src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #ifdef SG_MATH_EXCEPTION_CLASH
  31 #  include <math.h>
  32 #endif
  33
  34 #include STL_STRING
  35
  36 #include <simgear/constants.h>
  37 #include <simgear/debug/logstream.hxx>
  38 #include <simgear/math/sg_geodesy.hxx>
  39 #include <simgear/misc/sg_path.hxx>
  40
  41 #include <FDM/flight.hxx>
  42
  43 #include <Aircraft/aircraft.hxx>
  44 #include <Controls/controls.hxx>
  45 #include <Main/globals.hxx>
  46 #include <Main/fg_props.hxx>
  47
  48 #include <FDM/JSBSim/FGFDMExec.h>
  49 #include <FDM/JSBSim/FGAircraft.h>
  50 #include <FDM/JSBSim/FGFCS.h>
  51 #include <FDM/JSBSim/FGPosition.h>
  52 #include <FDM/JSBSim/FGRotation.h>
  53 #include <FDM/JSBSim/FGState.h>
  54 #include <FDM/JSBSim/FGTranslation.h>
  55 #include <FDM/JSBSim/FGAuxiliary.h>
  56 #include <FDM/JSBSim/FGInitialCondition.h>
  57 #include <FDM/JSBSim/FGTrim.h>
  58 #include <FDM/JSBSim/FGAtmosphere.h>
  59 #include <FDM/JSBSim/FGMassBalance.h>
  60 #include <FDM/JSBSim/FGAerodynamics.h>
  61 #include <FDM/JSBSim/FGLGear.h>
  62 #include <FDM/JSBSim/FGPropertyManager.h>
  63 #include "JSBSim.hxx"
  64
  65 static inline double
  66 FMAX (double a, double b)
  67 {
  68   return a > b ? a : b;
  69 }
  70
  71
  72 /******************************************************************************/
  73
  74 FGJSBsim::FGJSBsim( double dt )
  75   : FGInterface(dt)
  76 {
  77     bool result;
  78
  79                                 // Set up the debugging level
  80                                 // FIXME: this will not respond to
  81                                 // runtime changes
  82
  83                                 // if flight is excluded, don't bother
  84     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
  85
  86                                 // do a rough-and-ready mapping to
  87                                 // the levels documented in FGFDMExec.h
  88         switch (logbuf::get_log_priority()) {
  89         case SG_BULK:
  90             FGJSBBase::debug_lvl = 0x1f;
  91             break;
  92         case SG_DEBUG:
  93             FGJSBBase::debug_lvl = 0x0f;
  94         case SG_INFO:
  95             FGJSBBase::debug_lvl = 0x01;
  96             break;
  97         case SG_WARN:
  98         case SG_ALERT:
  99             FGJSBBase::debug_lvl = 0x00;
 100             break;
 101         }
 102     }
 103
 104     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 105
 106     State           = fdmex->GetState();
 107     Atmosphere      = fdmex->GetAtmosphere();
 108     FCS             = fdmex->GetFCS();
 109     MassBalance     = fdmex->GetMassBalance();
 110     Propulsion      = fdmex->GetPropulsion();
 111     Aircraft        = fdmex->GetAircraft();
 112     Translation     = fdmex->GetTranslation();
 113     Rotation        = fdmex->GetRotation();
 114     Position        = fdmex->GetPosition();
 115     Auxiliary       = fdmex->GetAuxiliary();
 116     Aerodynamics    = fdmex->GetAerodynamics();
 117     GroundReactions = fdmex->GetGroundReactions();
 118
 119     fgic=fdmex->GetIC();
 120     needTrim=true;
 121
 122     SGPath aircraft_path( globals->get_fg_root() );
 123     aircraft_path.append( "Aircraft" );
 124
 125     SGPath engine_path( globals->get_fg_root() );
 126     engine_path.append( "Engine" );
 127     State->Setdt( dt );
 128
 129     result = fdmex->LoadModel( aircraft_path.str(),
 130                                engine_path.str(),
 131                                fgGetString("/sim/aero") );
 132
 133     if (result) {
 134       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 135     } else {
 136       SG_LOG( SG_FLIGHT, SG_INFO,
 137               "  aero does not exist (you may have mis-typed the name).");
 138       throw(-1);
 139     }
 140
 141     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 142     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 143     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 144
 145     int Neng = Propulsion->GetNumEngines();
 146     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 147
 148     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 149         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 150                 << GroundReactions->GetNumGearUnits() );
 151         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 152          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 153          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 154          exit(-1);
 155     }
 156
 157
 158     init_gear();
 159
 160                                 // Set initial fuel levels if provided.
