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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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301, 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 #include <simgear/sg_inlines.h>
30
31 #include <stdio.h>    //    size_t
32 #include <string>
33
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>
39
40 #include <FDM/flight.hxx>
41
42 #include <Aircraft/controls.hxx>
43 #include <Main/globals.hxx>
44 #include <Main/fg_props.hxx>
45
46 #include "JSBSim.hxx"
47 #include <FDM/JSBSim/FGFDMExec.h>
48 #include <FDM/JSBSim/FGJSBBase.h>
49 #include <FDM/JSBSim/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>
77
78 using namespace JSBSim;
79
80 static inline double
81 FMAX (double a, double b)
82 {
83   return a > b ? a : b;
84 }
85
86 class FGFSGroundCallback : public FGGroundCallback {
87 public:
88   FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
89   virtual ~FGFSGroundCallback() {}
90
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) };
96     double lat, lon, alt;
97     sgCartToGeod( pt, &lat, &lon, &alt);
98     return alt * SG_METER_TO_FEET;
99   }
100
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] );
113     return agl;
114   }
115
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]);
122   }
123
124   virtual double GetSeaLevelRadius(const FGLocation& l) const {
125     double seaLevelRadius, latGeoc;
126
127     sgGeodToGeoc(l.GetGeodLatitudeRad(), l.GetGeodAltitude(),
128                  &seaLevelRadius, &latGeoc);
129
130     return seaLevelRadius * SG_METER_TO_FEET;
131   }
132
133   virtual void SetTerrainGeoCentRadius(double radius) {}
134   virtual void SetSeaLevelRadius(double radius) {}
135 private:
136   FGJSBsim* mInterface;
137 };
138
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 {
144 public:
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;
150   }
151 };
152
153 /******************************************************************************/
154 std::map<std::string,int> FGJSBsim::TURBULENCE_TYPE_NAMES;
155
156 static FGTurbulenceSeverityTable TurbulenceSeverityTable;
157
158 FGJSBsim::FGJSBsim( double dt )
159   : FGInterface(dt), got_wire(false)
160 {
161     bool result;
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;
168     }
169
170     // Set up the debugging level
171     // FIXME: this will not respond to
172     // runtime changes
173
174                                 // if flight is excluded, don't bother
175     if ((sglog().get_log_classes() & SG_FLIGHT) != 0) {
176
177                                 // do a rough-and-ready mapping to
178                                 // the levels documented in FGFDMExec.h
179         switch (sglog().get_log_priority()) {
180         case SG_BULK:
181             FGJSBBase::debug_lvl = 0x1f;
182             break;
183         case SG_DEBUG:
184             FGJSBBase::debug_lvl = 0x0f;
185         case SG_INFO:
186             FGJSBBase::debug_lvl = 0x01;
187             break;
188         case SG_WARN:
189         case SG_ALERT:
190             FGJSBBase::debug_lvl = 0x00;
191             break;
192         }
193     }
194
195     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
196
197     // Register ground callback.
198     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
199
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();
212
213     fgic=fdmex->GetIC();
214     needTrim=true;
215
216     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
217
218     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
219     engine_path.append( "Engine" );
220
221     SGPath systems_path( fgGetString("/sim/aircraft-dir") );
222     systems_path.append( "Systems" );
223
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
229
230     fdmex->Setdt( dt );
231
232     result = fdmex->LoadModel( aircraft_path.str(),
233                                engine_path.str(),
234                                systems_path.str(),
235                                fgGetString("/sim/aero"), false );
236
237     if (result) {
238       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
239     } else {
240       SG_LOG( SG_FLIGHT, SG_INFO,
241               "  aero does not exist (you may have mis-typed the name).");
242       throw(-1);
243     }
244
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 ..." );
248
249     int Neng = Propulsion->GetNumEngines();
250     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
251
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!");
258         exit(-1);
259     }
260
261     init_gear();
262
263     // Set initial fuel levels if provided.
264     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
265       double d;
266       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
267       FGTank* tank = Propulsion->GetTank(i);
268
269       d = node->getNode( "density-ppg", true )->getDoubleValue();
270       if( d > 0.0 ) {
271         tank->SetDensity( d );
272       } else {
273         node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
274       }
275
276       d = node->getNode( "level-lbs", true )->getDoubleValue();
277       if( d > 0.0 ) {
278         tank->SetContents( d );
279       } else {
280         node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
281       }
282       /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
283       node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
284     }
285     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
286
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());
291
292     startup_trim = fgGetNode("/sim/presets/trim", true);
293
294     trimmed = fgGetNode("/fdm/trim/trimmed", true);
295     trimmed->setBoolValue(false);
296
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 );
301
302     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
303     stall_warning->setDoubleValue(0);
304
305
306     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
307     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
308     left_aileron_pos_pct
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);
313     speedbrake_pos_pct
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);
318
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);
326
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);
330     
331     altitude = fgGetNode("/position/altitude-ft");
332     temperature = fgGetNode("/environment/temperature-degc",true);
333     pressure = fgGetNode("/environment/pressure-inhg",true);
334     pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true);
335     ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true);
336     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
337     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
338     turbulence_model = fgGetNode("/environment/params/jsbsim-turbulence-model",true);
339
340     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
341     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
342     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
343
344     slaved = fgGetNode("/sim/slaved/enabled", true);
345
346     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
347       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
348       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
349                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
350     }
351
352     hook_root_struct = FGColumnVector3(
353         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
354         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
355         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
356     last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
357     last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
358
359     crashed = false;
360 }
361
362 /******************************************************************************/
363 FGJSBsim::~FGJSBsim(void)
364 {
365   delete fdmex;
366 }
367
368 /******************************************************************************/
369
370 // Initialize the JSBsim flight model, dt is the time increment for
371 // each subsequent iteration through the EOM
372
373 void FGJSBsim::init()
374 {
375     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
376
377     // Explicitly call the superclass's
378     // init method first.
