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>
42 #include <FDM/flight.hxx>
44 #include <Aircraft/aircraft.hxx>
45 #include <Controls/controls.hxx>
46 #include <Main/globals.hxx>
47 #include <Main/fg_props.hxx>
49 #include <FDM/JSBSim/FGFDMExec.h>
50 #include <FDM/JSBSim/FGAircraft.h>
51 #include <FDM/JSBSim/FGFCS.h>
52 #include <FDM/JSBSim/FGPropagate.h>
53 #include <FDM/JSBSim/FGState.h>
54 #include <FDM/JSBSim/FGAuxiliary.h>
55 #include <FDM/JSBSim/FGInitialCondition.h>
56 #include <FDM/JSBSim/FGTrim.h>
57 #include <FDM/JSBSim/FGAtmosphere.h>
58 #include <FDM/JSBSim/FGMassBalance.h>
59 #include <FDM/JSBSim/FGAerodynamics.h>
60 #include <FDM/JSBSim/FGLGear.h>
61 #include <FDM/JSBSim/FGPropertyManager.h>
62 #include <FDM/JSBSim/FGEngine.h>
63 #include <FDM/JSBSim/FGPiston.h>
64 #include <FDM/JSBSim/FGTurbine.h>
65 #include <FDM/JSBSim/FGRocket.h>
66 #include <FDM/JSBSim/FGElectric.h>
67 #include <FDM/JSBSim/FGNozzle.h>
68 #include <FDM/JSBSim/FGPropeller.h>
69 #include <FDM/JSBSim/FGRotor.h>
70 #include <FDM/JSBSim/FGTank.h>
74 FMAX (double a, double b)
80 /******************************************************************************/
82 FGJSBsim::FGJSBsim( double dt )
87 // Set up the debugging level
88 // FIXME: this will not respond to
91 // if flight is excluded, don't bother
92 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
94 // do a rough-and-ready mapping to
95 // the levels documented in FGFDMExec.h
96 switch (logbuf::get_log_priority()) {
98 FGJSBBase::debug_lvl = 0x1f;
101 FGJSBBase::debug_lvl = 0x0f;
103 FGJSBBase::debug_lvl = 0x01;
107 FGJSBBase::debug_lvl = 0x00;
112 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
114 State = fdmex->GetState();
115 Atmosphere = fdmex->GetAtmosphere();
116 FCS = fdmex->GetFCS();
117 MassBalance = fdmex->GetMassBalance();
118 Propulsion = fdmex->GetPropulsion();
119 Aircraft = fdmex->GetAircraft();
120 Propagate = fdmex->GetPropagate();
121 Auxiliary = fdmex->GetAuxiliary();
122 Aerodynamics = fdmex->GetAerodynamics();
123 GroundReactions = fdmex->GetGroundReactions();
128 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
130 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
131 engine_path.append( "Engine" );
134 result = fdmex->LoadModel( aircraft_path.str(),
136 fgGetString("/sim/aero"), false );
139 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
141 SG_LOG( SG_FLIGHT, SG_INFO,
142 " aero does not exist (you may have mis-typed the name).");
146 SG_LOG( SG_FLIGHT, SG_INFO, "" );
147 SG_LOG( SG_FLIGHT, SG_INFO, "" );
148 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
150 int Neng = Propulsion->GetNumEngines();
151 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
153 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
154 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
155 << GroundReactions->GetNumGearUnits() );
156 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
157 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
158 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
164 // Set initial fuel levels if provided.
165 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
166 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
167 if (node->getChild("level-gal_us", 0, false) != 0) {
168 Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
170 node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
171 node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
174 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
176 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
177 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
178 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
179 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
181 startup_trim = fgGetNode("/sim/presets/trim", true);
183 trimmed = fgGetNode("/fdm/trim/trimmed", true);
184 trimmed->setBoolValue(false);
186 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
187 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
188 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
189 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
191 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
192 stall_warning->setDoubleValue(0);
195 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
196 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
198 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
199 right_aileron_pos_pct
200 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
201 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
203 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
204 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
206 elevator_pos_pct->setDoubleValue(0);
207 left_aileron_pos_pct->setDoubleValue(0);
208 right_aileron_pos_pct->setDoubleValue(0);
209 rudder_pos_pct->setDoubleValue(0);
210 flap_pos_pct->setDoubleValue(0);
211 speedbrake_pos_pct->setDoubleValue(0);
212 spoilers_pos_pct->setDoubleValue(0);
214 temperature = fgGetNode("/environment/temperature-degc",true);
215 pressure = fgGetNode("/environment/pressure-inhg",true);
216 density = fgGetNode("/environment/density-slugft3",true);
217 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
218 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
220 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
221 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
222 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
224 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
225 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
226 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
227 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
231 /******************************************************************************/
232 FGJSBsim::~FGJSBsim(void)
237 /******************************************************************************/
239 // Initialize the JSBsim flight model, dt is the time increment for
240 // each subsequent iteration through the EOM
242 void FGJSBsim::init()
246 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
248 // Explicitly call the superclass's
249 // init method first.
