1 // JSBsim.cxx -- interface to the JSBsim flight model
3 // Written by Curtis Olson, started February 1999.
5 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
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.
28 #include <simgear/compiler.h>
30 #include <stdio.h> // size_t
31 #ifdef SG_MATH_EXCEPTION_CLASH
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 #include <simgear/structure/commands.hxx>
43 #include <FDM/flight.hxx>
45 #include <Aircraft/aircraft.hxx>
46 #include <Aircraft/controls.hxx>
47 #include <Main/globals.hxx>
48 #include <Main/fg_props.hxx>
51 #include <FDM/JSBSim/FGFDMExec.h>
52 #include <FDM/JSBSim/FGJSBBase.h>
53 #include <FDM/JSBSim/FGState.h>
54 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
55 #include <FDM/JSBSim/initialization/FGTrim.h>
56 #include <FDM/JSBSim/models/FGModel.h>
57 #include <FDM/JSBSim/models/FGAircraft.h>
58 #include <FDM/JSBSim/models/FGFCS.h>
59 #include <FDM/JSBSim/models/FGPropagate.h>
60 #include <FDM/JSBSim/models/FGAuxiliary.h>
61 #include <FDM/JSBSim/models/FGAtmosphere.h>
62 #include <FDM/JSBSim/models/FGMassBalance.h>
63 #include <FDM/JSBSim/models/FGAerodynamics.h>
64 #include <FDM/JSBSim/models/FGLGear.h>
65 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
66 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
67 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
68 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
69 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
70 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
71 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
72 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
73 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
74 #include <FDM/JSBSim/models/propulsion/FGTank.h>
75 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
76 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
78 using namespace JSBSim;
81 FMAX (double a, double b)
86 class FGFSGroundCallback : public FGGroundCallback {
88 FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {}
89 virtual ~FGFSGroundCallback() {}
91 /** Get the altitude above sea level depenent on the location. */
92 virtual double GetAltitude(const FGLocation& l) const {
93 double pt[3] = { SG_FEET_TO_METER*l(eX),
94 SG_FEET_TO_METER*l(eY),
95 SG_FEET_TO_METER*l(eZ) };
97 sgCartToGeod( pt, &lat, &lon, &alt);
98 return alt * SG_METER_TO_FEET;
101 /** Compute the altitude above ground. */
102 virtual double GetAGLevel(double t, const FGLocation& l,
104 FGColumnVector3& n, FGColumnVector3& v) const {
105 double loc_cart[3] = { l(eX), l(eY), l(eZ) };
106 double contact[3], normal[3], vel[3], lc, ff, agl;
108 mInterface->get_agl_ft(t, loc_cart, contact, normal, vel,
109 &groundtype, &lc, &ff, &agl);
110 n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
111 v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
112 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
116 FGInterface* mInterface;
119 /******************************************************************************/
121 FGJSBsim::FGJSBsim( double dt )
125 // Set up the debugging level
126 // FIXME: this will not respond to
129 // if flight is excluded, don't bother
130 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
132 // do a rough-and-ready mapping to
133 // the levels documented in FGFDMExec.h
134 switch (logbuf::get_log_priority()) {
136 FGJSBBase::debug_lvl = 0x1f;
139 FGJSBBase::debug_lvl = 0x0f;
141 FGJSBBase::debug_lvl = 0x01;
145 FGJSBBase::debug_lvl = 0x00;
150 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
152 // Register ground callback.
