src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #ifdef SG_MATH_EXCEPTION_CLASH
  31 #  include <math.h>
  32 #endif
  33
  34 #include STL_STRING
  35
  36 #include <simgear/constants.h>
  37 #include <simgear/debug/logstream.hxx>
  38 #include <simgear/math/sg_geodesy.hxx>
  39 #include <simgear/misc/sg_path.hxx>
  40
  41 #include <FDM/flight.hxx>
  42
  43 #include <Aircraft/aircraft.hxx>
  44 #include <Controls/controls.hxx>
  45 #include <Main/globals.hxx>
  46 #include <Main/fg_props.hxx>
  47
  48 #include <FDM/JSBSim/FGFDMExec.h>
  49 #include <FDM/JSBSim/FGAircraft.h>
  50 #include <FDM/JSBSim/FGFCS.h>
  51 #include <FDM/JSBSim/FGPosition.h>
  52 #include <FDM/JSBSim/FGRotation.h>
  53 #include <FDM/JSBSim/FGState.h>
  54 #include <FDM/JSBSim/FGTranslation.h>
  55 #include <FDM/JSBSim/FGAuxiliary.h>
  56 #include <FDM/JSBSim/FGInitialCondition.h>
  57 #include <FDM/JSBSim/FGTrim.h>
  58 #include <FDM/JSBSim/FGAtmosphere.h>
  59 #include <FDM/JSBSim/FGMassBalance.h>
  60 #include <FDM/JSBSim/FGAerodynamics.h>
  61 #include <FDM/JSBSim/FGLGear.h>
  62 #include <FDM/JSBSim/FGPropertyManager.h>
  63 #include "JSBSim.hxx"
  64
  65 static inline double
  66 FMAX (double a, double b)
  67 {
  68   return a > b ? a : b;
  69 }
  70
  71
  72 /******************************************************************************/
  73
  74 FGJSBsim::FGJSBsim( double dt )
  75   : FGInterface(dt)
  76 {
  77     bool result;
  78
  79     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
  80
  81     State           = fdmex->GetState();
  82     Atmosphere      = fdmex->GetAtmosphere();
  83     FCS             = fdmex->GetFCS();
  84     MassBalance     = fdmex->GetMassBalance();
  85     Propulsion      = fdmex->GetPropulsion();
  86     Aircraft        = fdmex->GetAircraft();
  87     Translation     = fdmex->GetTranslation();
  88     Rotation        = fdmex->GetRotation();
  89     Position        = fdmex->GetPosition();
  90     Auxiliary       = fdmex->GetAuxiliary();
  91     Aerodynamics    = fdmex->GetAerodynamics();
  92     GroundReactions = fdmex->GetGroundReactions();
  93
  94     fgic=fdmex->GetIC();
  95     needTrim=true;
  96
  97     SGPath aircraft_path( globals->get_fg_root() );
  98     aircraft_path.append( "Aircraft" );
  99
 100     SGPath engine_path( globals->get_fg_root() );
 101     engine_path.append( "Engine" );
 102     State->Setdt( dt );
 103
 104     result = fdmex->LoadModel( aircraft_path.str(),
 105                                engine_path.str(),
 106                                fgGetString("/sim/aero") );
 107
 108     if (result) {
 109       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 110     } else {
 111       SG_LOG( SG_FLIGHT, SG_INFO,
 112               "  aero does not exist (you may have mis-typed the name).");
 113       throw(-1);
 114     }
 115
 116     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 117     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 118     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 119
 120     int Neng = Propulsion->GetNumEngines();
 121     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 122
 123     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 124         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 125                 << GroundReactions->GetNumGearUnits() );
 126         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 127          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 128          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 129          exit(-1);
 130     }
 131
 132
 133     init_gear();
 134
 135                                 // Set initial fuel levels if provided.