379
380     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
381       Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
382       Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
383       // initialize to no turbulence, these values get set in the update loop
384       Winds->SetTurbType(FGWinds::ttNone);
385       Winds->SetTurbGain(0.0);
386       Winds->SetTurbRate(0.0);
387       Winds->SetWindspeed20ft(0.0);
388       Winds->SetProbabilityOfExceedence(0.0);
389     }
390
391     fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(),
392                            -wind_from_east->getDoubleValue(),
393                            -wind_from_down->getDoubleValue() );
394
395     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature()
396      << ", " << Atmosphere->GetPressure()
397      << ", " << Atmosphere->GetDensity() );
398
399     FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
400
401     needTrim = startup_trim->getBoolValue();
402     common_init();
403
404     copy_to_JSBsim();
405     fdmex->RunIC();     //loop JSBSim once w/o integrating
406     if (fgGetBool("/sim/presets/running")) {
407       Propulsion->InitRunning(-1);
408       for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
409         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
410         globals->get_controls()->set_magnetos(i, eng->GetMagnetos());
411         globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i));
412       }
413     }
414
415     if ( needTrim ) {
416       FGLocation cart(fgic->GetLongitudeRadIC(), fgic->GetLatitudeRadIC(),
417                       get_Sea_level_radius() + fgic->GetAltitudeASLFtIC());
418       double cart_pos[3], contact[3], d[3], vel[3], agl;
419       update_ground_cache(cart, cart_pos, 0.01);
420
421       get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
422                  d, vel, d, &agl);
423       double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
424            + contact[2]*contact[2]) - get_Sea_level_radius();
425
426       SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain elevation is: "
427                                  << terrain_alt * SG_METER_TO_FEET );
428
429       if (fgGetBool("/sim/presets/onground")) {
430         FGColumnVector3 gndVelNED = cart.GetTec2l()
431                                   * FGColumnVector3(vel[0], vel[1], vel[2]);
432         fgic->SetVNorthFpsIC(gndVelNED(1));
433         fgic->SetVEastFpsIC(gndVelNED(2));
434         fgic->SetVDownFpsIC(gndVelNED(3));
435       }
436       fgic->SetTerrainElevationFtIC( terrain_alt );
437       do_trim();
438       needTrim = false;
439     }
440
441     copy_from_JSBsim(); //update the bus
442
443     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
444
445     switch(fgic->GetSpeedSet()) {
446     case setned:
447         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
448                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
449                << Propagate->GetVel(FGJSBBase::eEast) << ", "
450                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
451     break;
452     case setuvw:
453         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
454                << Propagate->GetUVW(1) << ", "
455                << Propagate->GetUVW(2) << ", "
456                << Propagate->GetUVW(3) << " ft/s");
457     break;
458     case setmach:
459         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
460                << Auxiliary->GetMach() );
461     break;
462     case setvc:
463     default:
464         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
465                << Auxiliary->GetVcalibratedKTS() << " knots" );
466     break;
467     }
468
469     stall_warning->setDoubleValue(0);
470
471     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
472             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
473     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
474             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
475     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
476             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
477     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
478             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
479     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
480             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
481     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
482             << Propagate->GetAltitudeASL() << " feet" );
483     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
484
485     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
486
487     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
488
489     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
490                                   globals->get_controls()->get_gear_down() );
491 }
492
493 /******************************************************************************/
494
495 void FGJSBsim::unbind()
496 {
497   fdmex->Unbind();
498   FGInterface::unbind();
499 }
500
501 /******************************************************************************/
502
503 // Run an iteration of the EOM (equations of motion)
504
505 void FGJSBsim::update( double dt )
506 {
507     if(crashed) {
508       if(!fgGetBool("/sim/crashed"))
509         fgSetBool("/sim/crashed", true);
510       return;
511     }
512
513     if (is_suspended())
514       return;
515
516     int multiloop = _calc_multiloop(dt);
517     FGLocation cart = Auxiliary->GetLocationVRP();
518     double cart_pos[3];
519
520     update_ground_cache(cart, cart_pos, dt);
521
522     copy_to_JSBsim();
523
524     trimmed->setBoolValue(false);
525
526     for ( int i=0; i < multiloop; i++ ) {
527       fdmex->Run();
528       update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
529     }
530
531     FGJSBBase::Message* msg;
532     while ((msg = fdmex->ProcessNextMessage()) != NULL) {
533 //      msg = fdmex->ProcessNextMessage();
534       switch (msg->type) {
535       case FGJSBBase::Message::eText:
536         if (msg->text == "Crash Detected: Simulation FREEZE.")