153 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
155 State = fdmex->GetState();
156 Atmosphere = fdmex->GetAtmosphere();
157 FCS = fdmex->GetFCS();
158 MassBalance = fdmex->GetMassBalance();
159 Propulsion = fdmex->GetPropulsion();
160 Aircraft = fdmex->GetAircraft();
161 Propagate = fdmex->GetPropagate();
162 Auxiliary = fdmex->GetAuxiliary();
163 Aerodynamics = fdmex->GetAerodynamics();
164 GroundReactions = fdmex->GetGroundReactions();
169 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
171 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
172 engine_path.append( "Engine" );
175 result = fdmex->LoadModel( aircraft_path.str(),
177 fgGetString("/sim/aero"), false );
180 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
182 SG_LOG( SG_FLIGHT, SG_INFO,
183 " aero does not exist (you may have mis-typed the name).");
187 SG_LOG( SG_FLIGHT, SG_INFO, "" );
188 SG_LOG( SG_FLIGHT, SG_INFO, "" );
189 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
191 int Neng = Propulsion->GetNumEngines();
192 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
194 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
195 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
196 << GroundReactions->GetNumGearUnits() );
197 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
198 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
199 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
205 // Set initial fuel levels if provided.
206 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
207 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
208 if (node->getChild("level-gal_us", 0, false) != 0) {
209 Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
211 node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
212 node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
215 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
217 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
218 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
219 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
220 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
222 startup_trim = fgGetNode("/sim/presets/trim", true);
224 trimmed = fgGetNode("/fdm/trim/trimmed", true);
225 trimmed->setBoolValue(false);
227 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
228 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
229 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
230 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
232 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
233 stall_warning->setDoubleValue(0);
236 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
237 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
239 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
240 right_aileron_pos_pct
241 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
242 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
244 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
245 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
247 elevator_pos_pct->setDoubleValue(0);
248 left_aileron_pos_pct->setDoubleValue(0);
249 right_aileron_pos_pct->setDoubleValue(0);
250 rudder_pos_pct->setDoubleValue(0);
251 flap_pos_pct->setDoubleValue(0);
252 speedbrake_pos_pct->setDoubleValue(0);
253 spoilers_pos_pct->setDoubleValue(0);
255 temperature = fgGetNode("/environment/temperature-degc",true);
256 pressure = fgGetNode("/environment/pressure-inhg",true);
257 density = fgGetNode("/environment/density-slugft3",true);
258 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
259 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
261 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
262 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
263 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
265 slaved = fgGetNode("/sim/slaved/enabled", true);
267 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
268 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
269 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
270 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
274 /******************************************************************************/
275 FGJSBsim::~FGJSBsim(void)
280 /******************************************************************************/
282 // Initialize the JSBsim flight model, dt is the time increment for
283 // each subsequent iteration through the EOM
285 void FGJSBsim::init()
289 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
291 // Explicitly call the superclass's
292 // init method first.
294 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
295 Atmosphere->UseExternal();
296 Atmosphere->SetExTemperature(
297 9.0/5.0*(temperature->getDoubleValue()+273.15) );
298 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
299 Atmosphere->SetExDensity(density->getDoubleValue());
301 tmp = turbulence_gain->getDoubleValue();
302 Atmosphere->SetTurbGain(tmp * tmp * 100.0);
304 tmp = turbulence_rate->getDoubleValue();
305 Atmosphere->SetTurbRate(tmp);
308 Atmosphere->UseInternal();
311 fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
312 fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
313 fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
315 //Atmosphere->SetExTemperature(get_Static_temperature());
316 //Atmosphere->SetExPressure(get_Static_pressure());
317 //Atmosphere->SetExDensity(get_Density());
318 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
319 << ", " << fdmex->GetAtmosphere()->GetPressure()
320 << ", " << fdmex->GetAtmosphere()->GetDensity() );
322 if (fgGetBool("/sim/presets/running")) {
323 for (int i=0; i < Propulsion->GetNumEngines(); i++) {
324 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
325 node->setBoolValue("running", true);
326 Propulsion->GetEngine(i)->SetRunning(true);
333 fdmex->RunIC(); //loop JSBSim once w/o integrating
334 copy_from_JSBsim(); //update the bus
336 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
338 switch(fgic->GetSpeedSet()) {
340 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
341 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
342 << Propagate->GetVel(FGJSBBase::eEast) << ", "
343 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
346 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
347 << Propagate->GetUVW(1) << ", "
348 << Propagate->GetUVW(2) << ", "
349 << Propagate->GetUVW(3) << " ft/s");
352 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
353 << Auxiliary->GetMach() );
357 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
358 << Auxiliary->GetVcalibratedKTS() << " knots" );
362 stall_warning->setDoubleValue(0);
364 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
365 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
366 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
367 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
368 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
369 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
370 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
371 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
372 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
373 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
374 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
375 << Propagate->Geth() << " feet" );
376 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
378 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
380 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
382 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
383 globals->get_controls()->get_gear_down() );
386 /******************************************************************************/
388 // Run an iteration of the EOM (equations of motion)
390 void FGJSBsim::update( double dt )
395 int multiloop = _calc_multiloop(dt);
399 // Compute the radius of the aircraft. That is the radius of a ball
400 // where all gear units are in. At the moment it is at least 10ft ...
