src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #include <stdio.h>      //      size_t
  31 #ifdef SG_MATH_EXCEPTION_CLASH
  32 #  include <math.h>
  33 #endif
  34
  35 #include STL_STRING
  36
  37 #include <simgear/constants.h>
  38 #include <simgear/debug/logstream.hxx>
  39 #include <simgear/math/sg_geodesy.hxx>
  40 #include <simgear/misc/sg_path.hxx>
  41
  42 #include <FDM/flight.hxx>
  43
  44 #include <Aircraft/aircraft.hxx>
  45 #include <Controls/controls.hxx>
  46 #include <Main/globals.hxx>
  47 #include <Main/fg_props.hxx>
  48
  49 #include <FDM/JSBSim/FGFDMExec.h>
  50 #include <FDM/JSBSim/FGAircraft.h>
  51 #include <FDM/JSBSim/FGFCS.h>
  52 #include <FDM/JSBSim/FGPosition.h>
  53 #include <FDM/JSBSim/FGRotation.h>
  54 #include <FDM/JSBSim/FGState.h>
  55 #include <FDM/JSBSim/FGTranslation.h>
  56 #include <FDM/JSBSim/FGAuxiliary.h>
  57 #include <FDM/JSBSim/FGInitialCondition.h>
  58 #include <FDM/JSBSim/FGTrim.h>
  59 #include <FDM/JSBSim/FGAtmosphere.h>
  60 #include <FDM/JSBSim/FGMassBalance.h>
  61 #include <FDM/JSBSim/FGAerodynamics.h>
  62 #include <FDM/JSBSim/FGLGear.h>
  63 #include <FDM/JSBSim/FGPropertyManager.h>
  64 #include <FDM/JSBSim/FGEngine.h>
  65 #include <FDM/JSBSim/FGRotor.h>
  66 #include "JSBSim.hxx"
  67
  68 static inline double
  69 FMAX (double a, double b)
  70 {
  71   return a > b ? a : b;
  72 }
  73
  74
  75 /******************************************************************************/
  76
  77 FGJSBsim::FGJSBsim( double dt )
  78   : FGInterface(dt)
  79 {
  80     bool result;
  81
  82                                 // Set up the debugging level
  83                                 // FIXME: this will not respond to
  84                                 // runtime changes
  85
  86                                 // if flight is excluded, don't bother
  87     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
  88
  89                                 // do a rough-and-ready mapping to
  90                                 // the levels documented in FGFDMExec.h
  91         switch (logbuf::get_log_priority()) {
  92         case SG_BULK:
  93             FGJSBBase::debug_lvl = 0x1f;
  94             break;
  95         case SG_DEBUG:
  96             FGJSBBase::debug_lvl = 0x0f;
  97         case SG_INFO:
  98             FGJSBBase::debug_lvl = 0x01;
  99             break;
 100         case SG_WARN:
 101         case SG_ALERT:
 102             FGJSBBase::debug_lvl = 0x00;
 103             break;
 104         }
 105     }
 106
 107     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 108
 109     State           = fdmex->GetState();
 110     Atmosphere      = fdmex->GetAtmosphere();
 111     FCS             = fdmex->GetFCS();
 112     MassBalance     = fdmex->GetMassBalance();
 113     Propulsion      = fdmex->GetPropulsion();
 114     Aircraft        = fdmex->GetAircraft();
 115     Translation     = fdmex->GetTranslation();
 116     Rotation        = fdmex->GetRotation();
 117     Position        = fdmex->GetPosition();
 118     Auxiliary       = fdmex->GetAuxiliary();
 119     Aerodynamics    = fdmex->GetAerodynamics();
 120     GroundReactions = fdmex->GetGroundReactions();
 121
 122     fgic=fdmex->GetIC();
 123     needTrim=true;
 124
 125     SGPath aircraft_path( globals->get_fg_root() );
 126     aircraft_path.append( "Aircraft" );
 127
 128     SGPath engine_path( globals->get_fg_root() );
 129     engine_path.append( "Engine" );
 130     State->Setdt( dt );
 131
 132     result = fdmex->LoadModel( aircraft_path.str(),
 133                                engine_path.str(),
 134                                fgGetString("/sim/aero") );
 135
 136     if (result) {
 137       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 138     } else {
 139       SG_LOG( SG_FLIGHT, SG_INFO,
 140               "  aero does not exist (you may have mis-typed the name).");
 141       throw(-1);
 142     }
 143
 144     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 145     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 146     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 147
 148     int Neng = Propulsion->GetNumEngines();
 149     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 150
 151     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 152         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 153                 << GroundReactions->GetNumGearUnits() );
 154         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 155          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 156          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 157          exit(-1);
 158     }
 159
 160
 161     init_gear();
 162
 163     // Set initial fuel levels if provided.
