src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #include <stdio.h>      //      size_t
  31 #ifdef SG_MATH_EXCEPTION_CLASH
  32 #  include <math.h>
  33 #endif
  34
  35 #include STL_STRING
  36
  37 #include <simgear/constants.h>
  38 #include <simgear/debug/logstream.hxx>
  39 #include <simgear/math/sg_geodesy.hxx>
  40 #include <simgear/misc/sg_path.hxx>
  41 #include <simgear/structure/commands.hxx>
  42
  43 #include <FDM/flight.hxx>
  44
  45 #include <Aircraft/aircraft.hxx>
  46 #include <Aircraft/controls.hxx>
  47 #include <Main/globals.hxx>
  48 #include <Main/fg_props.hxx>
  49
  50 #include "JSBSim.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>
  77
  78 using namespace JSBSim;
  79
  80 static inline double
  81 FMAX (double a, double b)
  82 {
  83   return a > b ? a : b;
  84 }
  85
  86 class FGFSGroundCallback : public FGGroundCallback {
  87 public:
  88   FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {}
  89   virtual ~FGFSGroundCallback() {}
  90
  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) };
  96     double lat, lon, alt;
  97     sgCartToGeod( pt, &lat, &lon, &alt);
  98     return alt * SG_METER_TO_FEET;
  99   }
 100
 101   /** Compute the altitude above ground. */
 102   virtual double GetAGLevel(double t, const FGLocation& l,
 103                             FGLocation& cont,
 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;
 107     int groundtype;
 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] );
 113     return agl;
 114   }
 115 private:
 116   FGInterface* mInterface;
 117 };
 118
 119 /******************************************************************************/
 120
 121 FGJSBsim::FGJSBsim( double dt )
 122   : FGInterface(dt)
 123 {
 124     bool result;
 125                                 // Set up the debugging level
 126                                 // FIXME: this will not respond to
 127                                 // runtime changes
 128
 129                                 // if flight is excluded, don't bother
 130     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
 131
 132                                 // do a rough-and-ready mapping to
 133                                 // the levels documented in FGFDMExec.h
 134         switch (logbuf::get_log_priority()) {
 135         case SG_BULK:
 136             FGJSBBase::debug_lvl = 0x1f;
 137             break;
 138         case SG_DEBUG:
 139             FGJSBBase::debug_lvl = 0x0f;
 140         case SG_INFO:
 141             FGJSBBase::debug_lvl = 0x01;
 142             break;
 143         case SG_WARN:
 144         case SG_ALERT:
 145             FGJSBBase::debug_lvl = 0x00;
 146             break;
 147         }
 148     }
 149
 150     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 151
 152     // Register ground callback.
 153     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
 154
 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();
 165
 166     fgic=fdmex->GetIC();
 167     needTrim=true;
 168
 169     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
 170
 171     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
 172     engine_path.append( "Engine" );
 173     State->Setdt( dt );
 174
 175     result = fdmex->LoadModel( aircraft_path.str(),
 176                                engine_path.str(),
 177                                fgGetString("/sim/aero"), false );
 178
 179     if (result) {
 180       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 181     } else {
 182       SG_LOG( SG_FLIGHT, SG_INFO,
 183               "  aero does not exist (you may have mis-typed the name).");
 184       throw(-1);
 185     }
 186
 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 ..." );
 190
 191     int Neng = Propulsion->GetNumEngines();
 192     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 193
 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!");
 200         exit(-1);
 201     }
 202
 203     init_gear();
 204
 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);
 210       } else {
 211         node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
 212         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 213       }
 214     }
 215     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 216
 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());
 221
 222     startup_trim = fgGetNode("/sim/presets/trim", true);
 223
 224     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 225     trimmed->setBoolValue(false);
 226
 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 );
 231
 232     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 233     stall_warning->setDoubleValue(0);
 234
 235
 236     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 237     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 238     left_aileron_pos_pct
 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);
 243     speedbrake_pos_pct
 244         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 245     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 246
 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);
 254
 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);
 260
 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);
 264
 265     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 266       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 267       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 268                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 269     }
 270 }
 271
 272 /******************************************************************************/
 273 FGJSBsim::~FGJSBsim(void)
 274 {
 275   delete fdmex;
 276 }
 277
 278 /******************************************************************************/
 279
 280 // Initialize the JSBsim flight model, dt is the time increment for
 281 // each subsequent iteration through the EOM
 282
 283 void FGJSBsim::init()
 284 {
 285     double tmp;
 286
 287     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 288
 289     // Explicitly call the superclass's
 290     // init method first.
