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 #include <string>
  32
  33 #include <simgear/constants.h>
  34 #include <simgear/debug/logstream.hxx>
  35 #include <simgear/math/sg_geodesy.hxx>
  36 #include <simgear/misc/sg_path.hxx>
  37 #include <simgear/structure/commands.hxx>
  38
  39 #include <FDM/flight.hxx>
  40
  41 #include <Aircraft/aircraft.hxx>
  42 #include <Aircraft/controls.hxx>
  43 #include <Main/globals.hxx>
  44 #include <Main/fg_props.hxx>
  45
  46 #include "JSBSim.hxx"
  47 #include <FDM/JSBSim/FGFDMExec.h>
  48 #include <FDM/JSBSim/FGJSBBase.h>
  49 #include <FDM/JSBSim/FGState.h>
  50 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
  51 #include <FDM/JSBSim/initialization/FGTrim.h>
  52 #include <FDM/JSBSim/models/FGModel.h>
  53 #include <FDM/JSBSim/models/FGAircraft.h>
  54 #include <FDM/JSBSim/models/FGFCS.h>
  55 #include <FDM/JSBSim/models/FGPropagate.h>
  56 #include <FDM/JSBSim/models/FGAuxiliary.h>
  57 #include <FDM/JSBSim/models/FGInertial.h>
  58 #include <FDM/JSBSim/models/FGAtmosphere.h>
  59 #include <FDM/JSBSim/models/FGMassBalance.h>
  60 #include <FDM/JSBSim/models/FGAerodynamics.h>
  61 #include <FDM/JSBSim/models/FGLGear.h>
  62 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
  63 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
  64 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
  65 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
  66 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
  67 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
  68 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
  69 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
  70 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
  71 #include <FDM/JSBSim/models/propulsion/FGTank.h>
  72 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
  73 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
  74
  75 using namespace JSBSim;
  76
  77 static inline double
  78 FMAX (double a, double b)
  79 {
  80   return a > b ? a : b;
  81 }
  82
  83 class FGFSGroundCallback : public FGGroundCallback {
  84 public:
  85   FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {}
  86   virtual ~FGFSGroundCallback() {}
  87
  88   /** Get the altitude above sea level depenent on the location. */
  89   virtual double GetAltitude(const FGLocation& l) const {
  90     double pt[3] = { SG_FEET_TO_METER*l(eX),
  91                      SG_FEET_TO_METER*l(eY),
  92                      SG_FEET_TO_METER*l(eZ) };
  93     double lat, lon, alt;
  94     sgCartToGeod( pt, &lat, &lon, &alt);
  95     return alt * SG_METER_TO_FEET;
  96   }
  97
  98   /** Compute the altitude above ground. */
  99   virtual double GetAGLevel(double t, const FGLocation& l,
 100                             FGLocation& cont,
 101                             FGColumnVector3& n, FGColumnVector3& v) const {
 102     double loc_cart[3] = { l(eX), l(eY), l(eZ) };
 103     double contact[3], normal[3], vel[3], lc, ff, agl;
 104     int groundtype;
 105     mInterface->get_agl_ft(t, loc_cart, contact, normal, vel,
 106                            &groundtype, &lc, &ff, &agl);
 107     n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
 108     v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
 109     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
 110     return agl;
 111   }
 112 private:
 113   FGInterface* mInterface;
 114 };
 115
 116 /******************************************************************************/
 117
 118 FGJSBsim::FGJSBsim( double dt )
 119   : FGInterface(dt), got_wire(false)
 120 {
 121     bool result;
 122                                 // Set up the debugging level
 123                                 // FIXME: this will not respond to
 124                                 // runtime changes
 125
 126                                 // if flight is excluded, don't bother
 127     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
 128
 129                                 // do a rough-and-ready mapping to
 130                                 // the levels documented in FGFDMExec.h
 131         switch (logbuf::get_log_priority()) {
 132         case SG_BULK:
 133             FGJSBBase::debug_lvl = 0x1f;
 134             break;
 135         case SG_DEBUG:
 136             FGJSBBase::debug_lvl = 0x0f;
 137         case SG_INFO:
 138             FGJSBBase::debug_lvl = 0x01;
 139             break;
 140         case SG_WARN:
 141         case SG_ALERT:
 142             FGJSBBase::debug_lvl = 0x00;
 143             break;
 144         }
 145     }
 146
 147     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 148
 149     // Register ground callback.