 164     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 165       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 166       if (node->getChild("level-gal_us", 0, false) != 0) {
 167         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 168       } else {
 169         node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
 170         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 171       }
 172     }
 173
 174     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 175     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 176     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 177     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 178
 179     startup_trim = fgGetNode("/sim/presets/trim", true);
 180
 181     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 182     trimmed->setBoolValue(false);
 183
 184     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 185     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 186     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 187     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 188
 189     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 190     stall_warning->setDoubleValue(0);
 191
 192
 193     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 194     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 195     left_aileron_pos_pct
 196         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 197     right_aileron_pos_pct
 198         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 199     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 200     speedbrake_pos_pct
 201         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 202     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 203
 204     elevator_pos_pct->setDoubleValue(0);
 205     left_aileron_pos_pct->setDoubleValue(0);
 206     right_aileron_pos_pct->setDoubleValue(0);
 207     rudder_pos_pct->setDoubleValue(0);
 208     flap_pos_pct->setDoubleValue(0);
 209     speedbrake_pos_pct->setDoubleValue(0);
 210     spoilers_pos_pct->setDoubleValue(0);
 211
 212     temperature = fgGetNode("/environment/temperature-degc",true);
 213     pressure = fgGetNode("/environment/pressure-inhg",true);
 214     density = fgGetNode("/environment/density-slugft3",true);
 215     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 216     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 217
 218     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 219     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 220     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 221
 222     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 223       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 224       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm") /
 225                      Propulsion->GetThruster(i)->GetGearRatio());
 226     }
 227 }
 228
 229 /******************************************************************************/
 230 FGJSBsim::~FGJSBsim(void)
 231 {
 232   delete fdmex;
 233 }
 234
 235 /******************************************************************************/
 236
 237 // Initialize the JSBsim flight model, dt is the time increment for
 238 // each subsequent iteration through the EOM
 239
 240 void FGJSBsim::init()
 241 {
 242     double tmp;
 243
 244     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 245
 246     // Explicitly call the superclass's
 247     // init method first.
 248
 249 #ifdef FG_WEATHERCM
 250     Atmosphere->UseInternal();
 251 #else
 252     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 253       Atmosphere->UseExternal();
 254       Atmosphere->SetExTemperature(
 255                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 256       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 257       Atmosphere->SetExDensity(density->getDoubleValue());
 258
 259       tmp = turbulence_gain->getDoubleValue();
 260       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 261
 262       tmp = turbulence_rate->getDoubleValue();
 263       Atmosphere->SetTurbRate(tmp);
 264
 265     } else {
 266       Atmosphere->UseInternal();
 267     }
 268 #endif
 269
 270     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 271     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 272     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 273
 274     //Atmosphere->SetExTemperature(get_Static_temperature());
 275     //Atmosphere->SetExPressure(get_Static_pressure());
 276     //Atmosphere->SetExDensity(get_Density());
 277     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 278      << ", " << fdmex->GetAtmosphere()->GetPressure()
 279      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 280
 281     common_init();
 282
 283     copy_to_JSBsim();
 284     fdmex->RunIC();     //loop JSBSim once w/o integrating
 285     copy_from_JSBsim(); //update the bus
 286
 287     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 288