537           crashed = true;
538         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
539         break;
540       case FGJSBBase::Message::eBool:
541         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
542         break;
543       case FGJSBBase::Message::eInteger:
544         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
545         break;
546       case FGJSBBase::Message::eDouble:
547         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
548         break;
549       default:
550         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
551         break;
552       }
553     }
554
555     // translate JSBsim back to FG structure so that the
556     // autopilot (and the rest of the sim can use the updated values
557     copy_from_JSBsim();
558 }
559
560 /******************************************************************************/
561
562 void FGJSBsim::suspend()
563 {
564   fdmex->Hold();
565   SGSubsystem::suspend();
566 }
567
568 /******************************************************************************/
569
570 void FGJSBsim::resume()
571 {
572   fdmex->Resume();
573   SGSubsystem::resume();
574 }
575
576 /******************************************************************************/
577
578 // Convert from the FGInterface struct to the JSBsim generic_ struct
579
580 bool FGJSBsim::copy_to_JSBsim()
581 {
582     unsigned int i;
583
584     // copy control positions into the JSBsim structure
585
586     FCS->SetDaCmd( globals->get_controls()->get_aileron());
587     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
588     FCS->SetDeCmd( globals->get_controls()->get_elevator());
589     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
590     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
591     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
592     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
593     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
594     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
595     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
596
597         // Parking brake sets minimum braking
598         // level for mains.
599     double parking_brake = globals->get_controls()->get_brake_parking();
600     double left_brake = globals->get_controls()->get_brake_left();
601     double right_brake = globals->get_controls()->get_brake_right();
602     
603     if (ab_brake_engaged->getBoolValue()) {
604       left_brake = ab_brake_left_pct->getDoubleValue();
605       right_brake = ab_brake_right_pct->getDoubleValue(); 
606     }
607     
608     FCS->SetLBrake(FMAX(left_brake, parking_brake));
609     FCS->SetRBrake(FMAX(right_brake, parking_brake));
610     
611     
612     FCS->SetCBrake( 0.0 );
613     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
614
615     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
616     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
617       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
618
619       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
620       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
621       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
622       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
623
624       switch (Propulsion->GetEngine(i)->GetType()) {
625       case FGEngine::etPiston:
626         { // FGPiston code block
627         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
628         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
629         break;
630         } // end FGPiston code block
631       case FGEngine::etTurbine:
632         { // FGTurbine code block
633         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
634         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
635         eng->SetReverse( globals->get_controls()->get_reverser(i) );
636         //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
637         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
638         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
639         break;
640         } // end FGTurbine code block
641       case FGEngine::etRocket:
642         { // FGRocket code block
643 //        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
644         break;
645         } // end FGRocket code block
646       case FGEngine::etTurboprop:
647         { // FGTurboProp code block
648         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
649         eng->SetReverse( globals->get_controls()->get_reverser(i) );
650         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
651         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
652
653         eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
654         eng->SetCondition( globals->get_controls()->get_condition(i) );
655         break;
656         } // end FGTurboProp code block
657       default:
658         break;
659       }
660
661       { // FGEngine code block
662       FGEngine* eng = Propulsion->GetEngine(i);
663
664       eng->SetStarter( globals->get_controls()->get_starter(i) );
665       eng->SetRunning( node->getBoolValue("running") );
666       } // end FGEngine code block
667     }
668
669     Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
670     Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
671
672     Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]);
673     switch( Winds->GetTurbType() ) {
674         case FGWinds::ttStandard:
675         case FGWinds::ttCulp: {
676             double tmp = turbulence_gain->getDoubleValue();
677             Winds->SetTurbGain(tmp * tmp * 100.0);
678             Winds->SetTurbRate(turbulence_rate->getDoubleValue());
679             break;
680         }
681         case FGWinds::ttMilspec:
682         case FGWinds::ttTustin: {
683             // milspec turbulence: 3=light, 4=moderate, 6=severe turbulence
684             // turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe
685             double tmp = turbulence_gain->getDoubleValue();
686             Winds->SetProbabilityOfExceedence(
687               SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) )