 136     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 137       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 138       if (node->getChild("level-gal_us", 0, false) != 0)
 139         Propulsion->GetTank(i)
 140           ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 141     }
 142
 143     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 144     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 145     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 146     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 147
 148     startup_trim = fgGetNode("/sim/presets/trim", true);
 149
 150     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 151     trimmed->setBoolValue(false);
 152
 153     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 154     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 155     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 156     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 157
 158     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 159     stall_warning->setDoubleValue(0);
 160
 161
 162     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 163     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 164     left_aileron_pos_pct
 165         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 166     right_aileron_pos_pct
 167         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 168     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 169
 170
 171
 172     elevator_pos_pct->setDoubleValue(0);
 173     left_aileron_pos_pct->setDoubleValue(0);
 174     right_aileron_pos_pct->setDoubleValue(0);
 175     rudder_pos_pct->setDoubleValue(0);
 176     flap_pos_pct->setDoubleValue(0);
 177
 178     temperature = fgGetNode("/environment/temperature-degc",true);
 179     pressure = fgGetNode("/environment/pressure-inhg",true);
 180     density = fgGetNode("/environment/density-slugft3",true);
 181     turbulence = fgGetNode("environment/turbulence-norm",true);
 182
 183     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 184     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 185     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 186
 187
 188 }
 189 /******************************************************************************/
 190 FGJSBsim::~FGJSBsim(void) {
 191         delete fdmex;
 192 }
 193
 194 /******************************************************************************/
 195
 196 // Initialize the JSBsim flight model, dt is the time increment for
 197 // each subsequent iteration through the EOM
 198
 199 void FGJSBsim::init() {
 200
 201     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 202
 203     // Explicitly call the superclass's
 204     // init method first.
 205
 206 #ifdef FG_WEATHERCM
 207     Atmosphere->UseInternal();
 208 #else
 209     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 210       Atmosphere->UseExternal();
 211       Atmosphere->SetExTemperature(
 212                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 213       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 214       Atmosphere->SetExDensity(density->getDoubleValue());
 215       Atmosphere->SetTurbGain(turbulence->getDoubleValue()*100.0);
 216     } else {
 217       Atmosphere->UseInternal();
 218     }
 219 #endif
 220
 221     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 222     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 223     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 224
 225     //Atmosphere->SetExTemperature(get_Static_temperature());
 226     //Atmosphere->SetExPressure(get_Static_pressure());
 227     //Atmosphere->SetExDensity(get_Density());
 228     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 229      << ", " << fdmex->GetAtmosphere()->GetPressure()
 230      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 231
 232     common_init();
 233     copy_to_JSBsim();
 234
 235
 236     fdmex->RunIC(); //loop JSBSim once w/o integrating
 237     copy_from_JSBsim(); //update the bus
 238
 239     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 240
 241     switch(fgic->GetSpeedSet()) {
 242     case setned:
 243         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 244                << Position->GetVn() << ", "
 245                << Position->GetVe() << ", "
 246                << Position->GetVd() << " ft/s");
 247     break;
 248     case setuvw:
 249         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 250                << Translation->GetUVW(1) << ", "
 251                << Translation->GetUVW(2) << ", "
 252                << Translation->GetUVW(3) << " ft/s");
 253     break;
 254     case setmach:
 255         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 256                << Translation->GetMach() );
 257     break;
 258     case setvc:
 259     default:
 260         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 261                << Auxiliary->GetVcalibratedKTS() << " knots" );
 262     break;
 263     }
 264
 265     stall_warning->setDoubleValue(0);
 266
 267     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 268             <<  Rotation->Getphi()*RADTODEG << " deg" );
 269     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 270             << Rotation->Gettht()*RADTODEG << " deg" );
 271     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 272             << Rotation->Getpsi()*RADTODEG << " deg" );
 273     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 274             << Position->GetLatitude() << " deg" );
 275     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 276             << Position->GetLongitude() << " deg" );
 277     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 278         << Position->Geth() << " feet" );
 279     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 280
 281     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 282
 283     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 284
 285     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 286                                   globals->get_controls()->get_gear_down() );
 287
 288
 289
 290 }
 291
 292 /******************************************************************************/
 293
 294 // Run an iteration of the EOM (equations of motion)
 295
 296 void
 297 FGJSBsim::update( double dt ) {
 298
 299     if (is_suspended())
 300       return;
 301
 302     int multiloop = _calc_multiloop(dt);
 303
 304     int i;
 305
 306     // double save_alt = 0.0;
 307
 308     copy_to_JSBsim();
 309
 310     trimmed->setBoolValue(false);
 311
 312     if ( needTrim ) {
 313       if ( startup_trim->getBoolValue() ) {
 314         SG_LOG(SG_FLIGHT, SG_INFO,
 315           "Ready to trim, terrain altitude is: "
 316             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 317         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 318         do_trim();
 319       } else {
 320         fdmex->RunIC();  //apply any changes made through the set_ functions
 321       }
 322       needTrim = false;
 323     }
 324
 325     for ( i=0; i < multiloop; i++ ) {
 326         fdmex->Run();
 327     }
 328
 329     FGJSBBase::Message* msg;
 330     while (fdmex->ReadMessage()) {
 331       msg = fdmex->ProcessMessage();
 332       switch (msg->type) {
 333       case FGJSBBase::Message::eText:
 334         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 335         break;
 336       case FGJSBBase::Message::eBool:
 337         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 338         break;
 339       case FGJSBBase::Message::eInteger:
 340         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 341         break;
 342       case FGJSBBase::Message::eDouble:
 343         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 344         break;
 345       default:
 346         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 347         break;
 348       }
 349     }
 350
 351     // translate JSBsim back to FG structure so that the
 352     // autopilot (and the rest of the sim can use the updated values
 353     copy_from_JSBsim();
 354 }
 355
 356 /******************************************************************************/
 357
 358 // Convert from the FGInterface struct to the JSBsim generic_ struct
 359
 360 bool FGJSBsim::copy_to_JSBsim() {
 361     unsigned int i;
 362
 363     // copy control positions into the JSBsim structure
 364
 365     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 366     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 367     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 368     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 369     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 370     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 371     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 372     FCS->SetDsbCmd( 0.0 ); //speedbrakes
 373     FCS->SetDspCmd( 0.0 ); //spoilers
 374
 375                                 // Parking brake sets minimum braking
 376                                 // level for mains.
