hook_tip_body = hook_root_body;
1300     hook_tip_body(1) -= hook_length * cos_fi;
1301     hook_tip_body(3) += hook_length * sin_fi;
1302
1303     double contact[3];
1304     double ground_normal[3];
1305     double ground_vel[3];
1306     double ground_angular_vel[3];
1307     double root_agl_ft;
1308
1309     if (!got_wire) {
1310         bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1311                               ground_vel, ground_angular_vel, &root_agl_ft);
1312         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1313             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1314             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1315             double D = -dot3(contact_body, ground_normal_body);
1316
1317             // check hook tip agl against same ground plane
1318             double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1319             if (hook_tip_agl_ft < 0) {
1320
1321                 // hook tip: hx - l cos, hy, hz + l sin
1322                 // on ground:  - n0 l cos + n2 l sin + E = 0
1323
1324                 double E = D + dot3(hook_root_body, ground_normal_body);
1325
1326                 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1327                 // and rearrange to get a quadratic with coeffs:
1328                 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1329                 double b = 2 * E * ground_normal_body(3) * hook_length;
1330                 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1331
1332                 double disc = sqr(b) - 4 * a * c;
1333                 if (disc >= 0) {
1334                     double delta = sqrt(disc) / (2 * a);
1335
1336                     // allow 4 solutions for safety, should never happen
1337                     double sin_fis[4];
1338                     double cos_fis[4];
1339                     double fis[4];
1340                     int points = 0;
1341
1342                     double sin_fi_guess = -b / (2 * a) - delta;
1343                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1344                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1345
1346                     if (points == 2) {
1347                         double diff1 = angle_diff(fi, fis[0]);
1348                         double diff2 = angle_diff(fi, fis[1]);
1349                         int point = diff1 < diff2 ? 0 : 1;
1350                         fi = fis[point];
1351                         sin_fi = sin_fis[point];
1352                         cos_fi = cos_fis[point];
1353                         hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1354                         hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1355                     }
1356                 }
1357             }
1358         }
1359     } else {
1360         FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() *  hook_root_body));
1361         double wire_ends_ec[2][3];
1362         double wire_vel_ec[2][3];
1363         get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1364         FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1365         FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1366         FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1367         if (rel_vel.Magnitude() < 3) {
1368             got_wire = false;
1369             release_wire();
1370             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1371         } else {
1372             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;
1373             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;
1374             FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1375             force_plane_normal.Normalize();
1376             cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1377             if (cos_fi < 0) cos_fi = -cos_fi;
1378             sin_fi = sqrt(1 - sqr(cos_fi));
1379             fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1380
1381             fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1382             fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1383             fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1384             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1385         }
1386     }
1387
1388     FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1389
1390     hook_area[0][0] = hook_tip(1);
1391     hook_area[0][1] = hook_tip(2);
1392     hook_area[0][2] = hook_tip(3);
1393
1394     if (!got_wire) {
1395         // The previous positions.
1396         hook_area[2][0] = last_hook_root[0];
1397         hook_area[2][1] = last_hook_root[1];
1398         hook_area[2][2] = last_hook_root[2];
1399         hook_area[3][0] = last_hook_tip[0];
1400         hook_area[3][1] = last_hook_tip[1];
1401         hook_area[3][2] = last_hook_tip[2];
1402
1403         // Check if we caught a wire.
1404         // Returns true if we caught one.
1405         if (caught_wire_ft(t_off, hook_area)) {
1406                 got_wire = true;
1407         }
1408     }
1409
1410     // save actual position as old position ...
1411     last_hook_tip[0] = hook_area[0][0];
1412     last_hook_tip[1] = hook_area[0][1];
1413     last_hook_tip[2] = hook_area[0][2];
1414     last_hook_root[0] = hook_area[1][0];
1415     last_hook_root[1] = hook_area[1][1];
1416     last_hook_root[2] = hook_area[1][2];
1417
1418     fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
1419 }
1420