252 Atmosphere->UseInternal();
254 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
255 Atmosphere->UseExternal();
256 Atmosphere->SetExTemperature(
257 9.0/5.0*(temperature->getDoubleValue()+273.15) );
258 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
259 Atmosphere->SetExDensity(density->getDoubleValue());
261 tmp = turbulence_gain->getDoubleValue();
262 Atmosphere->SetTurbGain(tmp * tmp * 100.0);
264 tmp = turbulence_rate->getDoubleValue();
265 Atmosphere->SetTurbRate(tmp);
268 Atmosphere->UseInternal();
272 fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
273 fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
274 fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
276 //Atmosphere->SetExTemperature(get_Static_temperature());
277 //Atmosphere->SetExPressure(get_Static_pressure());
278 //Atmosphere->SetExDensity(get_Density());
279 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
280 << ", " << fdmex->GetAtmosphere()->GetPressure()
281 << ", " << fdmex->GetAtmosphere()->GetDensity() );
286 fdmex->RunIC(); //loop JSBSim once w/o integrating
287 copy_from_JSBsim(); //update the bus
289 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
291 switch(fgic->GetSpeedSet()) {
293 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
294 << Propagate->GetVel(eNorth) << ", "
295 << Propagate->GetVel(eEast) << ", "
296 << Propagate->GetVel(eDown) << " ft/s");
299 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
300 << Propagate->GetUVW(1) << ", "
301 << Propagate->GetUVW(2) << ", "
302 << Propagate->GetUVW(3) << " ft/s");
305 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
306 << Auxiliary->GetMach() );
310 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
311 << Auxiliary->GetVcalibratedKTS() << " knots" );
315 stall_warning->setDoubleValue(0);
317 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
318 << Propagate->GetEuler(ePhi)*RADTODEG << " deg" );
319 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
320 << Propagate->GetEuler(eTht)*RADTODEG << " deg" );
321 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
322 << Propagate->GetEuler(ePsi)*RADTODEG << " deg" );
323 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
324 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
325 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
326 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
327 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
328 << Propagate->Geth() << " feet" );
329 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
331 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
333 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
335 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
336 globals->get_controls()->get_gear_down() );
339 /******************************************************************************/
341 // Run an iteration of the EOM (equations of motion)
343 void FGJSBsim::update( double dt )
348 int multiloop = _calc_multiloop(dt);
352 // double save_alt = 0.0;
356 trimmed->setBoolValue(false);
359 if ( startup_trim->getBoolValue() ) {
360 SG_LOG(SG_FLIGHT, SG_INFO,
361 "Ready to trim, terrain altitude is: "
362 << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
363 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
366 fdmex->RunIC(); //apply any changes made through the set_ functions
371 for ( i=0; i < multiloop; i++ ) {
375 FGJSBBase::Message* msg;
376 while (fdmex->ReadMessage()) {
377 msg = fdmex->ProcessMessage();
379 case FGJSBBase::Message::eText:
380 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
382 case FGJSBBase::Message::eBool:
383 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
385 case FGJSBBase::Message::eInteger:
386 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
388 case FGJSBBase::Message::eDouble:
389 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
392 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
397 // translate JSBsim back to FG structure so that the
398 // autopilot (and the rest of the sim can use the updated values
402 /******************************************************************************/
404 // Convert from the FGInterface struct to the JSBsim generic_ struct
406 bool FGJSBsim::copy_to_JSBsim()
411 // copy control positions into the JSBsim structure
413 FCS->SetDaCmd( globals->get_controls()->get_aileron());
414 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
415 FCS->SetDeCmd( globals->get_controls()->get_elevator());
416 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
417 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
418 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
419 // FIXME: make that get_steering work
420 // FCS->SetDsCmd( globals->get_controls()->get_steering()/80.0 );
421 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
422 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
423 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
424 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
426 // Parking brake sets minimum braking
428 double parking_brake = globals->get_controls()->get_brake_parking();
429 FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
430 FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
431 FCS->SetCBrake( 0.0 );
432 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