688             );
689             Winds->SetWindspeed20ft(ground_wind->getDoubleValue());
690             break;
691         }
692
693         default:
694             break;
695     }
696
697     Winds->SetWindNED( -wind_from_north->getDoubleValue(),
698                        -wind_from_east->getDoubleValue(),
699                        -wind_from_down->getDoubleValue() );
700 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
701 //                  << get_V_north_airmass() << ", "
702 //                  << get_V_east_airmass()  << ", "
703 //                  << get_V_down_airmass() );
704
705     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
706       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
707       FGTank * tank = Propulsion->GetTank(i);
708       double fuelDensity = node->getDoubleValue("density-ppg");
709
710       if (fuelDensity < 0.1)
711         fuelDensity = 6.0; // Use average fuel value
712
713       tank->SetDensity(fuelDensity);
714       tank->SetContents(node->getDoubleValue("level-lbs"));
715     }
716
717     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
718     fdmex->SetChild(slaved->getBoolValue());
719
720     return true;
721 }
722
723 /******************************************************************************/
724
725 // Convert from the JSBsim generic_ struct to the FGInterface struct
726
727 bool FGJSBsim::copy_from_JSBsim()
728 {
729     unsigned int i, j;
730 /*
731     _set_Inertias( MassBalance->GetMass(),
732                    MassBalance->GetIxx(),
733                    MassBalance->GetIyy(),
734                    MassBalance->GetIzz(),
735                    MassBalance->GetIxz() );
736 */
737     _set_CG_Position( MassBalance->GetXYZcg(1),
738                       MassBalance->GetXYZcg(2),
739                       MassBalance->GetXYZcg(3) );
740
741     _set_Accels_Body( Accelerations->GetBodyAccel(1),
742                       Accelerations->GetBodyAccel(2),
743                       Accelerations->GetBodyAccel(3) );
744
745     _set_Accels_CG_Body_N ( Auxiliary->GetNcg(1),
746                             Auxiliary->GetNcg(2),
747                             Auxiliary->GetNcg(3) );
748
749     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
750                             Auxiliary->GetPilotAccel(2),
751                             Auxiliary->GetPilotAccel(3) );
752
753     _set_Nlf( Auxiliary->GetNlf() );
754
755     // Velocities
756
757     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
758                            Propagate->GetVel(FGJSBBase::eEast),
759                            Propagate->GetVel(FGJSBBase::eDown) );
760
761     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
762                                Propagate->GetUVW(2),
763                                Propagate->GetUVW(3) );
764
765     // Make the HUD work ...
766     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
767                             Propagate->GetVel(FGJSBBase::eEast),
768                             -Propagate->GetVel(FGJSBBase::eDown) );
769
770     _set_V_rel_wind( Auxiliary->GetVt() );
771
772     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
773
774     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
775
776     _set_V_ground_speed( Auxiliary->GetVground() );
777
778     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
779                      Propagate->GetPQR(FGJSBBase::eQ),
780                      Propagate->GetPQR(FGJSBBase::eR) );
781
782     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
783                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
784                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
785
786     _set_Mach_number( Auxiliary->GetMach() );
787
788     // Positions of Visual Reference Point
789     FGLocation l = Auxiliary->GetLocationVRP();
790     _updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(),
791                                        l.GetRadius() ));
792
793     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
794     {
795       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
796       double contact[3], d[3], sd, t;
797       is_valid_m(&t, d, &sd);
798       get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
799       double rwrad
800         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
801       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
802     }
803
804     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
805                        Propagate->GetEuler(FGJSBBase::eTht),
806                        Propagate->GetEuler(FGJSBBase::ePsi) );
807
808     _set_Alpha( Auxiliary->Getalpha() );
809     _set_Beta( Auxiliary->Getbeta() );
810
811
812     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
813
814     _set_Earth_position_angle( Propagate->GetEarthPositionAngle() );
815
816     _set_Climb_Rate( Propagate->Gethdot() );
817
818     const FGMatrix33& Tl2b = Propagate->GetTl2b();
819     for ( i = 1; i <= 3; i++ ) {
820         for ( j = 1; j <= 3; j++ ) {
821             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
822         }
823     }
824
825     // Copy the engine values from JSBSim.
826     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
827       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
828       SGPropertyNode * tnode = node->getChild("thruster", 0, true);
829       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
830
831       switch (Propulsion->GetEngine(i)->GetType()) {
832       case FGEngine::etPiston:
833         { // FGPiston code block
834         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
835         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
836         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
837         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
838         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
839         // NOTE: mp-osi is not in ounces per square inch.
840         // This error is left for reasons of backwards compatibility with
841         // existing FlightGear sound and instrument configurations.