 161     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 162       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 163       if (node->getChild("level-gal_us", 0, false) != 0)
 164         Propulsion->GetTank(i)
 165           ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 166     }
 167
 168     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 169     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 170     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 171     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 172
 173     startup_trim = fgGetNode("/sim/presets/trim", true);
 174
 175     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 176     trimmed->setBoolValue(false);
 177
 178     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 179     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 180     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 181     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 182
 183     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 184     stall_warning->setDoubleValue(0);
 185
 186
 187     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 188     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 189     left_aileron_pos_pct
 190         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 191     right_aileron_pos_pct
 192         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 193     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 194     speedbrake_pos_pct
 195         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 196     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 197
 198
 199     elevator_pos_pct->setDoubleValue(0);
 200     left_aileron_pos_pct->setDoubleValue(0);
 201     right_aileron_pos_pct->setDoubleValue(0);
 202     rudder_pos_pct->setDoubleValue(0);
 203     flap_pos_pct->setDoubleValue(0);
 204     speedbrake_pos_pct->setDoubleValue(0);
 205     spoilers_pos_pct->setDoubleValue(0);
 206
 207     temperature = fgGetNode("/environment/temperature-degc",true);
 208     pressure = fgGetNode("/environment/pressure-inhg",true);
 209     density = fgGetNode("/environment/density-slugft3",true);
 210     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 211     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 212
 213     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 214     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 215     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 216
 217
 218 }
 219 /******************************************************************************/
 220 FGJSBsim::~FGJSBsim(void) {
 221         delete fdmex;
 222 }
 223
 224 /******************************************************************************/
 225
 226 // Initialize the JSBsim flight model, dt is the time increment for
 227 // each subsequent iteration through the EOM
 228
 229 void FGJSBsim::init() {
 230
 231     double tmp;
 232
 233     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 234
 235     // Explicitly call the superclass's
 236     // init method first.
 237
 238 #ifdef FG_WEATHERCM
 239     Atmosphere->UseInternal();
 240 #else
 241     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 242       Atmosphere->UseExternal();
 243       Atmosphere->SetExTemperature(
 244                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 245       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 246       Atmosphere->SetExDensity(density->getDoubleValue());
 247
 248       tmp = turbulence_gain->getDoubleValue();
 249       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 250
 251       tmp = turbulence_rate->getDoubleValue();
 252       Atmosphere->SetTurbRate(tmp);
 253
 254     } else {
 255       Atmosphere->UseInternal();
 256     }
 257 #endif
 258
 259     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 260     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 261     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 262
 263     //Atmosphere->SetExTemperature(get_Static_temperature());
 264     //Atmosphere->SetExPressure(get_Static_pressure());
 265     //Atmosphere->SetExDensity(get_Density());
 266     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 267      << ", " << fdmex->GetAtmosphere()->GetPressure()
 268      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 269
 270     common_init();
 271     copy_to_JSBsim();
 272
 273
 274     fdmex->RunIC(); //loop JSBSim once w/o integrating
 275     copy_from_JSBsim(); //update the bus
 276
 277     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 278
 279     switch(fgic->GetSpeedSet()) {
 280     case setned:
 281         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 282                << Position->GetVn() << ", "
 283                << Position->GetVe() << ", "
 284                << Position->GetVd() << " ft/s");
 285     break;
 286     case setuvw:
 287         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 288                << Translation->GetUVW(1) << ", "
 289                << Translation->GetUVW(2) << ", "
 290                << Translation->GetUVW(3) << " ft/s");
 291     break;
 292     case setmach:
 293         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 294                << Translation->GetMach() );
 295     break;
 296     case setvc:
 297     default:
 298         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 299                << Auxiliary->GetVcalibratedKTS() << " knots" );
 300     break;
 301     }
 302
 303     stall_warning->setDoubleValue(0);
 304
 305     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 306             <<  Rotation->Getphi()*RADTODEG << " deg" );
 307     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 308             << Rotation->Gettht()*RADTODEG << " deg" );
 309     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 310             << Rotation->Getpsi()*RADTODEG << " deg" );
 311     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 312             << Position->GetLatitude() << " deg" );
 313     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 314             << Position->GetLongitude() << " deg" );
 315     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 316         << Position->Geth() << " feet" );