 291
 292     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 293       Atmosphere->UseExternal();
 294       Atmosphere->SetExTemperature(
 295                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 296       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 297       Atmosphere->SetExDensity(density->getDoubleValue());
 298
 299       tmp = turbulence_gain->getDoubleValue();
 300       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 301
 302       tmp = turbulence_rate->getDoubleValue();
 303       Atmosphere->SetTurbRate(tmp);
 304
 305     } else {
 306       Atmosphere->UseInternal();
 307     }
 308
 309     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 310     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 311     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 312
 313     //Atmosphere->SetExTemperature(get_Static_temperature());
 314     //Atmosphere->SetExPressure(get_Static_pressure());
 315     //Atmosphere->SetExDensity(get_Density());
 316     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 317      << ", " << fdmex->GetAtmosphere()->GetPressure()
 318      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 319
 320     if (fgGetBool("/sim/presets/running")) {
 321           for (int i=0; i < Propulsion->GetNumEngines(); i++) {
 322             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 323             node->setBoolValue("running", true);
 324             Propulsion->GetEngine(i)->SetRunning(true);
 325           }
 326     }
 327
 328     common_init();
 329
 330     copy_to_JSBsim();
 331     fdmex->RunIC();     //loop JSBSim once w/o integrating
 332     copy_from_JSBsim(); //update the bus
 333
 334     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 335
 336     switch(fgic->GetSpeedSet()) {
 337     case setned:
 338         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 339                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
 340                << Propagate->GetVel(FGJSBBase::eEast) << ", "
 341                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
 342     break;
 343     case setuvw:
 344         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 345                << Propagate->GetUVW(1) << ", "
 346                << Propagate->GetUVW(2) << ", "
 347                << Propagate->GetUVW(3) << " ft/s");
 348     break;
 349     case setmach:
 350         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 351                << Auxiliary->GetMach() );
 352     break;
 353     case setvc:
 354     default:
 355         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 356                << Auxiliary->GetVcalibratedKTS() << " knots" );
 357     break;
 358     }
 359
 360     stall_warning->setDoubleValue(0);
 361
 362     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 363             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
 364     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 365             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
 366     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 367             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
 368     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 369             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 370     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 371             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 372     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 373             << Propagate->Geth() << " feet" );
 374     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 375
 376     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 377
 378     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 379
 380     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 381                                   globals->get_controls()->get_gear_down() );
 382 }
 383
 384 /******************************************************************************/
 385
 386 // Run an iteration of the EOM (equations of motion)
 387
 388 void FGJSBsim::update( double dt )
 389 {
 390     if (is_suspended())
 391       return;
 392
 393     int multiloop = _calc_multiloop(dt);
 394
 395     int i;
 396
 397     // Compute the radius of the aircraft. That is the radius of a ball
 398     // where all gear units are in. At the moment it is at least 10ft ...
 399     double acrad = 10.0;
 400     int n_gears = GroundReactions->GetNumGearUnits();
 401     for (i=0; i<n_gears; ++i) {
 402       FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
 403       double r = bl.Magnitude();
 404       if (acrad < r)
 405         acrad = r;
 406     }
 407
 408     // Compute the potential movement of this aircraft and query for the
 409     // ground in this area.