434 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
435 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
436 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
438 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
439 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
440 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
442 switch (Propulsion->GetEngine(i)->GetType()) {
443 case FGEngine::etPiston:
444 { // FGPiston code block
445 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
446 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
448 } // end FGPiston code block
449 case FGEngine::etTurbine:
450 { // FGTurbine code block
451 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
452 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
453 eng->SetReverse( globals->get_controls()->get_reverser(i) );
454 eng->SetInjection( globals->get_controls()->get_water_injection(i) );
455 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
456 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
458 } // end FGTurbine code block
459 case FGEngine::etRocket:
460 { // FGRocket code block
461 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
463 } // end FGRocket code block
466 { // FGEngine code block
467 FGEngine* eng = Propulsion->GetEngine(i);
469 eng->SetStarter( globals->get_controls()->get_starter(i) );
470 eng->SetRunning( node->getBoolValue("running") );
471 } // end FGEngine code block
475 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
476 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
477 Propagate->SetRunwayRadius( get_Runway_altitude()
478 + get_Sea_level_radius() );
480 Atmosphere->SetExTemperature(
481 9.0/5.0*(temperature->getDoubleValue()+273.15) );
482 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
483 Atmosphere->SetExDensity(density->getDoubleValue());
485 tmp = turbulence_gain->getDoubleValue();
486 Atmosphere->SetTurbGain(tmp * tmp * 100.0);
488 tmp = turbulence_rate->getDoubleValue();
489 Atmosphere->SetTurbRate(tmp);
491 Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
492 wind_from_east->getDoubleValue(),
493 wind_from_down->getDoubleValue() );
494 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
495 // << get_V_north_airmass() << ", "
496 // << get_V_east_airmass() << ", "
497 // << get_V_down_airmass() );
499 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
500 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
501 FGTank * tank = Propulsion->GetTank(i);
502 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
503 // tank->SetContents(node->getDoubleValue("level-lb"));
505 SGPropertyNode* node = fgGetNode("/systems/refuel", true);
506 Propulsion->SetRefuel(node->getDoubleValue("contact"));
507 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
512 /******************************************************************************/
514 // Convert from the JSBsim generic_ struct to the FGInterface struct
516 bool FGJSBsim::copy_from_JSBsim()
520 _set_Inertias( MassBalance->GetMass(),
521 MassBalance->GetIxx(),
522 MassBalance->GetIyy(),
523 MassBalance->GetIzz(),
524 MassBalance->GetIxz() );
526 _set_CG_Position( MassBalance->GetXYZcg(1),
527 MassBalance->GetXYZcg(2),
528 MassBalance->GetXYZcg(3) );
530 _set_Accels_Body( Aircraft->GetBodyAccel(1),
531 Aircraft->GetBodyAccel(2),
532 Aircraft->GetBodyAccel(3) );
534 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
536 Aircraft->GetNcg(3) );
538 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
539 Auxiliary->GetPilotAccel(2),
540 Auxiliary->GetPilotAccel(3) );
542 _set_Nlf( Aircraft->GetNlf() );
546 _set_Velocities_Local( Propagate->GetVel(eNorth),
547 Propagate->GetVel(eEast),
548 Propagate->GetVel(eDown) );
550 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
551 Propagate->GetUVW(2),
552 Propagate->GetUVW(3) );
554 // Make the HUD work ...
555 _set_Velocities_Ground( Propagate->GetVel(eNorth),
556 Propagate->GetVel(eEast),
557 -Propagate->GetVel(eDown) );
559 _set_V_rel_wind( Auxiliary->GetVt() );
561 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
563 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
565 _set_V_ground_speed( Auxiliary->GetVground() );
567 _set_Omega_Body( Propagate->GetPQR(eP),
568 Propagate->GetPQR(eQ),
569 Propagate->GetPQR(eR) );
571 _set_Euler_Rates( Auxiliary->GetEulerRates(ePhi),
572 Auxiliary->GetEulerRates(eTht),
573 Auxiliary->GetEulerRates(ePsi) );
575 _set_Mach_number( Auxiliary->GetMach() );
577 // Positions of Visual Reference Point
578 _updateGeocentricPosition( Auxiliary->GetLocationVRP().GetLatitude(),
579 Auxiliary->GetLocationVRP().GetLongitude(),
580 Auxiliary->GethVRP() );
582 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
584 _set_Euler_Angles( Propagate->GetEuler(ePhi),
585 Propagate->GetEuler(eTht),
586 Propagate->GetEuler(ePsi) );
588 _set_Alpha( Auxiliary->Getalpha() );
589 _set_Beta( Auxiliary->Getbeta() );
592 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
594 _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
596 _set_Climb_Rate( Propagate->Gethdot() );
598 const FGMatrix33& Tl2b = Propagate->GetTl2b();
599 for ( i = 1; i <= 3; i++ ) {
600 for ( j = 1; j <= 3; j++ ) {
601 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
605 // Copy the engine values from JSBSim.