402 int n_gears = GroundReactions->GetNumGearUnits();
403 for (i=0; i<n_gears; ++i) {
404 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
405 double r = bl.Magnitude();
410 // Compute the potential movement of this aircraft and query for the
411 // ground in this area.
412 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
413 double alt, slr, lat, lon;
414 FGColumnVector3 cart = Auxiliary->GetLocationVRP();
415 if ( needTrim && startup_trim->getBoolValue() ) {
416 alt = fgic->GetAltitudeFtIC();
417 slr = fgic->GetSeaLevelRadiusFtIC();
418 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
419 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
420 cart = FGLocation(lon, lat, alt+slr);
422 double cart_pos[3] = { cart(1), cart(2), cart(3) };
423 bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
426 SG_LOG(SG_FLIGHT, SG_WARN,
427 "FGInterface is being called without scenery below the aircraft!");
428 SG_LOG(SG_FLIGHT, SG_WARN,
429 "altitude = " << alt);
430 SG_LOG(SG_FLIGHT, SG_WARN,
431 "sea level radius = " << slr);
432 SG_LOG(SG_FLIGHT, SG_WARN,
433 "latitude = " << lat);
434 SG_LOG(SG_FLIGHT, SG_WARN,
435 "longitude = " << lon);
441 trimmed->setBoolValue(false);
444 if ( startup_trim->getBoolValue() ) {
445 double contact[3], dummy[3], lc, ff, agl;
447 get_agl_ft(State->Getsim_time(), cart_pos, contact,
448 dummy, dummy, &groundtype, &lc, &ff, &agl);
449 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
450 + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
452 SG_LOG(SG_FLIGHT, SG_INFO,
453 "Ready to trim, terrain altitude is: "
454 << terrain_alt * SG_METER_TO_FEET );
456 fgic->SetTerrainAltitudeFtIC( terrain_alt );
459 fdmex->RunIC(); //apply any changes made through the set_ functions
464 for ( i=0; i < multiloop; i++ ) {
468 FGJSBBase::Message* msg;
469 while (fdmex->SomeMessages()) {
470 msg = fdmex->ProcessMessage();
472 case FGJSBBase::Message::eText:
473 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
475 case FGJSBBase::Message::eBool:
476 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
478 case FGJSBBase::Message::eInteger:
479 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
481 case FGJSBBase::Message::eDouble:
482 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
485 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
490 // translate JSBsim back to FG structure so that the
491 // autopilot (and the rest of the sim can use the updated values
495 /******************************************************************************/
497 // Convert from the FGInterface struct to the JSBsim generic_ struct
499 bool FGJSBsim::copy_to_JSBsim()
504 // copy control positions into the JSBsim structure
506 FCS->SetDaCmd( globals->get_controls()->get_aileron());
507 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
508 FCS->SetDeCmd( globals->get_controls()->get_elevator());
509 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
510 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
511 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
512 // FIXME: make that get_steering work
513 // FCS->SetDsCmd( globals->get_controls()->get_steering()/80.0 );
514 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
515 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
516 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
517 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
519 // Parking brake sets minimum braking
521 double parking_brake = globals->get_controls()->get_brake_parking();
522 FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
523 FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
524 FCS->SetCBrake( 0.0 );
525 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
527 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
528 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
529 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
531 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
532 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