 410     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
 411     double alt, slr, lat, lon;
 412     FGColumnVector3 cart = Auxiliary->GetLocationVRP();
 413     if ( needTrim && startup_trim->getBoolValue() ) {
 414       alt = fgic->GetAltitudeFtIC();
 415       slr = fgic->GetSeaLevelRadiusFtIC();
 416       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 417       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 418       cart = FGLocation(lon, lat, alt+slr);
 419     }
 420     double cart_pos[3] = { cart(1), cart(2), cart(3) };
 421     bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
 422                                              groundCacheRadius );
 423     if (!cache_ok) {
 424       SG_LOG(SG_FLIGHT, SG_WARN,
 425              "FGInterface is being called without scenery below the aircraft!");
 426       cout << "altitude         = " << alt << endl;
 427       cout << "sea level radius = " << slr << endl;
 428       cout << "latitude         = " << lat << endl;
 429       cout << "longitude        = " << lon << endl;
 430       //return;
 431     }
 432
 433     copy_to_JSBsim();
 434
 435     trimmed->setBoolValue(false);
 436
 437     if ( needTrim ) {
 438       if ( startup_trim->getBoolValue() ) {
 439         double contact[3], dummy[3], lc, ff, agl;
 440         int groundtype;
 441         get_agl_ft(State->Getsim_time(), cart_pos, contact,
 442                    dummy, dummy, &groundtype, &lc, &ff, &agl);
 443         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
 444              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 445
 446         SG_LOG(SG_FLIGHT, SG_INFO,
 447           "Ready to trim, terrain altitude is: "
 448             << terrain_alt * SG_METER_TO_FEET );
 449
 450         fgic->SetTerrainAltitudeFtIC( terrain_alt );
 451         do_trim();
 452       } else {
 453         fdmex->RunIC();  //apply any changes made through the set_ functions
 454       }
 455       needTrim = false;
 456     }
 457
 458     for ( i=0; i < multiloop; i++ ) {
 459       fdmex->Run();
 460     }
 461
 462     FGJSBBase::Message* msg;
 463     while (fdmex->ReadMessage()) {
 464       msg = fdmex->ProcessMessage();
 465       switch (msg->type) {
 466       case FGJSBBase::Message::eText:
 467         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 468         break;
 469       case FGJSBBase::Message::eBool:
 470         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 471         break;
 472       case FGJSBBase::Message::eInteger:
 473         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 474         break;
 475       case FGJSBBase::Message::eDouble:
 476         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 477         break;
 478       default:
 479         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 480         break;
 481       }
 482     }
 483
 484     // translate JSBsim back to FG structure so that the
 485     // autopilot (and the rest of the sim can use the updated values
 486     copy_from_JSBsim();
 487 }
 488
 489 /******************************************************************************/
 490
 491 // Convert from the FGInterface struct to the JSBsim generic_ struct
 492
 493 bool FGJSBsim::copy_to_JSBsim()
 494 {
 495     double tmp;
 496     unsigned int i;
 497
 498     // copy control positions into the JSBsim structure
 499
 500     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 501     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 502     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 503     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 504     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 505     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 506     // FIXME: make that get_steering work
 507 //     FCS->SetDsCmd( globals->get_controls()->get_steering()/80.0 );
 508     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 509     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 510     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 511     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 512
 513         // Parking brake sets minimum braking
 514         // level for mains.
 515     double parking_brake = globals->get_controls()->get_brake_parking();
 516     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 517     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 518     FCS->SetCBrake( 0.0 );
 519     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 520
 521     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 522     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 523       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 524
 525       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 526       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 527       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 528       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
 529
 530       switch (Propulsion->GetEngine(i)->GetType()) {
 531       case FGEngine::etPiston:
 532         { // FGPiston code block
 533         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 534         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 535         break;
 536         } // end FGPiston code block
 537       case FGEngine::etTurbine:
 538         { // FGTurbine code block
 539         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 540         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 541         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 542         eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 543         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 544         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 545         break;
 546         } // end FGTurbine code block
 547       case FGEngine::etRocket:
 548         { // FGRocket code block
 549         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 550         break;
 551         } // end FGRocket code block
 552       case FGEngine::etTurboprop:
 553         { // FGTurboProp code block
 554         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 555         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 556         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 557         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 558