 377     double parking_brake = globals->get_controls()->get_parking_brake();
 378     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
 379     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
 380     FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
 381
 382     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 383     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 384       FGEngine * eng = Propulsion->GetEngine(i);
 385       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 386       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 387       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 388       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 389       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
 390       eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 391       eng->SetStarter( globals->get_controls()->get_starter(i) );
 392     }
 393
 394     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 395     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 396     Position->SetRunwayRadius( get_Runway_altitude()
 397                                + get_Sea_level_radius() );
 398
 399     Atmosphere->SetExTemperature(
 400                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 401     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 402     Atmosphere->SetExDensity(density->getDoubleValue());
 403     Atmosphere->SetTurbGain(turbulence->getDoubleValue()*100.0);
 404
 405     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 406                             wind_from_east->getDoubleValue(),
 407                             wind_from_down->getDoubleValue() );
 408 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 409 //                  << get_V_north_airmass() << ", "
 410 //                  << get_V_east_airmass()  << ", "
 411 //                  << get_V_down_airmass() );
 412
 413     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 414       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 415       FGTank * tank = Propulsion->GetTank(i);
 416       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 417 //       tank->SetContents(node->getDoubleValue("level-lb"));
 418     }
 419
 420     return true;
 421 }
 422
 423 /******************************************************************************/
 424
 425 // Convert from the JSBsim generic_ struct to the FGInterface struct
 426
 427 bool FGJSBsim::copy_from_JSBsim() {
 428     unsigned int i, j;
 429
 430     _set_Inertias( MassBalance->GetMass(),
 431                    MassBalance->GetIxx(),
 432                    MassBalance->GetIyy(),
 433                    MassBalance->GetIzz(),
 434                    MassBalance->GetIxz() );
 435
 436     _set_CG_Position( MassBalance->GetXYZcg(1),
 437                       MassBalance->GetXYZcg(2),
 438                       MassBalance->GetXYZcg(3) );
 439
 440     _set_Accels_Body( Aircraft->GetBodyAccel()(1),
 441                       Aircraft->GetBodyAccel()(2),
 442                       Aircraft->GetBodyAccel()(3) );
 443
 444     //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
 445     //                     Aircraft->GetBodyAccel()(2),
 446     //                     Aircraft->GetBodyAccel()(3) );
 447     //
 448     _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
 449                             Aircraft->GetNcg()(2),
 450                             Aircraft->GetNcg()(3) );
 451
 452     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
 453                             Auxiliary->GetPilotAccel()(2),
 454                             Auxiliary->GetPilotAccel()(3) );
 455
 456    // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
 457    //                           Auxiliary->GetNpilot(2)/32.1739,
 458    //                           Auxiliary->GetNpilot(3)/32.1739 );
 459
 460     _set_Nlf( Aircraft->GetNlf() );
 461
 462     // Velocities
 463
 464     _set_Velocities_Local( Position->GetVn(),
 465                            Position->GetVe(),
 466                            Position->GetVd() );
 467
 468     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 469                                Translation->GetUVW(2),
 470                                Translation->GetUVW(3) );
 471
 472     _set_V_rel_wind( Translation->GetVt() );
 473
 474     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 475
 476     // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
 477
 478     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 479
 480     _set_V_ground_speed( Position->GetVground() );
 481
 482     _set_Omega_Body( Rotation->GetPQR(1),
 483                      Rotation->GetPQR(2),
 484                      Rotation->GetPQR(3) );
 485
 486     _set_Euler_Rates( Rotation->GetEulerRates(1),
 487                       Rotation->GetEulerRates(2),
 488                       Rotation->GetEulerRates(3) );
 489
 490     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 491                           Position->GetLongitudeDot(),
 492                           Position->Gethdot() );
 493
 494     _set_Mach_number( Translation->GetMach() );
 495
 496     // Positions
 497     _updateGeocentricPosition( Position->GetLatitude(),
 498                                Position->GetLongitude(),
 499                                Position->Geth() );
 500
 501     _set_Altitude_AGL( Position->GetDistanceAGL() );
 502
 503     _set_Euler_Angles( Rotation->Getphi(),
 504                        Rotation->Gettht(),
 505                        Rotation->Getpsi() );
 506
 507     _set_Alpha( Translation->Getalpha() );
 508     _set_Beta( Translation->Getbeta() );
 509
 510
 511     _set_Gamma_vert_rad( Position->GetGamma() );
 512     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 513
 514     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 515
 516     _set_Climb_Rate( Position->Gethdot() );
 517
 518
 519     for ( i = 1; i <= 3; i++ ) {
 520         for ( j = 1; j <= 3; j++ ) {
 521             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 522         }
 523     }
 524
 525                                 // Copy the engine values from JSBSim.