 289     switch(fgic->GetSpeedSet()) {
 290     case setned:
 291         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 292                << Position->GetVn() << ", "
 293                << Position->GetVe() << ", "
 294                << Position->GetVd() << " ft/s");
 295     break;
 296     case setuvw:
 297         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 298                << Translation->GetUVW(1) << ", "
 299                << Translation->GetUVW(2) << ", "
 300                << Translation->GetUVW(3) << " ft/s");
 301     break;
 302     case setmach:
 303         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 304                << Translation->GetMach() );
 305     break;
 306     case setvc:
 307     default:
 308         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 309                << Auxiliary->GetVcalibratedKTS() << " knots" );
 310     break;
 311     }
 312
 313     stall_warning->setDoubleValue(0);
 314
 315     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 316             <<  Rotation->Getphi()*RADTODEG << " deg" );
 317     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 318             << Rotation->Gettht()*RADTODEG << " deg" );
 319     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 320             << Rotation->Getpsi()*RADTODEG << " deg" );
 321     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 322             << Position->GetLatitude() << " deg" );
 323     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 324             << Position->GetLongitude() << " deg" );
 325     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 326         << Position->Geth() << " feet" );
 327     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 328
 329     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 330
 331     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 332
 333     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 334                                   globals->get_controls()->get_gear_down() );
 335 }
 336
 337 /******************************************************************************/
 338
 339 // Run an iteration of the EOM (equations of motion)
 340
 341 void FGJSBsim::update( double dt )
 342 {
 343     if (is_suspended())
 344       return;
 345
 346     int multiloop = _calc_multiloop(dt);
 347
 348     int i;
 349
 350     // double save_alt = 0.0;
 351
 352     copy_to_JSBsim();
 353
 354     trimmed->setBoolValue(false);
 355
 356     if ( needTrim ) {
 357       if ( startup_trim->getBoolValue() ) {
 358         SG_LOG(SG_FLIGHT, SG_INFO,
 359           "Ready to trim, terrain altitude is: "
 360             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 361         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 362         do_trim();
 363       } else {
 364         fdmex->RunIC();  //apply any changes made through the set_ functions
 365       }
 366       needTrim = false;
 367     }
 368
 369     for ( i=0; i < multiloop; i++ ) {
 370       fdmex->Run();
 371     }
 372
 373     FGJSBBase::Message* msg;
 374     while (fdmex->ReadMessage()) {
 375       msg = fdmex->ProcessMessage();
 376       switch (msg->type) {
 377       case FGJSBBase::Message::eText:
 378         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 379         break;
 380       case FGJSBBase::Message::eBool:
 381         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 382         break;
 383       case FGJSBBase::Message::eInteger:
 384         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 385         break;
 386       case FGJSBBase::Message::eDouble:
 387         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 388         break;
 389       default:
 390         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 391         break;
 392       }
 393     }
 394
 395     // translate JSBsim back to FG structure so that the
 396     // autopilot (and the rest of the sim can use the updated values
 397     copy_from_JSBsim();
 398 }
 399
 400 /******************************************************************************/
 401
 402 // Convert from the FGInterface struct to the JSBsim generic_ struct
 403
 404 bool FGJSBsim::copy_to_JSBsim()
 405 {
 406     double tmp;
 407     unsigned int i;
 408
 409     // copy control positions into the JSBsim structure
 410
 411     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 412     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 413     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 414     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 415     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 416     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 417     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 418     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 419     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 420
 421         // Parking brake sets minimum braking
 422         // level for mains.