606 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
607 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
609 sprintf(buf, "engines/engine[%d]/thruster", i);
610 SGPropertyNode * tnode = fgGetNode(buf, true);
611 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
613 switch (Propulsion->GetEngine(i)->GetType()) {
614 case FGEngine::etPiston:
615 { // FGPiston code block
616 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
617 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
618 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
619 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
620 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
621 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
622 node->setDoubleValue("rpm", eng->getRPM());
623 } // end FGPiston code block
625 case FGEngine::etRocket:
626 { // FGRocket code block
627 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
628 } // end FGRocket code block
630 case FGEngine::etTurbine:
631 { // FGTurbine code block
632 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
633 node->setDoubleValue("n1", eng->GetN1());
634 node->setDoubleValue("n2", eng->GetN2());
635 node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
636 node->setBoolValue("augmentation", eng->GetAugmentation());
637 node->setBoolValue("water-injection", eng->GetInjection());
638 node->setBoolValue("ignition", eng->GetIgnition());
639 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
640 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
641 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
642 node->setBoolValue("reversed", eng->GetReversed());
643 node->setBoolValue("cutoff", eng->GetCutoff());
644 node->setDoubleValue("epr", eng->GetEPR());
645 globals->get_controls()->set_reverser(i, eng->GetReversed() );
646 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
647 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
648 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
649 } // end FGTurbine code block
651 case FGEngine::etElectric:
652 { // FGElectric code block
653 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
654 node->setDoubleValue("rpm", eng->getRPM());
655 } // end FGElectric code block
659 { // FGEngine code block
660 FGEngine* eng = Propulsion->GetEngine(i);
661 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
662 node->setDoubleValue("thrust_lb", thruster->GetThrust());
663 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
664 node->setBoolValue("running", eng->GetRunning());
665 node->setBoolValue("starter", eng->GetStarter());
666 node->setBoolValue("cranking", eng->GetCranking());
667 globals->get_controls()->set_starter(i, eng->GetStarter() );
668 } // end FGEngine code block
670 switch (thruster->GetType()) {
671 case FGThruster::ttNozzle:
672 { // FGNozzle code block
673 FGNozzle* noz = (FGNozzle*)thruster;
674 } // end FGNozzle code block
676 case FGThruster::ttPropeller:
677 { // FGPropeller code block
678 FGPropeller* prop = (FGPropeller*)thruster;
679 tnode->setDoubleValue("rpm", thruster->GetRPM());
680 tnode->setDoubleValue("pitch", prop->GetPitch());
681 tnode->setDoubleValue("torque", prop->GetTorque());
682 } // end FGPropeller code block
684 case FGThruster::ttRotor:
685 { // FGRotor code block
686 FGRotor* rotor = (FGRotor*)thruster;
687 } // end FGRotor code block
689 case FGThruster::ttDirect:
690 { // Direct code block
691 } // end Direct code block
697 // Copy the fuel levels from JSBSim if fuel
698 // freeze not enabled.
699 if ( ! Propulsion->GetFuelFreeze() ) {
700 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
701 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
702 FGTank* tank = Propulsion->GetTank(i);
703 double contents = tank->GetContents();
704 double temp = tank->GetTemperature_degC();
705 node->setDoubleValue("level-gal_us", contents/6.6);
706 node->setDoubleValue("level-lb", contents);
707 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
713 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
715 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
716 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
717 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
718 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
719 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
720 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
721 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
727 bool FGJSBsim::ToggleDataLogging(void)
729 return fdmex->GetOutput()->Toggle();
733 bool FGJSBsim::ToggleDataLogging(bool state)
736 fdmex->GetOutput()->Enable();
739 fdmex->GetOutput()->Disable();
746 void FGJSBsim::set_Latitude(double lat)
748 static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
750 double sea_level_radius_meters, lat_geoc;
752 // In case we're not trimming
753 FGInterface::set_Latitude(lat);
755 if ( altitude->getDoubleValue() > -9990 ) {
756 alt = altitude->getDoubleValue();
762 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
763 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
765 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
766 &sea_level_radius_meters, &lat_geoc );
767 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
768 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
769 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
770 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
771 fgic->SetLatitudeRadIC( lat_geoc );
776 void FGJSBsim::set_Longitude(double lon)
778 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
780 // In case we're not trimming
781 FGInterface::set_Longitude(lon);
784 fgic->SetLongitudeRadIC( lon );