 317     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 318
 319     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 320
 321     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 322
 323     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 324                                   globals->get_controls()->get_gear_down() );
 325
 326
 327
 328 }
 329
 330 /******************************************************************************/
 331
 332 // Run an iteration of the EOM (equations of motion)
 333
 334 void
 335 FGJSBsim::update( double dt ) {
 336
 337     if (is_suspended())
 338       return;
 339
 340     int multiloop = _calc_multiloop(dt);
 341
 342     int i;
 343
 344     // double save_alt = 0.0;
 345
 346     copy_to_JSBsim();
 347
 348     trimmed->setBoolValue(false);
 349
 350     if ( needTrim ) {
 351       if ( startup_trim->getBoolValue() ) {
 352         SG_LOG(SG_FLIGHT, SG_INFO,
 353           "Ready to trim, terrain altitude is: "
 354             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 355         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 356         do_trim();
 357       } else {
 358         fdmex->RunIC();  //apply any changes made through the set_ functions
 359       }
 360       needTrim = false;
 361     }
 362
 363     for ( i=0; i < multiloop; i++ ) {
 364         fdmex->Run();
 365     }
 366
 367     FGJSBBase::Message* msg;
 368     while (fdmex->ReadMessage()) {
 369       msg = fdmex->ProcessMessage();
 370       switch (msg->type) {
 371       case FGJSBBase::Message::eText:
 372         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 373         break;
 374       case FGJSBBase::Message::eBool:
 375         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 376         break;
 377       case FGJSBBase::Message::eInteger:
 378         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 379         break;
 380       case FGJSBBase::Message::eDouble:
 381         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 382         break;
 383       default:
 384         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 385         break;
 386       }
 387     }
 388
 389     // translate JSBsim back to FG structure so that the
 390     // autopilot (and the rest of the sim can use the updated values
 391     copy_from_JSBsim();
 392 }
 393
 394 /******************************************************************************/
 395
 396 // Convert from the FGInterface struct to the JSBsim generic_ struct
 397
 398 bool FGJSBsim::copy_to_JSBsim() {
 399     double tmp;
 400     unsigned int i;
 401
 402     // copy control positions into the JSBsim structure
 403
 404     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 405     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 406     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 407     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 408     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 409     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 410     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 411     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 412     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 413
 414                                 // Parking brake sets minimum braking
 415                                 // level for mains.
 416     double parking_brake = globals->get_controls()->get_brake_parking();
 417     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 418     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 419     FCS->SetCBrake( 0.0 );
 420
 421     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 422     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 423       FGEngine * eng = Propulsion->GetEngine(i);
 424       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 425       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 426       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 427       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 428       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
 429       eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 430       eng->SetStarter( globals->get_controls()->get_starter(i) );
 431       eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 432       eng->SetReverse( globals->get_controls()->get_reverser(i) );
 433       eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 434       eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 435       eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 436       eng->SetNitrous( globals->get_controls()->get_nitrous_injection(i) );
 437       eng->SetRunning( node->getBoolValue("running") );
 438     }
 439
 440     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 441     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 442     Position->SetRunwayRadius( get_Runway_altitude()
 443                                + get_Sea_level_radius() );
 444
 445     Atmosphere->SetExTemperature(
 446                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 447     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 448     Atmosphere->SetExDensity(density->getDoubleValue());
 449
 450     tmp = turbulence_gain->getDoubleValue();
 451     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 452
 453     tmp = turbulence_rate->getDoubleValue();
 454     Atmosphere->SetTurbRate(tmp);
 455
 456     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 457                             wind_from_east->getDoubleValue(),
 458                             wind_from_down->getDoubleValue() );
 459 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 460 //                  << get_V_north_airmass() << ", "
 461 //                  << get_V_east_airmass()  << ", "
 462 //                  << get_V_down_airmass() );
 463
 464     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 465       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 466       FGTank * tank = Propulsion->GetTank(i);
 467       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 468 //       tank->SetContents(node->getDoubleValue("level-lb"));
 469     }
 470
 471     return true;
 472 }