 423     double parking_brake = globals->get_controls()->get_brake_parking();
 424     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 425     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 426     FCS->SetCBrake( 0.0 );
 427     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 428
 429     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 430     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 431       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 432
 433       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 434       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 435       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 436
 437       switch (Propulsion->GetEngine(i)->GetType()) {
 438       case FGEngine::etPiston:
 439         { // FGPiston code block
 440         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 441         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 442         break;
 443         } // end FGPiston code block
 444       case FGEngine::etSimTurbine:
 445         { // FGSimTurbine code block
 446         FGSimTurbine* eng = (FGSimTurbine*)Propulsion->GetEngine(i);
 447         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 448         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 449         eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 450         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 451         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 452         break;
 453         } // end FGSimTurbine code block
 454       case FGEngine::etRocket:
 455         { // FGRocket code block
 456         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 457         break;
 458         } // end FGRocket code block
 459       }
 460
 461       { // FGEngine code block
 462       FGEngine* eng = Propulsion->GetEngine(i);
 463
 464       eng->SetStarter( globals->get_controls()->get_starter(i) );
 465       eng->SetRunning( node->getBoolValue("running") );
 466       } // end FGEngine code block
 467     }
 468
 469     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 470     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 471     Position->SetRunwayRadius( get_Runway_altitude()
 472                                + get_Sea_level_radius() );
 473
 474     Atmosphere->SetExTemperature(
 475                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 476     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 477     Atmosphere->SetExDensity(density->getDoubleValue());
 478
 479     tmp = turbulence_gain->getDoubleValue();
 480     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 481
 482     tmp = turbulence_rate->getDoubleValue();
 483     Atmosphere->SetTurbRate(tmp);
 484
 485     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 486                             wind_from_east->getDoubleValue(),
 487                             wind_from_down->getDoubleValue() );
 488 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 489 //                  << get_V_north_airmass() << ", "
 490 //                  << get_V_east_airmass()  << ", "
 491 //                  << get_V_down_airmass() );
 492
 493     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 494       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 495       FGTank * tank = Propulsion->GetTank(i);
 496       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 497 //       tank->SetContents(node->getDoubleValue("level-lb"));
 498     }
 499
 500     return true;
 501 }
 502
 503 /******************************************************************************/
 504
 505 // Convert from the JSBsim generic_ struct to the FGInterface struct
 506
 507 bool FGJSBsim::copy_from_JSBsim()
 508 {
 509     unsigned int i, j;
 510
 511     _set_Inertias( MassBalance->GetMass(),
 512                    MassBalance->GetIxx(),
 513                    MassBalance->GetIyy(),
 514                    MassBalance->GetIzz(),
 515                    MassBalance->GetIxz() );
 516
 517     _set_CG_Position( MassBalance->GetXYZcg(1),
 518                       MassBalance->GetXYZcg(2),
 519                       MassBalance->GetXYZcg(3) );
 520
 521     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 522                       Aircraft->GetBodyAccel(2),
 523                       Aircraft->GetBodyAccel(3) );
 524
 525     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 526                             Aircraft->GetNcg(2),
 527                             Aircraft->GetNcg(3) );
 528
 529     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 530                             Auxiliary->GetPilotAccel(2),
 531                             Auxiliary->GetPilotAccel(3) );
 532
 533     _set_Nlf( Aircraft->GetNlf() );
 534
 535     // Velocities
 536
 537     _set_Velocities_Local( Position->GetVn(),
 538                            Position->GetVe(),
 539                            Position->GetVd() );
 540
 541     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 542                                Translation->GetUVW(2),
 543                                Translation->GetUVW(3) );
 544
 545     _set_V_rel_wind( Translation->GetVt() );
 546
 547     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 548
 549     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 550
 551     _set_V_ground_speed( Position->GetVground() );
 552
 553     _set_Omega_Body( Rotation->GetPQR(1),
 554                      Rotation->GetPQR(2),
 555                      Rotation->GetPQR(3) );
 556
 557     _set_Euler_Rates( Rotation->GetEulerRates(1),
 558                       Rotation->GetEulerRates(2),
 559                       Rotation->GetEulerRates(3) );
 560
 561     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 562                           Position->GetLongitudeDot(),
 563                           Position->Gethdot() );
 564
 565     _set_Mach_number( Translation->GetMach() );
 566
 567     // Positions
 568     _updateGeocentricPosition( Position->GetLatitude(),
 569              Position->GetLongitude(),
 570              Position->Geth() );
 571
 572     // Positions of Visual Reference Point
 573 /*
 574     _updateGeocentricPosition( Position->GetLatitudeVRP(),
 575              Position->GetLongitudeVRP(),
 576              Position->GethVRP() );
 577 */
 578     _set_Altitude_AGL( Position->GetDistanceAGL() );
 579
 580     _set_Euler_Angles( Rotation->Getphi(),
 581                        Rotation->Gettht(),
 582                        Rotation->Getpsi() );
 583
 584     _set_Alpha( Translation->Getalpha() );
 585     _set_Beta( Translation->Getbeta() );
 586
 587
 588     _set_Gamma_vert_rad( Position->GetGamma() );
 589
 590     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 591
 592     _set_Climb_Rate( Position->Gethdot() );
 593
 594
 595     for ( i = 1; i <= 3; i++ ) {
 596         for ( j = 1; j <= 3; j++ ) {
 597             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 598         }
 599     }
 600
 601     // Copy the engine values from JSBSim.