842         node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
843         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
844         node->setDoubleValue("rpm", eng->getRPM());
845         } // end FGPiston code block
846         break;
847       case FGEngine::etRocket:
848         { // FGRocket code block
849 //        FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
850         } // end FGRocket code block
851         break;
852       case FGEngine::etTurbine:
853         { // FGTurbine code block
854         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
855         node->setDoubleValue("n1", eng->GetN1());
856         node->setDoubleValue("n2", eng->GetN2());
857         node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
858         node->setBoolValue("augmentation", eng->GetAugmentation());
859         node->setBoolValue("water-injection", eng->GetInjection());
860         node->setBoolValue("ignition", eng->GetIgnition() != 0);
861         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
862         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
863         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
864         node->setBoolValue("reversed", eng->GetReversed());
865         node->setBoolValue("cutoff", eng->GetCutoff());
866         node->setDoubleValue("epr", eng->GetEPR());
867         globals->get_controls()->set_reverser(i, eng->GetReversed() );
868         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
869         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
870         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
871         } // end FGTurbine code block
872         break;
873       case FGEngine::etTurboprop:
874         { // FGTurboProp code block
875         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
876         node->setDoubleValue("n1", eng->GetN1());
877         //node->setDoubleValue("n2", eng->GetN2());
878         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
879         node->setBoolValue("ignition", eng->GetIgnition() != 0);
880         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
881         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
882         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
883         node->setBoolValue("reversed", eng->GetReversed());
884         node->setBoolValue("cutoff", eng->GetCutoff());
885         node->setBoolValue("starting", eng->GetEngStarting());
886         node->setBoolValue("generator-power", eng->GetGeneratorPower());
887         node->setBoolValue("damaged", eng->GetCondition() != 0);
888         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
889         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
890 //        node->setBoolValue("onfire", eng->GetFire());
891         globals->get_controls()->set_reverser(i, eng->GetReversed() );
892         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
893         } // end FGTurboProp code block
894         break;
895       case FGEngine::etElectric:
896         { // FGElectric code block
897         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
898         node->setDoubleValue("rpm", eng->getRPM());
899         } // end FGElectric code block
900         break;
901       case FGEngine::etUnknown:
902         break;
903       }
904
905       { // FGEngine code block
906       FGEngine* eng = Propulsion->GetEngine(i);
907       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
908       node->setDoubleValue("thrust_lb", thruster->GetThrust());
909       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
910       node->setBoolValue("running", eng->GetRunning());
911       node->setBoolValue("starter", eng->GetStarter());
912       node->setBoolValue("cranking", eng->GetCranking());
913       globals->get_controls()->set_starter(i, eng->GetStarter() );
914       } // end FGEngine code block
915
916       switch (thruster->GetType()) {
917       case FGThruster::ttNozzle:
918         { // FGNozzle code block
919 //        FGNozzle* noz = (FGNozzle*)thruster;
920         } // end FGNozzle code block
921         break;
922       case FGThruster::ttPropeller:
923         { // FGPropeller code block
924         FGPropeller* prop = (FGPropeller*)thruster;
925         tnode->setDoubleValue("rpm", thruster->GetRPM());
926         tnode->setDoubleValue("pitch", prop->GetPitch());
927         tnode->setDoubleValue("torque", prop->GetTorque());
928         tnode->setBoolValue("feathered", prop->GetFeather());
929         } // end FGPropeller code block
930         break;
931       case FGThruster::ttRotor:
932         { // FGRotor code block
933 //        FGRotor* rotor = (FGRotor*)thruster;
934         } // end FGRotor code block
935         break;
936       case FGThruster::ttDirect:
937         { // Direct code block
938         } // end Direct code block
939         break;
940       }
941
942     }
943
944     // Copy the fuel levels from JSBSim if fuel
945     // freeze not enabled.
946     if ( ! Propulsion->GetFuelFreeze() ) {
947       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
948         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
949         FGTank* tank = Propulsion->GetTank(i);
950         double contents = tank->GetContents();
951         double temp = tank->GetTemperature_degC();
952         double fuelDensity = tank->GetDensity();
953
954         if (fuelDensity < 0.1)
955           fuelDensity = 6.0; // Use average fuel value
956
957         node->setDoubleValue("density-ppg" , fuelDensity);
958         node->setDoubleValue("level-lbs", contents);
959         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
960       }
961     }
962
963     update_gear();
964
965     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
966
967     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
968     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
969     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
970     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
971     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
972     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
973     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
974     tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
975     wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
976
977     // force a sim crashed if crashed (altitude AGL < 0)
978     if (get_Altitude_AGL() < -100.0) {
979          fdmex->SuspendIntegration();
980          crashed = true;
981     }
982
983     return true;
984 }
985
986
987 bool FGJSBsim::ToggleDataLogging(void)
988 {
989   // ToDo: handle this properly
990   fdmex->DisableOutput();
991   return false;
992 }
993
994
995 bool FGJSBsim::ToggleDataLogging(bool state)
996 {
997     if (state) {
998       fdmex->EnableOutput();
999       return true;
1000     } else {
1001       fdmex->DisableOutput();
1002       return false;
1003     }
1004 }
1005
1006
1007 //Positions
1008 void FGJSBsim::set_Latitude(double lat)
1009 {
1010   double alt = altitude->getDoubleValue();
1011   double sea_level_radius_meters, lat_geoc;
1012
1013   if ( alt < -9990 ) alt = 0.0;
1014
1015   SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
1016   SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
1017
1018   sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
1019                     &sea_level_radius_meters, &lat_geoc );
1020
1021   double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET;
1022   _set_Sea_level_radius( sea_level_radius_ft );
1023
1024   if (needTrim) {
1025     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_ft );
1026     fgic->SetLatitudeRadIC( lat_geoc );
1027   }
1028   else
1029     Propagate->SetLatitude(lat_geoc);
1030
1031   FGInterface::set_Latitude(lat);
1032 }
1033
1034
1035 void FGJSBsim::set_Longitude(double lon)
1036 {
1037   SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
1038
1039   if (needTrim)
1040     fgic->SetLongitudeRadIC(lon);
1041   else
1042     Propagate->SetLongitude(lon);
1043
1044   FGInterface::set_Longitude(lon);
1045 }
1046
1047 // Sets the altitude above sea level.