 473
 474 /******************************************************************************/
 475
 476 // Convert from the JSBsim generic_ struct to the FGInterface struct
 477
 478 bool FGJSBsim::copy_from_JSBsim() {
 479     unsigned int i, j;
 480
 481     _set_Inertias( MassBalance->GetMass(),
 482                    MassBalance->GetIxx(),
 483                    MassBalance->GetIyy(),
 484                    MassBalance->GetIzz(),
 485                    MassBalance->GetIxz() );
 486
 487     _set_CG_Position( MassBalance->GetXYZcg(1),
 488                       MassBalance->GetXYZcg(2),
 489                       MassBalance->GetXYZcg(3) );
 490
 491     _set_Accels_Body( Aircraft->GetBodyAccel()(1),
 492                       Aircraft->GetBodyAccel()(2),
 493                       Aircraft->GetBodyAccel()(3) );
 494
 495     //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
 496     //                     Aircraft->GetBodyAccel()(2),
 497     //                     Aircraft->GetBodyAccel()(3) );
 498     //
 499     _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
 500                             Aircraft->GetNcg()(2),
 501                             Aircraft->GetNcg()(3) );
 502
 503     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
 504                             Auxiliary->GetPilotAccel()(2),
 505                             Auxiliary->GetPilotAccel()(3) );
 506
 507    // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
 508    //                           Auxiliary->GetNpilot(2)/32.1739,
 509    //                           Auxiliary->GetNpilot(3)/32.1739 );
 510
 511     _set_Nlf( Aircraft->GetNlf() );
 512
 513     // Velocities
 514
 515     _set_Velocities_Local( Position->GetVn(),
 516                            Position->GetVe(),
 517                            Position->GetVd() );
 518
 519     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 520                                Translation->GetUVW(2),
 521                                Translation->GetUVW(3) );
 522
 523     _set_V_rel_wind( Translation->GetVt() );
 524
 525     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 526
 527     // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
 528
 529     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 530
 531     _set_V_ground_speed( Position->GetVground() );
 532
 533     _set_Omega_Body( Rotation->GetPQR(1),
 534                      Rotation->GetPQR(2),
 535                      Rotation->GetPQR(3) );
 536
 537     _set_Euler_Rates( Rotation->GetEulerRates(1),
 538                       Rotation->GetEulerRates(2),
 539                       Rotation->GetEulerRates(3) );
 540
 541     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 542                           Position->GetLongitudeDot(),
 543                           Position->Gethdot() );
 544
 545     _set_Mach_number( Translation->GetMach() );
 546
 547     // Positions
 548     _updateGeocentricPosition( Position->GetLatitude(),
 549                                Position->GetLongitude(),
 550                                Position->Geth() );
 551
 552     _set_Altitude_AGL( Position->GetDistanceAGL() );
 553
 554     _set_Euler_Angles( Rotation->Getphi(),
 555                        Rotation->Gettht(),
 556                        Rotation->Getpsi() );
 557
 558     _set_Alpha( Translation->Getalpha() );
 559     _set_Beta( Translation->Getbeta() );
 560
 561
 562     _set_Gamma_vert_rad( Position->GetGamma() );
 563     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 564
 565     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 566
 567     _set_Climb_Rate( Position->Gethdot() );
 568
 569
 570     for ( i = 1; i <= 3; i++ ) {
 571         for ( j = 1; j <= 3; j++ ) {
 572             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 573         }
 574     }
 575
 576                                 // Copy the engine values from JSBSim.
 577     for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 578       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 579       FGEngine * eng = Propulsion->GetEngine(i);
 580       FGThruster * thrust = Propulsion->GetThruster(i);
 581
 582       node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 583       node->setDoubleValue("rpm", thrust->GetRPM());
 584       node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 585       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 586       node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 587       node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 588       node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 589       node->setDoubleValue("thrust_lb", eng->GetThrust());
 590       node->setDoubleValue("N1", eng->GetN1());
 591       node->setDoubleValue("N2", eng->GetN2());
 592       node->setDoubleValue("EGT_degC", eng->GetEGT());
 593       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 594       node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 595       node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 596       node->setBoolValue("running", eng->GetRunning());
 597       node->setBoolValue("starter", eng->GetStarter());
 598       node->setBoolValue("cranking", eng->GetCranking());
 599       node->setBoolValue("ignition", eng->GetIgnition());
 600       node->setBoolValue("augmentation", eng->GetAugmentation());
 601       node->setBoolValue("water-injection", eng->GetInjection());
 602       node->setBoolValue("reversed", eng->GetReversed());
 603       node->setBoolValue("cutoff", eng->GetCutoff());
 604       node->setBoolValue("nitrous", eng->GetNitrous());
 605       globals->get_controls()->set_starter(i, eng->GetStarter() );
 606       globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 607       globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 608       globals->get_controls()->set_reverser(i, eng->GetReversed() );
 609       globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 610     }
 611
 612     static const SGPropertyNode *fuel_freeze
 613         = fgGetNode("/sim/freeze/fuel");
 614
 615                                 // Copy the fuel levels from JSBSim if fuel
 616                                 // freeze not enabled.