 602     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 603       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 604       char buf[30];
 605       sprintf(buf, "engines/engine[%d]/thruster", i);
 606       SGPropertyNode * tnode = fgGetNode(buf, true);
 607       FGThruster * thruster = Propulsion->GetThruster(i);
 608
 609       switch (Propulsion->GetEngine(i)->GetType()) {
 610       case FGEngine::etPiston:
 611         { // FGPiston code block
 612         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 613         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 614         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 615         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 616         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 617         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 618         node->setDoubleValue("rpm", eng->getRPM());
 619         } // end FGPiston code block
 620         break;
 621       case FGEngine::etRocket:
 622         { // FGRocket code block
 623         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 624         } // end FGRocket code block
 625         break;
 626       case FGEngine::etSimTurbine:
 627         { // FGSimTurbine code block
 628         FGSimTurbine* eng = (FGSimTurbine*)Propulsion->GetEngine(i);
 629         node->setDoubleValue("N1", eng->GetN1());
 630         node->setDoubleValue("N2", eng->GetN2());
 631         node->setDoubleValue("EGT_degC", eng->GetEGT());
 632         node->setBoolValue("augmentation", eng->GetAugmentation());
 633         node->setBoolValue("water-injection", eng->GetInjection());
 634         node->setBoolValue("ignition", eng->GetIgnition());
 635         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 636         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 637         node->setBoolValue("reversed", eng->GetReversed());
 638         node->setBoolValue("cutoff", eng->GetCutoff());
 639         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 640         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 641         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 642         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 643         } // end FGSimTurbine code block
 644         break;
 645       }
 646
 647       { // FGEngine code block
 648       FGEngine* eng = Propulsion->GetEngine(i);
 649       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 650       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 651       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 652       node->setBoolValue("running", eng->GetRunning());
 653       node->setBoolValue("starter", eng->GetStarter());
 654       node->setBoolValue("cranking", eng->GetCranking());
 655       globals->get_controls()->set_starter(i, eng->GetStarter() );
 656       } // end FGEngine code block
 657
 658       switch (thruster->GetType()) {
 659       case FGThruster::ttNozzle:
 660         { // FGNozzle code block
 661         FGNozzle* noz = (FGNozzle*)thruster;
 662         } // end FGNozzle code block
 663         break;
 664       case FGThruster::ttPropeller:
 665         { // FGPropeller code block
 666         FGPropeller* prop = (FGPropeller*)thruster;
 667         tnode->setDoubleValue("rpm", thruster->GetRPM());
 668         tnode->setDoubleValue("pitch", prop->GetPitch());
 669         tnode->setDoubleValue("torque", prop->GetTorque());
 670         } // end FGPropeller code block
 671         break;
 672       case FGThruster::ttRotor:
 673         { // FGRotor code block
 674         FGRotor* rotor = (FGRotor*)thruster;
 675         } // end FGRotor code block
 676         break;
 677       case FGThruster::ttDirect:
 678         { // Direct code block
 679         } // end Direct code block
 680         break;
 681       }
 682
 683     }
 684
 685     static const SGPropertyNode *fuel_freeze = fgGetNode("/sim/freeze/fuel");
 686
 687     // Copy the fuel levels from JSBSim if fuel
 688     // freeze not enabled.