1048 void FGJSBsim::set_Altitude(double alt)
1049 {
1050   SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1051
1052   if (needTrim)
1053     fgic->SetAltitudeASLFtIC(alt);
1054   else
1055     Propagate->SetAltitudeASL(alt);
1056
1057   FGInterface::set_Altitude(alt);
1058 }
1059
1060 void FGJSBsim::set_V_calibrated_kts(double vc)
1061 {
1062     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
1063
1064   if (needTrim)
1065     fgic->SetVcalibratedKtsIC(vc);
1066   else {
1067     double p=pressure->getDoubleValue();
1068     double psl=fdmex->GetAtmosphere()->GetPressureSL();
1069     double rhosl=fdmex->GetAtmosphere()->GetDensitySL();
1070     double mach = FGJSBBase::MachFromVcalibrated(vc, p, psl, rhosl);
1071     double temp = 1.8*(temperature->getDoubleValue()+273.15);
1072     double soundSpeed = sqrt(1.4*1716.0*temp);
1073     FGColumnVector3 vUVW = Propagate->GetUVW();
1074     vUVW.Normalize();
1075     vUVW *= mach * soundSpeed;
1076     Propagate->SetUVW(1, vUVW(1));
1077     Propagate->SetUVW(2, vUVW(2));
1078     Propagate->SetUVW(3, vUVW(3));
1079   }
1080
1081   FGInterface::set_V_calibrated_kts(vc);
1082 }
1083
1084 void FGJSBsim::set_Mach_number(double mach)
1085 {
1086   SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
1087
1088   if (needTrim)
1089     fgic->SetMachIC(mach);
1090   else {
1091     double temp = 1.8*(temperature->getDoubleValue()+273.15);
1092     double soundSpeed = sqrt(1.4*1716.0*temp);
1093     FGColumnVector3 vUVW = Propagate->GetUVW();
1094     vUVW.Normalize();
1095     vUVW *= mach * soundSpeed;
1096     Propagate->SetUVW(1, vUVW(1));
1097     Propagate->SetUVW(2, vUVW(2));
1098     Propagate->SetUVW(3, vUVW(3));
1099   }
1100
1101   FGInterface::set_Mach_number(mach);
1102 }
1103
1104 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1105 {
1106   SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1107      << north << ", " <<  east << ", " << down );
1108
1109   if (needTrim) {
1110     fgic->SetVNorthFpsIC(north);
1111     fgic->SetVEastFpsIC(east);
1112     fgic->SetVDownFpsIC(down);
1113   }
1114   else {
1115     FGColumnVector3 vNED(north, east, down);
1116     FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1117     Propagate->SetUVW(1, vUVW(1));
1118     Propagate->SetUVW(2, vUVW(2));
1119     Propagate->SetUVW(3, vUVW(3));
1120   }
1121
1122   FGInterface::set_Velocities_Local(north, east, down);
1123 }
1124
1125 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1126 {
1127   SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1128      << u << ", " <<  v << ", " <<  w );
1129
1130   if (needTrim) {
1131     fgic->SetUBodyFpsIC(u);
1132     fgic->SetVBodyFpsIC(v);
1133     fgic->SetWBodyFpsIC(w);
1134   }
1135   else {
1136     Propagate->SetUVW(1, u);
1137     Propagate->SetUVW(2, v);
1138     Propagate->SetUVW(3, w);
1139   }
1140
1141   FGInterface::set_Velocities_Wind_Body(u, v, w);
1142 }
1143
1144 //Euler angles
1145 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1146 {
1147   SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1148      << phi << ", " << theta << ", " << psi );
1149
1150   if (needTrim) {
1151     fgic->SetThetaRadIC(theta);
1152     fgic->SetPhiRadIC(phi);
1153     fgic->SetPsiRadIC(psi);
1154   }
1155   else {
1156     FGQuaternion quat(phi, theta, psi);
1157     FGMatrix33 Tl2b = quat.GetT();
1158     FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l();
1159     FGQuaternion Qi = Ti2b.GetQuaternion();
1160     Propagate->SetInertialOrientation(Qi);
1161   }
1162
1163   FGInterface::set_Euler_Angles(phi, theta, psi);
1164 }
1165
1166 //Flight Path
1167 void FGJSBsim::set_Climb_Rate( double roc)
1168 {
1169   SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1170
1171   //since both climb rate and flight path angle are set in the FG
1172   //startup sequence, something is needed to keep one from cancelling
1173   //out the other.