 559                 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
 560                 eng->SetCondition( globals->get_controls()->get_condition(i) );
 561         break;
 562         } // end FGTurboProp code block
 563       }
 564
 565       { // FGEngine code block
 566       FGEngine* eng = Propulsion->GetEngine(i);
 567
 568       eng->SetStarter( globals->get_controls()->get_starter(i) );
 569       eng->SetRunning( node->getBoolValue("running") );
 570       } // end FGEngine code block
 571     }
 572
 573
 574     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 575
 576     Atmosphere->SetExTemperature(
 577                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 578     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 579     Atmosphere->SetExDensity(density->getDoubleValue());
 580
 581     tmp = turbulence_gain->getDoubleValue();
 582     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 583
 584     tmp = turbulence_rate->getDoubleValue();
 585     Atmosphere->SetTurbRate(tmp);
 586
 587     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 588                             wind_from_east->getDoubleValue(),
 589                             wind_from_down->getDoubleValue() );
 590 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 591 //                  << get_V_north_airmass() << ", "
 592 //                  << get_V_east_airmass()  << ", "
 593 //                  << get_V_down_airmass() );
 594
 595     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 596       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 597       FGTank * tank = Propulsion->GetTank(i);
 598       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 599 //       tank->SetContents(node->getDoubleValue("level-lb"));
 600     }
 601     SGPropertyNode* node = fgGetNode("/systems/refuel", true);
 602     Propulsion->SetRefuel(node->getDoubleValue("contact"));
 603     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 604
 605     return true;
 606 }
 607
 608 /******************************************************************************/
 609
 610 // Convert from the JSBsim generic_ struct to the FGInterface struct
 611
 612 bool FGJSBsim::copy_from_JSBsim()
 613 {
 614     unsigned int i, j;
 615 /*
 616     _set_Inertias( MassBalance->GetMass(),
 617                    MassBalance->GetIxx(),
 618                    MassBalance->GetIyy(),
 619                    MassBalance->GetIzz(),
 620                    MassBalance->GetIxz() );
 621 */
 622     _set_CG_Position( MassBalance->GetXYZcg(1),
 623                       MassBalance->GetXYZcg(2),
 624                       MassBalance->GetXYZcg(3) );
 625
 626     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 627                       Aircraft->GetBodyAccel(2),
 628                       Aircraft->GetBodyAccel(3) );
 629
 630     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 631                             Aircraft->GetNcg(2),
 632                             Aircraft->GetNcg(3) );
 633
 634     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 635                             Auxiliary->GetPilotAccel(2),
 636                             Auxiliary->GetPilotAccel(3) );
 637
 638     _set_Nlf( Aircraft->GetNlf() );
 639
 640     // Velocities
 641
 642     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
 643                            Propagate->GetVel(FGJSBBase::eEast),
 644                            Propagate->GetVel(FGJSBBase::eDown) );
 645
 646     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 647                                Propagate->GetUVW(2),
 648                                Propagate->GetUVW(3) );
 649
 650     // Make the HUD work ...
 651     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
 652                             Propagate->GetVel(FGJSBBase::eEast),
 653                             -Propagate->GetVel(FGJSBBase::eDown) );
 654
 655     _set_V_rel_wind( Auxiliary->GetVt() );
 656
 657     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 658
 659     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 660
 661     _set_V_ground_speed( Auxiliary->GetVground() );
 662
 663     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
 664                      Propagate->GetPQR(FGJSBBase::eQ),
 665                      Propagate->GetPQR(FGJSBBase::eR) );
 666
 667     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
 668                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
 669                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
 670
 671     _set_Mach_number( Auxiliary->GetMach() );
 672
 673     // Positions of Visual Reference Point
 674     FGLocation l = Auxiliary->GetLocationVRP();
 675     _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
 676                                l.GetRadius() - get_Sea_level_radius() );
 677
 678     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 679     {
 680       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
 681       double contact[3], d[3], sd, t;
 682       int id;
 683       is_valid_m(&t, d, &sd);
 684       get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd);
 685       double rwrad
 686         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
 687       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
 688     }
 689
 690     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
 691                        Propagate->GetEuler(FGJSBBase::eTht),
 692                        Propagate->GetEuler(FGJSBBase::ePsi) );
 693
 694     _set_Alpha( Auxiliary->Getalpha() );
 695     _set_Beta( Auxiliary->Getbeta() );
 696
 697
 698     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 699
 700     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 701
 702     _set_Climb_Rate( Propagate->Gethdot() );
 703
 704     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 705     for ( i = 1; i <= 3; i++ ) {
 706         for ( j = 1; j <= 3; j++ ) {
 707             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 708         }
 709     }
 710
 711     // Copy the engine values from JSBSim.