 689     if ( ! fuel_freeze->getBoolValue() ) {
 690       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 691         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 692         double contents = Propulsion->GetTank(i)->GetContents();
 693         node->setDoubleValue("level-gal_us", contents/6.6);
 694         node->setDoubleValue("level-lb", contents);
 695         // node->setDoubleValue("temperature_degC",
 696       }
 697     }
 698
 699     update_gear();
 700
 701     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 702
 703     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 704     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 705     right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
 706     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 707     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 708     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 709     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 710
 711     return true;
 712 }
 713
 714
 715 bool FGJSBsim::ToggleDataLogging(void)
 716 {
 717     return fdmex->GetOutput()->Toggle();
 718 }
 719
 720
 721 bool FGJSBsim::ToggleDataLogging(bool state)
 722 {
 723     if (state) {
 724       fdmex->GetOutput()->Enable();
 725       return true;
 726     } else {
 727       fdmex->GetOutput()->Disable();
 728       return false;
 729     }
 730 }
 731
 732
 733 //Positions
 734 void FGJSBsim::set_Latitude(double lat)
 735 {
 736     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 737     double alt;
 738     double sea_level_radius_meters, lat_geoc;
 739
 740     // In case we're not trimming
 741     FGInterface::set_Latitude(lat);
 742
 743     if ( altitude->getDoubleValue() > -9990 ) {
 744       alt = altitude->getDoubleValue();
 745     } else {
 746       alt = 0.0;
 747     }
 748
 749     update_ic();
 750     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 751     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 752
 753     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 754                       &sea_level_radius_meters, &lat_geoc );
 755     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 756     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 757     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 758     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 759     fgic->SetLatitudeRadIC( lat_geoc );
 760     needTrim=true;
 761 }
 762
 763
 764 void FGJSBsim::set_Longitude(double lon)
 765 {
 766     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 767
 768     // In case we're not trimming
 769     FGInterface::set_Longitude(lon);
 770
 771     update_ic();
 772     fgic->SetLongitudeRadIC( lon );
 773     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 774     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 775     needTrim=true;
 776 }
 777
 778 void FGJSBsim::set_Altitude(double alt)
 779 {
 780     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 781
 782     double sea_level_radius_meters,lat_geoc;
 783
 784     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 785     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 786
 787     // In case we're not trimming
 788     FGInterface::set_Altitude(alt);
 789
 790     update_ic();
 791     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 792                   &sea_level_radius_meters, &lat_geoc);
 793     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 794     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 795     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 796     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 797     SG_LOG(SG_FLIGHT, SG_INFO,
 798           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 799     fgic->SetLatitudeRadIC( lat_geoc );
 800     fgic->SetAltitudeFtIC(alt);
 801     needTrim=true;
 802 }
 803
 804 void FGJSBsim::set_V_calibrated_kts(double vc)
 805 {
 806     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 807
 808     // In case we're not trimming
 809     FGInterface::set_V_calibrated_kts(vc);
 810
 811     update_ic();
 812     fgic->SetVcalibratedKtsIC(vc);
 813     needTrim=true;
 814 }
 815
 816 void FGJSBsim::set_Mach_number(double mach)
 817 {
 818     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 819
 820     // In case we're not trimming
 821     FGInterface::set_Mach_number(mach);
 822
 823     update_ic();
 824     fgic->SetMachIC(mach);
 825     needTrim=true;
 826 }
 827
 828 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
 829 {
 830     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 831        << north << ", " <<  east << ", " << down );
 832
 833     // In case we're not trimming
 834     FGInterface::set_Velocities_Local(north, east, down);
 835
 836     update_ic();
 837     fgic->SetVnorthFpsIC(north);
 838     fgic->SetVeastFpsIC(east);
 839     fgic->SetVdownFpsIC(down);
 840     needTrim=true;
 841 }
 842
 843 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
 844 {
 845     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 846        << u << ", " <<  v << ", " <<  w );
 847
 848     // In case we're not trimming
 849     FGInterface::set_Velocities_Wind_Body(u, v, w);
 850
 851     update_ic();
 852     fgic->SetUBodyFpsIC(u);
 853     fgic->SetVBodyFpsIC(v);
 854     fgic->SetWBodyFpsIC(w);
 855     needTrim=true;
 856 }
 857
 858 //Euler angles
 859 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
 860 {
 861     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 862        << phi << ", " << theta << ", " << psi );
 863
 864     // In case we're not trimming
 865     FGInterface::set_Euler_Angles(phi, theta, psi);
 866
 867     update_ic();
 868     fgic->SetPitchAngleRadIC(theta);
 869     fgic->SetRollAngleRadIC(phi);
 870     fgic->SetTrueHeadingRadIC(psi);
 871     needTrim=true;
 872 }
 873
 874 //Flight Path
 875 void FGJSBsim::set_Climb_Rate( double roc)
 876 {
 877     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 878
 879     // In case we're not trimming
 880     FGInterface::set_Climb_Rate(roc);
 881
 882     update_ic();
 883     //since both climb rate and flight path angle are set in the FG
 884     //startup sequence, something is needed to keep one from cancelling
 885     //out the other.