 526     for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 527       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 528       FGEngine * eng = Propulsion->GetEngine(i);
 529       FGThruster * thrust = Propulsion->GetThruster(i);
 530
 531       node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 532       node->setDoubleValue("rpm", thrust->GetRPM());
 533       node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 534       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 535       node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 536       node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 537       node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 538       node->setBoolValue("running", eng->GetRunning());
 539       node->setBoolValue("cranking", eng->GetCranking());
 540     }
 541
 542     static const SGPropertyNode *fuel_freeze
 543         = fgGetNode("/sim/freeze/fuel");
 544
 545                                 // Copy the fuel levels from JSBSim if fuel
 546                                 // freeze not enabled.
 547     if ( ! fuel_freeze->getBoolValue() ) {
 548         for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 549             SGPropertyNode * node
 550                 = fgGetNode("/consumables/fuel/tank", i, true);
 551             double contents = Propulsion->GetTank(i)->GetContents();
 552             node->setDoubleValue("level-gal_us", contents/6.6);
 553             // node->setDoubleValue("level-lb", contents);
 554         }
 555     }
 556
 557     update_gear();
 558
 559     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 560
 561     /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
 562     left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
 563     right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
 564     rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
 565     flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
 566
 567
 568     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 569     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 570     right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
 571     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 572     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 573
 574
 575     return true;
 576 }
 577
 578 bool FGJSBsim::ToggleDataLogging(void) {
 579     return fdmex->GetOutput()->Toggle();
 580 }
 581
 582
 583 bool FGJSBsim::ToggleDataLogging(bool state) {
 584     if (state) {
 585       fdmex->GetOutput()->Enable();
 586       return true;
 587     } else {
 588       fdmex->GetOutput()->Disable();
 589       return false;
 590     }
 591 }
 592
 593
 594 //Positions
 595 void FGJSBsim::set_Latitude(double lat) {
 596     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 597     double alt;
 598     double sea_level_radius_meters, lat_geoc;
 599
 600     if ( altitude->getDoubleValue() > -9990 ) {
 601       alt = altitude->getDoubleValue();
 602     } else {
 603       alt = 0.0;
 604     }
 605
 606     update_ic();
 607     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 608     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 609
 610     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 611                       &sea_level_radius_meters, &lat_geoc );
 612     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 613     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 614     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 615     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 616     fgic->SetLatitudeRadIC( lat_geoc );
 617     needTrim=true;
 618 }
 619
 620 void FGJSBsim::set_Longitude(double lon) {
 621
 622     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 623     update_ic();
 624     fgic->SetLongitudeRadIC( lon );
 625     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 626     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 627     needTrim=true;
 628 }
 629
 630 void FGJSBsim::set_Altitude(double alt) {
 631     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 632
 633     double sea_level_radius_meters,lat_geoc;
 634
 635     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 636     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 637
 638     update_ic();
 639     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 640                   &sea_level_radius_meters, &lat_geoc);
 641     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 642     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 643     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 644     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 645     SG_LOG(SG_FLIGHT, SG_INFO,
 646           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 647     fgic->SetLatitudeRadIC( lat_geoc );
 648     fgic->SetAltitudeFtIC(alt);
 649     needTrim=true;
 650 }
 651
 652 void FGJSBsim::set_V_calibrated_kts(double vc) {
 653     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 654
 655     update_ic();
 656     fgic->SetVcalibratedKtsIC(vc);
 657     needTrim=true;
 658 }
 659
 660 void FGJSBsim::set_Mach_number(double mach) {