 712     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 713       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 714       char buf[30];
 715       sprintf(buf, "engines/engine[%d]/thruster", i);
 716       SGPropertyNode * tnode = fgGetNode(buf, true);
 717       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 718
 719       switch (Propulsion->GetEngine(i)->GetType()) {
 720       case FGEngine::etPiston:
 721         { // FGPiston code block
 722         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 723         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 724         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 725         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 726         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 727         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 728         node->setDoubleValue("rpm", eng->getRPM());
 729         } // end FGPiston code block
 730         break;
 731       case FGEngine::etRocket:
 732         { // FGRocket code block
 733         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 734         } // end FGRocket code block
 735         break;
 736       case FGEngine::etTurbine:
 737         { // FGTurbine code block
 738         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 739         node->setDoubleValue("n1", eng->GetN1());
 740         node->setDoubleValue("n2", eng->GetN2());
 741         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 742         node->setBoolValue("augmentation", eng->GetAugmentation());
 743         node->setBoolValue("water-injection", eng->GetInjection());
 744         node->setBoolValue("ignition", eng->GetIgnition());
 745         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 746         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 747         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 748         node->setBoolValue("reversed", eng->GetReversed());
 749         node->setBoolValue("cutoff", eng->GetCutoff());
 750         node->setDoubleValue("epr", eng->GetEPR());
 751         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 752         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 753         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 754         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 755         } // end FGTurbine code block
 756         break;
 757       case FGEngine::etTurboprop:
 758         { // FGTurboProp code block
 759         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 760         node->setDoubleValue("n1", eng->GetN1());
 761         //node->setDoubleValue("n2", eng->GetN2());
 762         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
 763         node->setBoolValue("ignition", eng->GetIgnition());
 764         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 765         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 766         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 767         node->setBoolValue("reversed", eng->GetReversed());
 768         node->setBoolValue("cutoff", eng->GetCutoff());
 769         node->setBoolValue("starting", eng->GetEngStarting());
 770         node->setBoolValue("generator-power", eng->GetGeneratorPower());
 771         node->setBoolValue("damaged", eng->GetCondition());
 772         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
 773         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 774 //        node->setBoolValue("onfire", eng->GetFire());
 775         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 776         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 777         } // end FGTurboProp code block
 778         break;
 779       case FGEngine::etElectric:
 780         { // FGElectric code block
 781         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 782         node->setDoubleValue("rpm", eng->getRPM());
 783         } // end FGElectric code block
 784         break;
 785       }
 786
 787       { // FGEngine code block
 788       FGEngine* eng = Propulsion->GetEngine(i);
 789       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 790       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 791       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 792       node->setBoolValue("running", eng->GetRunning());
 793       node->setBoolValue("starter", eng->GetStarter());
 794       node->setBoolValue("cranking", eng->GetCranking());
 795       globals->get_controls()->set_starter(i, eng->GetStarter() );
 796       } // end FGEngine code block
 797
 798       switch (thruster->GetType()) {
 799       case FGThruster::ttNozzle:
 800         { // FGNozzle code block
 801         FGNozzle* noz = (FGNozzle*)thruster;
 802         } // end FGNozzle code block
 803         break;
 804       case FGThruster::ttPropeller:
 805         { // FGPropeller code block
 806         FGPropeller* prop = (FGPropeller*)thruster;
 807         tnode->setDoubleValue("rpm", thruster->GetRPM());
 808         tnode->setDoubleValue("pitch", prop->GetPitch());
 809         tnode->setDoubleValue("torque", prop->GetTorque());
 810         tnode->setBoolValue("feathered", prop->GetFeather());
 811         } // end FGPropeller code block
 812         break;
 813       case FGThruster::ttRotor:
 814         { // FGRotor code block
 815         FGRotor* rotor = (FGRotor*)thruster;
 816         } // end FGRotor code block
 817         break;
 818       case FGThruster::ttDirect:
 819         { // Direct code block
 820         } // end Direct code block
 821         break;
 822       }
 823
 824     }
 825
 826     // Copy the fuel levels from JSBSim if fuel
 827     // freeze not enabled.