1174   if( fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01 ) {
1175     if (needTrim)
1176       fgic->SetClimbRateFpsIC(roc);
1177     else {
1178       FGColumnVector3 vNED = Propagate->GetVel();
1179       vNED(FGJSBBase::eDown) = -roc;
1180       FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1181       Propagate->SetUVW(1, vUVW(1));
1182       Propagate->SetUVW(2, vUVW(2));
1183       Propagate->SetUVW(3, vUVW(3));
1184     }
1185
1186     FGInterface::set_Climb_Rate(roc);
1187   }
1188 }
1189
1190 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1191 {
1192   SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1193
1194   if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1195     if (needTrim)
1196       fgic->SetFlightPathAngleRadIC(gamma);
1197     else {
1198       FGColumnVector3 vNED = Propagate->GetVel();
1199       double vt = vNED.Magnitude();
1200       vNED(FGJSBBase::eDown) = -vt * sin(gamma);
1201       FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1202       Propagate->SetUVW(1, vUVW(1));
1203       Propagate->SetUVW(2, vUVW(2));
1204       Propagate->SetUVW(3, vUVW(3));
1205     }
1206
1207     FGInterface::set_Gamma_vert_rad(gamma);
1208   }
1209 }
1210
1211 void FGJSBsim::init_gear(void )
1212 {
1213     FGGroundReactions* gr=fdmex->GetGroundReactions();
1214     int Ngear=GroundReactions->GetNumGearUnits();
1215     for (int i=0;i<Ngear;i++) {
1216       FGLGear *gear = gr->GetGearUnit(i);
1217       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1218       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1219       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1220       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1221       node->setBoolValue("wow", gear->GetWOW());
1222       node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1223       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1224       node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1225 //    node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1226       node->setDoubleValue("compression-norm", gear->GetCompLen());
1227       node->setDoubleValue("compression-ft", gear->GetCompLen());
1228       if ( gear->GetSteerable() )
1229         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1230     }
1231 }
1232
1233 void FGJSBsim::update_gear(void)
1234 {
1235     FGGroundReactions* gr=fdmex->GetGroundReactions();
1236     int Ngear=GroundReactions->GetNumGearUnits();
1237     for (int i=0;i<Ngear;i++) {
1238       FGLGear *gear = gr->GetGearUnit(i);
1239       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1240       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1241       node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1242       node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1243 //    gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1244       node->setDoubleValue("compression-norm", gear->GetCompLen());
1245       node->setDoubleValue("compression-ft", gear->GetCompLen());
1246       if ( gear->GetSteerable() )
1247         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1248     }
1249 }
1250
1251 void FGJSBsim::do_trim(void)
1252 {
1253   FGTrim *fgtrim;
1254
1255   if ( fgGetBool("/sim/presets/onground") )
1256   {
1257     fgtrim = new FGTrim(fdmex,tGround);
1258   } else {
1259     fgtrim = new FGTrim(fdmex,tFull);
1260   }
1261
1262   if ( !fgtrim->DoTrim() ) {
1263     fgtrim->Report();
1264     fgtrim->TrimStats();
1265   } else {
1266     trimmed->setBoolValue(true);
1267   }
1268   delete fgtrim;
1269
1270   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1271   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1272   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1273   rudder_trim->setDoubleValue( -FCS->GetDrCmd() );
1274
1275   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1276   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1277   for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
1278     globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
1279
1280   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1281   globals->get_controls()->set_rudder( -FCS->GetDrCmd());
1282
1283   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1284 }
1285
1286 bool FGJSBsim::update_ground_cache(FGLocation cart, double* cart_pos, double dt)
1287 {
1288   // Compute the radius of the aircraft. That is the radius of a ball
1289   // where all gear units are in. At the moment it is at least 10ft ...
1290   double acrad = 10.0;
1291   int n_gears = GroundReactions->GetNumGearUnits();
1292   for (int i=0; i<n_gears; ++i) {
1293     FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
1294     double r = bl.Magnitude();
1295     if (acrad < r)
1296       acrad = r;
1297   }
1298
1299   // Compute the potential movement of this aircraft and query for the
1300   // ground in this area.
1301   double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
1302   cart_pos[0] = cart(1);
1303   cart_pos[1] = cart(2);
1304   cart_pos[2] = cart(3);
1305   double t0 = fdmex->GetSimTime();
1306   bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
1307                                            groundCacheRadius );
1308   if (!cache_ok) {
1309     SG_LOG(SG_FLIGHT, SG_WARN,
1310            "FGInterface is being called without scenery below the aircraft!");
1311
1312     SG_LOG(SG_FLIGHT, SG_WARN, "altitude         = "
1313                       << fgic->GetAltitudeASLFtIC());
1314
1315     SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = "
1316                       << get_Sea_level_radius());
1317
1318     SG_LOG(SG_FLIGHT, SG_WARN, "latitude         = "
1319                       << fgic->GetLatitudeRadIC());
1320
1321     SG_LOG(SG_FLIGHT, SG_WARN, "longitude        = "
1322                       << fgic->GetLongitudeRadIC());
1323   }
1324
1325   return cache_ok;
1326 }
1327
1328 bool
1329 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1330                      double contact[3], double normal[3], double vel[3],
1331                      double angularVel[3], double *agl)
1332 {
1333    const simgear::BVHMaterial* material;
1334    simgear::BVHNode::Id id;
1335    if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1336                                 angularVel, material, id))
1337        return false;
1338    SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1339    SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1340    *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1341    return true;
1342 }
1343
1344 inline static double sqr(double x)
1345 {
1346     return x * x;
1347 }
1348
1349 static double angle_diff(double a, double b)
1350 {
1351     double diff = fabs(a - b);
1352     if (diff > 180) diff = 360 - diff;
1353     
1354     return diff;
1355 }
1356
1357 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)
1358 {
1359     FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1360     double dist = DotProduct(tip, ground_normal_body);
1361     if (fabs(dist + E) < 0.0001) {
1362         sin_fis[*points] = sin_fi_guess;
1363         cos_fis[*points] = cos_fi_guess;