533 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
534 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
536 switch (Propulsion->GetEngine(i)->GetType()) {
537 case FGEngine::etPiston:
538 { // FGPiston code block
539 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
540 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
542 } // end FGPiston code block
543 case FGEngine::etTurbine:
544 { // FGTurbine code block
545 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
546 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
547 eng->SetReverse( globals->get_controls()->get_reverser(i) );
548 eng->SetInjection( globals->get_controls()->get_water_injection(i) );
549 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
550 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
552 } // end FGTurbine code block
553 case FGEngine::etRocket:
554 { // FGRocket code block
555 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
557 } // end FGRocket code block
558 case FGEngine::etTurboprop:
559 { // FGTurboProp code block
560 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
561 eng->SetReverse( globals->get_controls()->get_reverser(i) );
562 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
563 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
565 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
566 eng->SetCondition( globals->get_controls()->get_condition(i) );
568 } // end FGTurboProp code block
571 { // FGEngine code block
572 FGEngine* eng = Propulsion->GetEngine(i);
574 eng->SetStarter( globals->get_controls()->get_starter(i) );
575 eng->SetRunning( node->getBoolValue("running") );
576 } // end FGEngine code block
580 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
582 Atmosphere->SetExTemperature(
583 9.0/5.0*(temperature->getDoubleValue()+273.15) );
584 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
585 Atmosphere->SetExDensity(density->getDoubleValue());
587 tmp = turbulence_gain->getDoubleValue();
588 Atmosphere->SetTurbGain(tmp * tmp * 100.0);
590 tmp = turbulence_rate->getDoubleValue();
591 Atmosphere->SetTurbRate(tmp);
593 Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
594 wind_from_east->getDoubleValue(),
595 wind_from_down->getDoubleValue() );
596 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
597 // << get_V_north_airmass() << ", "
598 // << get_V_east_airmass() << ", "
599 // << get_V_down_airmass() );
601 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
602 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
603 FGTank * tank = Propulsion->GetTank(i);
604 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
605 // tank->SetContents(node->getDoubleValue("level-lb"));
607 SGPropertyNode* node = fgGetNode("/systems/refuel", true);
608 Propulsion->SetRefuel(node->getDoubleValue("contact"));
609 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
610 fdmex->SetSlave(slaved->getBoolValue());
615 /******************************************************************************/
617 // Convert from the JSBsim generic_ struct to the FGInterface struct
619 bool FGJSBsim::copy_from_JSBsim()
623 _set_Inertias( MassBalance->GetMass(),
624 MassBalance->GetIxx(),
625 MassBalance->GetIyy(),
626 MassBalance->GetIzz(),
627 MassBalance->GetIxz() );
629 _set_CG_Position( MassBalance->GetXYZcg(1),
630 MassBalance->GetXYZcg(2),
631 MassBalance->GetXYZcg(3) );
633 _set_Accels_Body( Aircraft->GetBodyAccel(1),
634 Aircraft->GetBodyAccel(2),
635 Aircraft->GetBodyAccel(3) );
637 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
639 Aircraft->GetNcg(3) );
641 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
642 Auxiliary->GetPilotAccel(2),
643 Auxiliary->GetPilotAccel(3) );
645 _set_Nlf( Aircraft->GetNlf() );
649 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
650 Propagate->GetVel(FGJSBBase::eEast),
651 Propagate->GetVel(FGJSBBase::eDown) );
653 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
654 Propagate->GetUVW(2),
655 Propagate->GetUVW(3) );
657 // Make the HUD work ...