785 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
786 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
790 void FGJSBsim::set_Altitude(double alt)
792 static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
794 double sea_level_radius_meters,lat_geoc;
796 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
797 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
799 // In case we're not trimming
800 FGInterface::set_Altitude(alt);
803 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
804 &sea_level_radius_meters, &lat_geoc);
805 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
806 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
807 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
808 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
809 SG_LOG(SG_FLIGHT, SG_INFO,
810 "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
811 fgic->SetLatitudeRadIC( lat_geoc );
812 fgic->SetAltitudeFtIC(alt);
816 void FGJSBsim::set_V_calibrated_kts(double vc)
818 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
820 // In case we're not trimming
821 FGInterface::set_V_calibrated_kts(vc);
824 fgic->SetVcalibratedKtsIC(vc);
828 void FGJSBsim::set_Mach_number(double mach)
830 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
832 // In case we're not trimming
833 FGInterface::set_Mach_number(mach);
836 fgic->SetMachIC(mach);
840 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
842 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
843 << north << ", " << east << ", " << down );
845 // In case we're not trimming
846 FGInterface::set_Velocities_Local(north, east, down);
849 fgic->SetVnorthFpsIC(north);
850 fgic->SetVeastFpsIC(east);
851 fgic->SetVdownFpsIC(down);
855 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
857 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
858 << u << ", " << v << ", " << w );
860 // In case we're not trimming
861 FGInterface::set_Velocities_Wind_Body(u, v, w);
864 fgic->SetUBodyFpsIC(u);
865 fgic->SetVBodyFpsIC(v);
866 fgic->SetWBodyFpsIC(w);
871 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
873 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
874 << phi << ", " << theta << ", " << psi );
876 // In case we're not trimming
877 FGInterface::set_Euler_Angles(phi, theta, psi);
880 fgic->SetPitchAngleRadIC(theta);
881 fgic->SetRollAngleRadIC(phi);
882 fgic->SetTrueHeadingRadIC(psi);
887 void FGJSBsim::set_Climb_Rate( double roc)
889 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
891 // In case we're not trimming
892 FGInterface::set_Climb_Rate(roc);
895 //since both climb rate and flight path angle are set in the FG
896 //startup sequence, something is needed to keep one from cancelling
898 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
899 fgic->SetClimbRateFpsIC(roc);
904 void FGJSBsim::set_Gamma_vert_rad( double gamma)
906 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
909 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
910 fgic->SetFlightPathAngleRadIC(gamma);
915 void FGJSBsim::init_gear(void )
917 FGGroundReactions* gr=fdmex->GetGroundReactions();
918 int Ngear=GroundReactions->GetNumGearUnits();
919 for (int i=0;i<Ngear;i++) {
920 FGLGear *gear = gr->GetGearUnit(i);
921 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
922 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
923 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
924 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
925 node->setBoolValue("wow", gear->GetWOW());
926 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
927 node->setDoubleValue("position-norm", FCS->GetGearPos());
928 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
929 if ( gear->GetSteerable() )
930 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
934 void FGJSBsim::update_gear(void)
936 FGGroundReactions* gr=fdmex->GetGroundReactions();
937 int Ngear=GroundReactions->GetNumGearUnits();
938 for (int i=0;i<Ngear;i++) {
939 FGLGear *gear = gr->GetGearUnit(i);
940 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
941 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
942 node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
943 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
944 if ( gear->GetSteerable() )
945 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
949 void FGJSBsim::do_trim(void)
953 if ( fgGetBool("/sim/presets/onground") )
955 fgic->SetVcalibratedKtsIC(0.0);
956 fgtrim = new FGTrim(fdmex,tGround);
958 fgtrim = new FGTrim(fdmex,tLongitudinal);
961 if ( !fgtrim->DoTrim() ) {
965 trimmed->setBoolValue(true);
967 if (FGJSBBase::debug_lvl > 0)
968 State->ReportState();
972 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
973 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
974 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
975 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
977 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
978 globals->get_controls()->set_elevator(FCS->GetDeCmd());
979 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
980 FCS->GetThrottleCmd(0));
982 globals->get_controls()->set_aileron(FCS->GetDaCmd());
983 globals->get_controls()->set_rudder( FCS->GetDrCmd());
985 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
988 void FGJSBsim::update_ic(void)
991 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
992 fgic->SetLongitudeRadIC( get_Longitude() );
993 fgic->SetAltitudeFtIC( get_Altitude() );
994 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
995 fgic->SetPitchAngleRadIC( get_Theta() );
996 fgic->SetRollAngleRadIC( get_Phi() );
997 fgic->SetTrueHeadingRadIC( get_Psi() );
998 fgic->SetClimbRateFpsIC( get_Climb_Rate() );