1364         fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1365         (*points)++;
1366     } 
1367 }
1368
1369
1370 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)
1371 {
1372     if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1373         double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1374         check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1375         if (fabs(cos_fi_guess) > SG_EPSILON) {
1376             check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1377         }
1378     }
1379 }
1380
1381 void FGJSBsim::update_external_forces(double t_off)
1382 {
1383     const FGMatrix33& Tb2l = Propagate->GetTb2l();
1384     const FGMatrix33& Tl2b = Propagate->GetTl2b();
1385     const FGLocation& Location = Propagate->GetLocation();
1386     const FGMatrix33& Tec2l = Location.GetTec2l();
1387         
1388     double hook_area[4][3];
1389     
1390     FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1391     FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l *   hook_root_body);
1392     hook_area[1][0] = hook_root(1);
1393     hook_area[1][1] = hook_root(2);
1394     hook_area[1][2] = hook_root(3);
1395     
1396     hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1397     double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1398     double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1399     double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1400     double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1401     double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1402
1403     FGColumnVector3 hook_tip_body = hook_root_body;
1404     hook_tip_body(1) -= hook_length * cos_fi;
1405     hook_tip_body(3) += hook_length * sin_fi;    
1406     
1407     double contact[3];
1408     double ground_normal[3];
1409     double ground_vel[3];
1410     double ground_angular_vel[3];
1411     double root_agl_ft;
1412
1413     if (!got_wire) {
1414         bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1415                               ground_vel, ground_angular_vel, &root_agl_ft);
1416         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1417             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1418             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1419             double D = -DotProduct(contact_body, ground_normal_body);
1420
1421             // check hook tip agl against same ground plane
1422             double hook_tip_agl_ft = DotProduct(hook_tip_body, ground_normal_body) + D;
1423             if (hook_tip_agl_ft < 0) {
1424
1425                 // hook tip: hx - l cos, hy, hz + l sin
1426                 // on ground:  - n0 l cos + n2 l sin + E = 0
1427
1428                 double E = D + DotProduct(hook_root_body, ground_normal_body);
1429
1430                 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1431                 // and rearrange to get a quadratic with coeffs:
1432                 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1433                 double b = 2 * E * ground_normal_body(3) * hook_length;
1434                 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);   
1435
1436                 double disc = sqr(b) - 4 * a * c;
1437                 if (disc >= 0) {
1438                     double delta = sqrt(disc) / (2 * a);
1439                 
1440                     // allow 4 solutions for safety, should never happen
1441                     double sin_fis[4];
1442                     double cos_fis[4];
1443                     double fis[4];
1444                     int points = 0;
1445                 
1446                     double sin_fi_guess = -b / (2 * a) - delta;
1447                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1448                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1449                 
1450                     if (points == 2) {
1451                         double diff1 = angle_diff(fi, fis[0]);
1452                         double diff2 = angle_diff(fi, fis[1]);
1453                         int point = diff1 < diff2 ? 0 : 1;
1454                         fi = fis[point];
1455                         sin_fi = sin_fis[point];
1456                         cos_fi = cos_fis[point];
1457                         hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1458                         hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1459                     }
1460                 }
1461             }
1462         }
1463     } else {
1464         FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() *  hook_root_body));
1465         double wire_ends_ec[2][3];
1466         double wire_vel_ec[2][3];
1467         get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1468         FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1469         FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1470         FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1471         if (rel_vel.Magnitude() < 3) {
1472             got_wire = false;
1473             release_wire();
1474             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1475         } else {
1476             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;
1477             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;
1478             FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1479             force_plane_normal.Normalize();
1480             cos_fi = DotProduct(force_plane_normal, FGColumnVector3(0, 0, 1));
1481             if (cos_fi < 0) cos_fi = -cos_fi;
1482             sin_fi = sqrt(1 - sqr(cos_fi));
1483             fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1484         
1485             fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1486             fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1487             fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1488             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1489         }
1490     }
1491
1492     FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1493
1494     hook_area[0][0] = hook_tip(1);
1495     hook_area[0][1] = hook_tip(2);
1496     hook_area[0][2] = hook_tip(3);
1497
1498     if (!got_wire) {
1499         // The previous positions.
1500         hook_area[2][0] = last_hook_root[0];
1501         hook_area[2][1] = last_hook_root[1];
1502         hook_area[2][2] = last_hook_root[2];
1503         hook_area[3][0] = last_hook_tip[0];
1504         hook_area[3][1] = last_hook_tip[1];
1505         hook_area[3][2] = last_hook_tip[2];
1506
1507         // Check if we caught a wire.
1508         // Returns true if we caught one.
1509         if (caught_wire_ft(t_off, hook_area)) {
1510                 got_wire = true;
1511         }
1512     }
1513     
1514     // save actual position as old position ...
1515     last_hook_tip[0] = hook_area[0][0];
1516     last_hook_tip[1] = hook_area[0][1];
1517     last_hook_tip[2] = hook_area[0][2];
1518     last_hook_root[0] = hook_area[1][0];
1519     last_hook_root[1] = hook_area[1][1];
1520     last_hook_root[2] = hook_area[1][2];
1521     
1522     fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
1523 }
1524