 661     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 662
 663     update_ic();
 664     fgic->SetMachIC(mach);
 665     needTrim=true;
 666 }
 667
 668 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
 669     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 670        << north << ", " <<  east << ", " << down );
 671
 672     update_ic();
 673     fgic->SetVnorthFpsIC(north);
 674     fgic->SetVeastFpsIC(east);
 675     fgic->SetVdownFpsIC(down);
 676     needTrim=true;
 677 }
 678
 679 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
 680     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 681        << u << ", " <<  v << ", " <<  w );
 682
 683     update_ic();
 684     fgic->SetUBodyFpsIC(u);
 685     fgic->SetVBodyFpsIC(v);
 686     fgic->SetWBodyFpsIC(w);
 687     needTrim=true;
 688 }
 689
 690 //Euler angles
 691 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
 692     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 693        << phi << ", " << theta << ", " << psi );
 694
 695     update_ic();
 696     fgic->SetPitchAngleRadIC(theta);
 697     fgic->SetRollAngleRadIC(phi);
 698     fgic->SetTrueHeadingRadIC(psi);
 699     needTrim=true;
 700 }
 701
 702 //Flight Path
 703 void FGJSBsim::set_Climb_Rate( double roc) {
 704     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 705
 706     update_ic();
 707     //since both climb rate and flight path angle are set in the FG
 708     //startup sequence, something is needed to keep one from cancelling
 709     //out the other.
 710     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 711       fgic->SetClimbRateFpsIC(roc);
 712     }
 713     needTrim=true;
 714 }
 715
 716 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
 717     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 718
 719     update_ic();
 720     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 721       fgic->SetFlightPathAngleRadIC(gamma);
 722     }
 723     needTrim=true;
 724 }
 725
 726 void FGJSBsim::init_gear(void ) {
 727
 728     FGGroundReactions* gr=fdmex->GetGroundReactions();
 729     int Ngear=GroundReactions->GetNumGearUnits();
 730     for (int i=0;i<Ngear;i++) {
 731       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 732       node->setDoubleValue("xoffset-in",
 733                            gr->GetGearUnit(i)->GetBodyLocation()(1));
 734       node->setDoubleValue("yoffset-in",
 735                            gr->GetGearUnit(i)->GetBodyLocation()(2));
 736       node->setDoubleValue("zoffset-in",
 737                            gr->GetGearUnit(i)->GetBodyLocation()(3));
 738       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 739       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 740       node->setDoubleValue("position-norm", FCS->GetGearPos());
 741     }
 742 }
 743
 744 void FGJSBsim::update_gear(void) {
 745
 746     FGGroundReactions* gr=fdmex->GetGroundReactions();
 747     int Ngear=GroundReactions->GetNumGearUnits();
 748     for (int i=0;i<Ngear;i++) {
 749       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 750       node->getChild("wow", 0, true)
 751         ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 752       node->getChild("position-norm", 0, true)
 753         ->setDoubleValue(FCS->GetGearPos());
 754     }
 755 }
 756
 757 void FGJSBsim::do_trim(void) {
 758
 759         FGTrim *fgtrim;
 760         if( fgGetBool("/sim/presets/onground") ) {
 761             fgic->SetVcalibratedKtsIC(0.0);
 762             fgtrim=new FGTrim(fdmex,tGround);
 763         } else {
 764             fgtrim=new FGTrim(fdmex,tLongitudinal);
 765         }
 766         if( !fgtrim->DoTrim() ) {
 767             fgtrim->Report();
 768             fgtrim->TrimStats();
 769         } else {
 770             trimmed->setBoolValue(true);
 771         }
 772         State->ReportState();
 773         delete fgtrim;
 774         pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 775         throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 776         aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 777         rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 778
 779         globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 780         globals->get_controls()->set_elevator(FCS->GetDeCmd());
 781         globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 782                                               FCS->GetThrottleCmd(0));
 783
 784         globals->get_controls()->set_aileron(FCS->GetDaCmd());
 785         globals->get_controls()->set_rudder( FCS->GetDrCmd());
 786
 787         SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 788 }
 789
 790 void FGJSBsim::update_ic(void) {
 791    if( !needTrim ) {
 792      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 793      fgic->SetLongitudeRadIC( get_Longitude() );
 794      fgic->SetAltitudeFtIC( get_Altitude() );
 795      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 796      fgic->SetPitchAngleRadIC( get_Theta() );
 797      fgic->SetRollAngleRadIC( get_Phi() );
 798      fgic->SetTrueHeadingRadIC( get_Psi() );
 799      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 800    }
 801 }
 802