 828     if ( ! Propulsion->GetFuelFreeze() ) {
 829       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 830         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 831         FGTank* tank = Propulsion->GetTank(i);
 832         double contents = tank->GetContents();
 833         double temp = tank->GetTemperature_degC();
 834         node->setDoubleValue("level-gal_us", contents/6.6);
 835         node->setDoubleValue("level-lb", contents);
 836         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 837       }
 838     }
 839
 840     update_gear();
 841
 842     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 843
 844     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 845     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 846     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 847     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 848     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 849     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 850     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 851
 852     // force a sim reset if crashed (altitude AGL < 0)
 853     if (get_Altitude_AGL() < -100.0) {
 854          fgSetBool("/sim/crashed", true);
 855          SGPropertyNode* node = fgGetNode("/sim/presets", true);
 856          globals->get_commands()->execute("old-reinit-dialog", node);
 857     }
 858
 859     return true;
 860 }
 861
 862
 863 bool FGJSBsim::ToggleDataLogging(void)
 864 {
 865   // ToDo: handle this properly
 866   fdmex->DisableOutput();
 867   return false;
 868 }
 869
 870
 871 bool FGJSBsim::ToggleDataLogging(bool state)
 872 {
 873     if (state) {
 874       fdmex->EnableOutput();
 875       return true;
 876     } else {
 877       fdmex->DisableOutput();
 878       return false;
 879     }
 880 }
 881
 882
 883 //Positions
 884 void FGJSBsim::set_Latitude(double lat)
 885 {
 886     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 887     double alt;
 888     double sea_level_radius_meters, lat_geoc;
 889
 890     // In case we're not trimming
 891     FGInterface::set_Latitude(lat);
 892
 893     if ( altitude->getDoubleValue() > -9990 ) {
 894       alt = altitude->getDoubleValue();
 895     } else {
 896       alt = 0.0;
 897     }
 898
 899     update_ic();
 900     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 901     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 902
 903     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 904                       &sea_level_radius_meters, &lat_geoc );
 905     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 906     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 907     fgic->SetLatitudeRadIC( lat_geoc );
 908     needTrim=true;
 909 }
 910
 911
 912 void FGJSBsim::set_Longitude(double lon)
 913 {
 914     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 915
 916     // In case we're not trimming
 917     FGInterface::set_Longitude(lon);
 918
 919     update_ic();
 920     fgic->SetLongitudeRadIC( lon );
 921     needTrim=true;
 922 }
 923
 924 void FGJSBsim::set_Altitude(double alt)
 925 {
 926     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 927
 928     double sea_level_radius_meters,lat_geoc;
 929
 930     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 931     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 932
 933     // In case we're not trimming
 934     FGInterface::set_Altitude(alt);
 935
 936     update_ic();
 937     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 938                   &sea_level_radius_meters, &lat_geoc);
 939     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 940     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 941     SG_LOG(SG_FLIGHT, SG_INFO,
 942           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 943     fgic->SetLatitudeRadIC( lat_geoc );
 944     fgic->SetAltitudeFtIC(alt);
 945     needTrim=true;
 946 }
 947
 948 void FGJSBsim::set_V_calibrated_kts(double vc)
 949 {
 950     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 951
 952     // In case we're not trimming
 953     FGInterface::set_V_calibrated_kts(vc);
 954
 955     update_ic();
 956     fgic->SetVcalibratedKtsIC(vc);
 957     needTrim=true;
 958 }
 959
 960 void FGJSBsim::set_Mach_number(double mach)
 961 {
 962     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 963
 964     // In case we're not trimming
 965     FGInterface::set_Mach_number(mach);
 966
 967     update_ic();
 968     fgic->SetMachIC(mach);
 969     needTrim=true;
 970 }
 971
 972 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
 973 {
 974     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 975        << north << ", " <<  east << ", " << down );
 976
 977     // In case we're not trimming
 978     FGInterface::set_Velocities_Local(north, east, down);
 979
 980     update_ic();
 981     fgic->SetVnorthFpsIC(north);
 982     fgic->SetVeastFpsIC(east);
 983     fgic->SetVdownFpsIC(down);
 984     needTrim=true;
 985 }
 986
 987 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
 988 {
 989     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 990        << u << ", " <<  v << ", " <<  w );
 991
 992     // In case we're not trimming
 993     FGInterface::set_Velocities_Wind_Body(u, v, w);
 994
 995     update_ic();
 996     fgic->SetUBodyFpsIC(u);
 997     fgic->SetVBodyFpsIC(v);
 998     fgic->SetWBodyFpsIC(w);
 999     needTrim=true;
1000 }
1001
1002 //Euler angles
1003 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1004 {
1005     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1006        << phi << ", " << theta << ", " << psi );
1007
1008     // In case we're not trimming
1009     FGInterface::set_Euler_Angles(phi, theta, psi);
1010
1011     update_ic();
1012     fgic->SetThetaRadIC(theta);
1013     fgic->SetPhiRadIC(phi);
1014     fgic->SetPsiRadIC(psi);
1015     needTrim=true;
1016 }
1017
1018 //Flight Path
1019 void FGJSBsim::set_Climb_Rate( double roc)
1020 {
1021     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1022
1023     // In case we're not trimming
1024     FGInterface::set_Climb_Rate(roc);
1025
1026     update_ic();
1027     //since both climb rate and flight path angle are set in the FG
1028     //startup sequence, something is needed to keep one from cancelling
1029     //out the other.