 617     if ( ! fuel_freeze->getBoolValue() ) {
 618         for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 619             SGPropertyNode * node
 620                 = fgGetNode("/consumables/fuel/tank", i, true);
 621             double contents = Propulsion->GetTank(i)->GetContents();
 622             node->setDoubleValue("level-gal_us", contents/6.6);
 623             node->setDoubleValue("level-lb", contents);
 624             // node->setDoubleValue("temperature_degC",
 625         }
 626     }
 627
 628     update_gear();
 629
 630     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 631
 632     /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
 633     left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
 634     right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
 635     rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
 636     flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
 637
 638
 639     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 640     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 641     right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
 642     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 643     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 644     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 645     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 646
 647
 648     return true;
 649 }
 650
 651 bool FGJSBsim::ToggleDataLogging(void) {
 652     return fdmex->GetOutput()->Toggle();
 653 }
 654
 655
 656 bool FGJSBsim::ToggleDataLogging(bool state) {
 657     if (state) {
 658       fdmex->GetOutput()->Enable();
 659       return true;
 660     } else {
 661       fdmex->GetOutput()->Disable();
 662       return false;
 663     }
 664 }
 665
 666
 667 //Positions
 668 void FGJSBsim::set_Latitude(double lat) {
 669     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 670     double alt;
 671     double sea_level_radius_meters, lat_geoc;
 672
 673                                 // In case we're not trimming
 674     FGInterface::set_Latitude(lat);
 675
 676     if ( altitude->getDoubleValue() > -9990 ) {
 677       alt = altitude->getDoubleValue();
 678     } else {
 679       alt = 0.0;
 680     }
 681
 682     update_ic();
 683     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 684     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 685
 686     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 687                       &sea_level_radius_meters, &lat_geoc );
 688     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 689     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 690     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 691     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 692     fgic->SetLatitudeRadIC( lat_geoc );
 693     needTrim=true;
 694 }
 695
 696 void FGJSBsim::set_Longitude(double lon) {
 697
 698     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 699
 700                                 // In case we're not trimming
 701     FGInterface::set_Longitude(lon);
 702
 703     update_ic();
 704     fgic->SetLongitudeRadIC( lon );
 705     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 706     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 707     needTrim=true;
 708 }
 709
 710 void FGJSBsim::set_Altitude(double alt) {
 711     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 712
 713     double sea_level_radius_meters,lat_geoc;
 714
 715     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 716     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 717
 718                                 // In case we're not trimming
 719     FGInterface::set_Altitude(alt);
 720
 721     update_ic();
 722     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 723                   &sea_level_radius_meters, &lat_geoc);
 724     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 725     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 726     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 727     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 728     SG_LOG(SG_FLIGHT, SG_INFO,
 729           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 730     fgic->SetLatitudeRadIC( lat_geoc );
 731     fgic->SetAltitudeFtIC(alt);
 732     needTrim=true;
 733 }
 734
 735 void FGJSBsim::set_V_calibrated_kts(double vc) {
 736     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 737
 738                                 // In case we're not trimming
 739     FGInterface::set_V_calibrated_kts(vc);
 740
 741     update_ic();
 742     fgic->SetVcalibratedKtsIC(vc);
 743     needTrim=true;
 744 }
 745
 746 void FGJSBsim::set_Mach_number(double mach) {
 747     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 748
 749                                 // In case we're not trimming
 750     FGInterface::set_Mach_number(mach);
 751
 752     update_ic();
 753     fgic->SetMachIC(mach);
 754     needTrim=true;
 755 }
 756
 757 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
 758     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 759        << north << ", " <<  east << ", " << down );
 760
 761                                 // In case we're not trimming
 762     FGInterface::set_Velocities_Local(north, east, down);
 763
 764     update_ic();
 765     fgic->SetVnorthFpsIC(north);
 766     fgic->SetVeastFpsIC(east);
 767     fgic->SetVdownFpsIC(down);
 768     needTrim=true;
 769 }
 770
 771 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
 772     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 773        << u << ", " <<  v << ", " <<  w );
 774
 775                                 // In case we're not trimming
 776     FGInterface::set_Velocities_Wind_Body(u, v, w);
 777
 778     update_ic();
 779     fgic->SetUBodyFpsIC(u);
 780     fgic->SetVBodyFpsIC(v);
 781     fgic->SetWBodyFpsIC(w);
 782     needTrim=true;
 783 }
 784
 785 //Euler angles
 786 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
 787     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 788        << phi << ", " << theta << ", " << psi );
 789
 790                                 // In case we're not trimming
 791     FGInterface::set_Euler_Angles(phi, theta, psi);
 792
 793     update_ic();
 794     fgic->SetPitchAngleRadIC(theta);
 795     fgic->SetRollAngleRadIC(phi);
 796     fgic->SetTrueHeadingRadIC(psi);
 797     needTrim=true;
 798 }
 799
 800 //Flight Path
 801 void FGJSBsim::set_Climb_Rate( double roc) {
 802     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 803
 804                                 // In case we're not trimming
 805     FGInterface::set_Climb_Rate(roc);
 806
 807     update_ic();
 808     //since both climb rate and flight path angle are set in the FG
 809     //startup sequence, something is needed to keep one from cancelling
 810     //out the other.