658 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
659 Propagate->GetVel(FGJSBBase::eEast),
660 -Propagate->GetVel(FGJSBBase::eDown) );
662 _set_V_rel_wind( Auxiliary->GetVt() );
664 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
666 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
668 _set_V_ground_speed( Auxiliary->GetVground() );
670 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
671 Propagate->GetPQR(FGJSBBase::eQ),
672 Propagate->GetPQR(FGJSBBase::eR) );
674 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
675 Auxiliary->GetEulerRates(FGJSBBase::eTht),
676 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
678 _set_Mach_number( Auxiliary->GetMach() );
680 // Positions of Visual Reference Point
681 FGLocation l = Auxiliary->GetLocationVRP();
682 _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
683 l.GetRadius() - get_Sea_level_radius() );
685 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
687 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
688 double contact[3], d[3], sd, t;
690 is_valid_m(&t, d, &sd);
691 get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd);
693 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
694 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
697 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
698 Propagate->GetEuler(FGJSBBase::eTht),
699 Propagate->GetEuler(FGJSBBase::ePsi) );
701 _set_Alpha( Auxiliary->Getalpha() );
702 _set_Beta( Auxiliary->Getbeta() );
705 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
707 _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
709 _set_Climb_Rate( Propagate->Gethdot() );
711 const FGMatrix33& Tl2b = Propagate->GetTl2b();
712 for ( i = 1; i <= 3; i++ ) {
713 for ( j = 1; j <= 3; j++ ) {
714 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
718 // Copy the engine values from JSBSim.
719 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
720 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
722 sprintf(buf, "engines/engine[%d]/thruster", i);
723 SGPropertyNode * tnode = fgGetNode(buf, true);
724 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
726 switch (Propulsion->GetEngine(i)->GetType()) {
727 case FGEngine::etPiston:
728 { // FGPiston code block
729 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
730 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
731 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
732 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
733 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
734 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
735 node->setDoubleValue("rpm", eng->getRPM());
736 } // end FGPiston code block
738 case FGEngine::etRocket:
739 { // FGRocket code block
740 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
741 } // end FGRocket code block
743 case FGEngine::etTurbine:
744 { // FGTurbine code block
745 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
746 node->setDoubleValue("n1", eng->GetN1());
747 node->setDoubleValue("n2", eng->GetN2());
748 node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
749 node->setBoolValue("augmentation", eng->GetAugmentation());
750 node->setBoolValue("water-injection", eng->GetInjection());
751 node->setBoolValue("ignition", eng->GetIgnition());
752 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
753 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
754 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
755 node->setBoolValue("reversed", eng->GetReversed());
756 node->setBoolValue("cutoff", eng->GetCutoff());
757 node->setDoubleValue("epr", eng->GetEPR());
758 globals->get_controls()->set_reverser(i, eng->GetReversed() );
759 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
760 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
761 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
762 } // end FGTurbine code block
764 case FGEngine::etTurboprop:
765 { // FGTurboProp code block
766 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
767 node->setDoubleValue("n1", eng->GetN1());
768 //node->setDoubleValue("n2", eng->GetN2());
769 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
770 node->setBoolValue("ignition", eng->GetIgnition());
771 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
772 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
773 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
774 node->setBoolValue("reversed", eng->GetReversed());
775 node->setBoolValue("cutoff", eng->GetCutoff());
776 node->setBoolValue("starting", eng->GetEngStarting());
777 node->setBoolValue("generator-power", eng->GetGeneratorPower());
778 node->setBoolValue("damaged", eng->GetCondition());
779 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
780 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
781 // node->setBoolValue("onfire", eng->GetFire());