1030     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1031       fgic->SetClimbRateFpsIC(roc);
1032     }
1033     needTrim=true;
1034 }
1035
1036 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1037 {
1038     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1039
1040     update_ic();
1041     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1042       fgic->SetFlightPathAngleRadIC(gamma);
1043     }
1044     needTrim=true;
1045 }
1046
1047 void FGJSBsim::init_gear(void )
1048 {
1049     FGGroundReactions* gr=fdmex->GetGroundReactions();
1050     int Ngear=GroundReactions->GetNumGearUnits();
1051     for (int i=0;i<Ngear;i++) {
1052       FGLGear *gear = gr->GetGearUnit(i);
1053       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1054       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1055       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1056       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1057       node->setBoolValue("wow", gear->GetWOW());
1058       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1059       node->setDoubleValue("position-norm", FCS->GetGearPos());
1060       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1061       node->setDoubleValue("compression-norm", gear->GetCompLen());
1062       if ( gear->GetSteerable() )
1063         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1064     }
1065 }
1066
1067 void FGJSBsim::update_gear(void)
1068 {
1069     FGGroundReactions* gr=fdmex->GetGroundReactions();
1070     int Ngear=GroundReactions->GetNumGearUnits();
1071     for (int i=0;i<Ngear;i++) {
1072       FGLGear *gear = gr->GetGearUnit(i);
1073       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1074       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1075       node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
1076       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1077       node->setDoubleValue("compression-norm", gear->GetCompLen());
1078       if ( gear->GetSteerable() )
1079         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1080     }
1081 }
1082
1083 void FGJSBsim::do_trim(void)
1084 {
1085   FGTrim *fgtrim;
1086
1087   if ( fgGetBool("/sim/presets/onground") )
1088   {
1089     fgic->SetVcalibratedKtsIC(0.0);
1090     fgtrim = new FGTrim(fdmex,tGround);
1091   } else {
1092     fgtrim = new FGTrim(fdmex,tLongitudinal);
1093   }
1094
1095   if ( !fgtrim->DoTrim() ) {
1096     fgtrim->Report();
1097     fgtrim->TrimStats();
1098   } else {
1099     trimmed->setBoolValue(true);
1100   }
1101   if (FGJSBBase::debug_lvl > 0)
1102       State->ReportState();
1103
1104   delete fgtrim;
1105
1106   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1107   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1108   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1109   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1110
1111   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1112   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1113   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1114   FCS->GetThrottleCmd(0));
1115
1116   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1117   globals->get_controls()->set_rudder( FCS->GetDrCmd());
1118
1119   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1120 }
1121
1122 void FGJSBsim::update_ic(void)
1123 {
1124    if ( !needTrim ) {
1125      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1126      fgic->SetLongitudeRadIC( get_Longitude() );
1127      fgic->SetAltitudeFtIC( get_Altitude() );
1128      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1129      fgic->SetThetaRadIC( get_Theta() );
1130      fgic->SetPhiRadIC( get_Phi() );
1131      fgic->SetPsiRadIC( get_Psi() );
1132      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1133    }
1134 }
1135