 811     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 812       fgic->SetClimbRateFpsIC(roc);
 813     }
 814     needTrim=true;
 815 }
 816
 817 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
 818     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 819
 820     update_ic();
 821     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 822       fgic->SetFlightPathAngleRadIC(gamma);
 823     }
 824     needTrim=true;
 825 }
 826
 827 void FGJSBsim::init_gear(void ) {
 828
 829     FGGroundReactions* gr=fdmex->GetGroundReactions();
 830     int Ngear=GroundReactions->GetNumGearUnits();
 831     for (int i=0;i<Ngear;i++) {
 832       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 833       node->setDoubleValue("xoffset-in",
 834                            gr->GetGearUnit(i)->GetBodyLocation()(1));
 835       node->setDoubleValue("yoffset-in",
 836                            gr->GetGearUnit(i)->GetBodyLocation()(2));
 837       node->setDoubleValue("zoffset-in",
 838                            gr->GetGearUnit(i)->GetBodyLocation()(3));
 839       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 840       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 841       node->setDoubleValue("position-norm", FCS->GetGearPos());
 842       node->setDoubleValue("tire-pressure-norm", gr->GetGearUnit(i)->GetTirePressure());
 843     }
 844 }
 845
 846 void FGJSBsim::update_gear(void) {
 847
 848     FGGroundReactions* gr=fdmex->GetGroundReactions();
 849     int Ngear=GroundReactions->GetNumGearUnits();
 850     for (int i=0;i<Ngear;i++) {
 851       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 852       node->getChild("wow", 0, true)
 853         ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 854       node->getChild("position-norm", 0, true)
 855         ->setDoubleValue(FCS->GetGearPos());
 856       gr->GetGearUnit(i)->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
 857     }
 858 }
 859
 860 void FGJSBsim::do_trim(void) {
 861
 862         FGTrim *fgtrim;
 863         if( fgGetBool("/sim/presets/onground") ) {
 864             fgic->SetVcalibratedKtsIC(0.0);
 865             fgtrim=new FGTrim(fdmex,tGround);
 866         } else {
 867             fgtrim=new FGTrim(fdmex,tLongitudinal);
 868         }
 869         if( !fgtrim->DoTrim() ) {
 870             fgtrim->Report();
 871             fgtrim->TrimStats();
 872         } else {
 873             trimmed->setBoolValue(true);
 874         }
 875         if (FGJSBBase::debug_lvl > 0)
 876             State->ReportState();
 877         delete fgtrim;
 878         pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 879         throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 880         aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 881         rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 882
 883         globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 884         globals->get_controls()->set_elevator(FCS->GetDeCmd());
 885         globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 886                                               FCS->GetThrottleCmd(0));
 887
 888         globals->get_controls()->set_aileron(FCS->GetDaCmd());
 889         globals->get_controls()->set_rudder( FCS->GetDrCmd());
 890
 891         SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 892 }
 893
 894 void FGJSBsim::update_ic(void) {
 895    if( !needTrim ) {
 896      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 897      fgic->SetLongitudeRadIC( get_Longitude() );
 898      fgic->SetAltitudeFtIC( get_Altitude() );
 899      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 900      fgic->SetPitchAngleRadIC( get_Theta() );
 901      fgic->SetRollAngleRadIC( get_Phi() );
 902      fgic->SetTrueHeadingRadIC( get_Psi() );
 903      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 904    }
 905 }
 906