782 globals->get_controls()->set_reverser(i, eng->GetReversed() );
783 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
784 } // end FGTurboProp code block
786 case FGEngine::etElectric:
787 { // FGElectric code block
788 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
789 node->setDoubleValue("rpm", eng->getRPM());
790 } // end FGElectric code block
794 { // FGEngine code block
795 FGEngine* eng = Propulsion->GetEngine(i);
796 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
797 node->setDoubleValue("thrust_lb", thruster->GetThrust());
798 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
799 node->setBoolValue("running", eng->GetRunning());
800 node->setBoolValue("starter", eng->GetStarter());
801 node->setBoolValue("cranking", eng->GetCranking());
802 globals->get_controls()->set_starter(i, eng->GetStarter() );
803 } // end FGEngine code block
805 switch (thruster->GetType()) {
806 case FGThruster::ttNozzle:
807 { // FGNozzle code block
808 FGNozzle* noz = (FGNozzle*)thruster;
809 } // end FGNozzle code block
811 case FGThruster::ttPropeller:
812 { // FGPropeller code block
813 FGPropeller* prop = (FGPropeller*)thruster;
814 tnode->setDoubleValue("rpm", thruster->GetRPM());
815 tnode->setDoubleValue("pitch", prop->GetPitch());
816 tnode->setDoubleValue("torque", prop->GetTorque());
817 tnode->setBoolValue("feathered", prop->GetFeather());
818 } // end FGPropeller code block
820 case FGThruster::ttRotor:
821 { // FGRotor code block
822 FGRotor* rotor = (FGRotor*)thruster;
823 } // end FGRotor code block
825 case FGThruster::ttDirect:
826 { // Direct code block
827 } // end Direct code block
833 // Copy the fuel levels from JSBSim if fuel
834 // freeze not enabled.
835 if ( ! Propulsion->GetFuelFreeze() ) {
836 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
837 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
838 FGTank* tank = Propulsion->GetTank(i);
839 double contents = tank->GetContents();
840 double temp = tank->GetTemperature_degC();
841 node->setDoubleValue("level-gal_us", contents/6.6);
842 node->setDoubleValue("level-lb", contents);
843 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
849 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
851 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
852 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
853 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
854 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
855 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
856 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
857 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
859 // force a sim reset if crashed (altitude AGL < 0)
860 if (get_Altitude_AGL() < -100.0) {
861 fgSetBool("/sim/crashed", true);
862 SGPropertyNode* node = fgGetNode("/sim/presets", true);
863 globals->get_commands()->execute("old-reinit-dialog", node);
870 bool FGJSBsim::ToggleDataLogging(void)
872 // ToDo: handle this properly
873 fdmex->DisableOutput();
878 bool FGJSBsim::ToggleDataLogging(bool state)
881 fdmex->EnableOutput();
884 fdmex->DisableOutput();
891 void FGJSBsim::set_Latitude(double lat)
893 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
895 double sea_level_radius_meters, lat_geoc;
897 // In case we're not trimming
898 FGInterface::set_Latitude(lat);
900 if ( altitude->getDoubleValue() > -9990 ) {
901 alt = altitude->getDoubleValue();
907 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
908 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
910 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
911 &sea_level_radius_meters, &lat_geoc );
912 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
913 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
914 fgic->SetLatitudeRadIC( lat_geoc );
919 void FGJSBsim::set_Longitude(double lon)
921 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
923 // In case we're not trimming
924 FGInterface::set_Longitude(lon);
927 fgic->SetLongitudeRadIC( lon );
931 void FGJSBsim::set_Altitude(double alt)
933 static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
935 double sea_level_radius_meters,lat_geoc;
937 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
938 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
940 // In case we're not trimming
941 FGInterface::set_Altitude(alt);
944 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
945 &sea_level_radius_meters, &lat_geoc);
946 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
947 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
948 SG_LOG(SG_FLIGHT, SG_INFO,
949 "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
950 fgic->SetLatitudeRadIC( lat_geoc );
951 fgic->SetAltitudeFtIC(alt);
955 void FGJSBsim::set_V_calibrated_kts(double vc)
957 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