 886     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 887       fgic->SetClimbRateFpsIC(roc);
 888     }
 889     needTrim=true;
 890 }
 891
 892 void FGJSBsim::set_Gamma_vert_rad( double gamma)
 893 {
 894     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 895
 896     update_ic();
 897     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 898       fgic->SetFlightPathAngleRadIC(gamma);
 899     }
 900     needTrim=true;
 901 }
 902
 903 void FGJSBsim::init_gear(void )
 904 {
 905     FGGroundReactions* gr=fdmex->GetGroundReactions();
 906     int Ngear=GroundReactions->GetNumGearUnits();
 907     for (int i=0;i<Ngear;i++) {
 908       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 909       node->setDoubleValue("xoffset-in",
 910          gr->GetGearUnit(i)->GetBodyLocation()(1));
 911       node->setDoubleValue("yoffset-in",
 912          gr->GetGearUnit(i)->GetBodyLocation()(2));
 913       node->setDoubleValue("zoffset-in",
 914          gr->GetGearUnit(i)->GetBodyLocation()(3));
 915       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 916       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 917       node->setDoubleValue("position-norm", FCS->GetGearPos());
 918       node->setDoubleValue("tire-pressure-norm", gr->GetGearUnit(i)->GetTirePressure());
 919     }
 920 }
 921
 922 void FGJSBsim::update_gear(void)
 923 {
 924     FGGroundReactions* gr=fdmex->GetGroundReactions();
 925     int Ngear=GroundReactions->GetNumGearUnits();
 926     for (int i=0;i<Ngear;i++) {
 927       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 928       node->getChild("wow", 0, true)->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 929       node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
 930       gr->GetGearUnit(i)->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
 931     }
 932 }
 933
 934 void FGJSBsim::do_trim(void)
 935 {
 936   FGTrim *fgtrim;
 937
 938   if ( fgGetBool("/sim/presets/onground") )
 939   {
 940     fgic->SetVcalibratedKtsIC(0.0);
 941     fgtrim = new FGTrim(fdmex,tGround);
 942   } else {
 943     fgtrim = new FGTrim(fdmex,tLongitudinal);
 944   }
 945
 946   if ( !fgtrim->DoTrim() ) {
 947     fgtrim->Report();
 948     fgtrim->TrimStats();
 949   } else {
 950     trimmed->setBoolValue(true);
 951   }
 952   if (FGJSBBase::debug_lvl > 0)
 953       State->ReportState();
 954
 955   delete fgtrim;
 956
 957   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 958   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 959   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 960   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 961
 962   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 963   globals->get_controls()->set_elevator(FCS->GetDeCmd());
 964   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 965   FCS->GetThrottleCmd(0));
 966
 967   globals->get_controls()->set_aileron(FCS->GetDaCmd());
 968   globals->get_controls()->set_rudder( FCS->GetDrCmd());
 969
 970   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 971 }
 972
 973 void FGJSBsim::update_ic(void)
 974 {
 975    if ( !needTrim ) {
 976      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 977      fgic->SetLongitudeRadIC( get_Longitude() );
 978      fgic->SetAltitudeFtIC( get_Altitude() );
 979      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 980      fgic->SetPitchAngleRadIC( get_Theta() );
 981      fgic->SetRollAngleRadIC( get_Phi() );
 982      fgic->SetTrueHeadingRadIC( get_Psi() );
 983      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 984    }
 985 }
 986