959 // In case we're not trimming
960 FGInterface::set_V_calibrated_kts(vc);
963 fgic->SetVcalibratedKtsIC(vc);
967 void FGJSBsim::set_Mach_number(double mach)
969 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
971 // In case we're not trimming
972 FGInterface::set_Mach_number(mach);
975 fgic->SetMachIC(mach);
979 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
981 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
982 << north << ", " << east << ", " << down );
984 // In case we're not trimming
985 FGInterface::set_Velocities_Local(north, east, down);
988 fgic->SetVnorthFpsIC(north);
989 fgic->SetVeastFpsIC(east);
990 fgic->SetVdownFpsIC(down);
994 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
996 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
997 << u << ", " << v << ", " << w );
999 // In case we're not trimming
1000 FGInterface::set_Velocities_Wind_Body(u, v, w);
1003 fgic->SetUBodyFpsIC(u);
1004 fgic->SetVBodyFpsIC(v);
1005 fgic->SetWBodyFpsIC(w);
1010 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1012 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1013 << phi << ", " << theta << ", " << psi );
1015 // In case we're not trimming
1016 FGInterface::set_Euler_Angles(phi, theta, psi);
1019 fgic->SetThetaRadIC(theta);
1020 fgic->SetPhiRadIC(phi);
1021 fgic->SetPsiRadIC(psi);
1026 void FGJSBsim::set_Climb_Rate( double roc)
1028 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1030 // In case we're not trimming
1031 FGInterface::set_Climb_Rate(roc);
1034 //since both climb rate and flight path angle are set in the FG
1035 //startup sequence, something is needed to keep one from cancelling
1037 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1038 fgic->SetClimbRateFpsIC(roc);
1043 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1045 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1048 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1049 fgic->SetFlightPathAngleRadIC(gamma);
1054 void FGJSBsim::init_gear(void )
1056 FGGroundReactions* gr=fdmex->GetGroundReactions();
1057 int Ngear=GroundReactions->GetNumGearUnits();
1058 for (int i=0;i<Ngear;i++) {
1059 FGLGear *gear = gr->GetGearUnit(i);
1060 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1061 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1062 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1063 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1064 node->setBoolValue("wow", gear->GetWOW());
1065 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1066 node->setDoubleValue("position-norm", FCS->GetGearPos());
1067 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1068 node->setDoubleValue("compression-norm", gear->GetCompLen());
1069 if ( gear->GetSteerable() )
1070 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1074 void FGJSBsim::update_gear(void)
1076 FGGroundReactions* gr=fdmex->GetGroundReactions();
1077 int Ngear=GroundReactions->GetNumGearUnits();
1078 for (int i=0;i<Ngear;i++) {
1079 FGLGear *gear = gr->GetGearUnit(i);
1080 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1081 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1082 node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
1083 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1084 node->setDoubleValue("compression-norm", gear->GetCompLen());
1085 if ( gear->GetSteerable() )
1086 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1090 void FGJSBsim::do_trim(void)
1094 if ( fgGetBool("/sim/presets/onground") )
1096 fgic->SetVcalibratedKtsIC(0.0);
1097 fgtrim = new FGTrim(fdmex,tGround);
1099 fgtrim = new FGTrim(fdmex,tLongitudinal);
1102 if ( !fgtrim->DoTrim() ) {
1104 fgtrim->TrimStats();
1106 trimmed->setBoolValue(true);
1109 if (FGJSBBase::debug_lvl > 0)
1110 State->ReportState(); /* FIXME: Function not implemented */
1115 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1116 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1117 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1118 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1120 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1121 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1122 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1123 FCS->GetThrottleCmd(0));
1125 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1126 globals->get_controls()->set_rudder( FCS->GetDrCmd());
1128 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1131 void FGJSBsim::update_ic(void)
1134 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1135 fgic->SetLongitudeRadIC( get_Longitude() );
1136 fgic->SetAltitudeFtIC( get_Altitude() );
1137 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1138 fgic->SetThetaRadIC( get_Theta() );
1139 fgic->SetPhiRadIC( get_Phi() );
1140 fgic->SetPsiRadIC( get_Psi() );
1141 fgic->SetClimbRateFpsIC( get_Climb_Rate() );