 150     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
 151
 152     State           = fdmex->GetState();
 153     Atmosphere      = fdmex->GetAtmosphere();
 154     FCS             = fdmex->GetFCS();
 155     MassBalance     = fdmex->GetMassBalance();
 156     Propulsion      = fdmex->GetPropulsion();
 157     Aircraft        = fdmex->GetAircraft();
 158     Propagate        = fdmex->GetPropagate();
 159     Auxiliary       = fdmex->GetAuxiliary();
 160     Inertial        = fdmex->GetInertial();
 161     Aerodynamics    = fdmex->GetAerodynamics();
 162     GroundReactions = fdmex->GetGroundReactions();
 163
 164     fgic=fdmex->GetIC();
 165     needTrim=true;
 166
 167     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
 168
 169     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
 170     engine_path.append( "Engine" );
 171
 172     SGPath systems_path( fgGetString("/sim/aircraft-dir") );
 173     systems_path.append( "Systems" );
 174
 175     State->Setdt( dt );
 176
 177     result = fdmex->LoadModel( aircraft_path.str(),
 178                                engine_path.str(),
 179                                systems_path.str(),
 180                                fgGetString("/sim/aero"), false );
 181
 182     if (result) {
 183       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 184     } else {
 185       SG_LOG( SG_FLIGHT, SG_INFO,
 186               "  aero does not exist (you may have mis-typed the name).");
 187       throw(-1);
 188     }
 189
 190     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 191     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 192     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 193
 194     int Neng = Propulsion->GetNumEngines();
 195     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 196
 197     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 198         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 199                 << GroundReactions->GetNumGearUnits() );
 200         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 201         SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 202         SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 203         exit(-1);
 204     }
 205
 206     init_gear();
 207
 208     // Set initial fuel levels if provided.
 209     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 210       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 211       if (node->getChild("level-gal_us", 0, false) != 0) {
 212         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 213       } else {
 214         node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
 215         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 216       }
 217       node->setDoubleValue("capacity-gal_us",
 218                            Propulsion->GetTank(i)->GetCapacity() / 6.6);
 219     }
 220     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 221
 222     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 223     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 224     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 225     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 226
 227     startup_trim = fgGetNode("/sim/presets/trim", true);
 228
 229     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 230     trimmed->setBoolValue(false);
 231
 232     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 233     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 234     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 235     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 236
 237     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 238     stall_warning->setDoubleValue(0);
 239
 240
 241     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 242     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 243     left_aileron_pos_pct
 244         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 245     right_aileron_pos_pct
 246         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 247     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 248     speedbrake_pos_pct
 249         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 250     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 251
 252     elevator_pos_pct->setDoubleValue(0);
 253     left_aileron_pos_pct->setDoubleValue(0);
 254     right_aileron_pos_pct->setDoubleValue(0);
 255     rudder_pos_pct->setDoubleValue(0);
 256     flap_pos_pct->setDoubleValue(0);
 257     speedbrake_pos_pct->setDoubleValue(0);
 258     spoilers_pos_pct->setDoubleValue(0);
 259
 260     temperature = fgGetNode("/environment/temperature-degc",true);
 261     pressure = fgGetNode("/environment/pressure-inhg",true);
 262     density = fgGetNode("/environment/density-slugft3",true);
 263     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 264     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 265
 266     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 267     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 268     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 269
 270     slaved = fgGetNode("/sim/slaved/enabled", true);
 271
 272     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 273       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 274       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 275                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 276     }
 277
 278     hook_root_struct = FGColumnVector3(
 279         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
 280         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
 281         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
 282 }
 283
 284 /******************************************************************************/
 285 FGJSBsim::~FGJSBsim(void)
 286 {
 287   delete fdmex;
 288 }
 289
 290 /******************************************************************************/
 291
 292 // Initialize the JSBsim flight model, dt is the time increment for
 293 // each subsequent iteration through the EOM
 294
 295 void FGJSBsim::init()
 296 {
 297     double tmp;
 298
 299     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 300
 301     // Explicitly call the superclass's
 302     // init method first.
 303
 304     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 305       Atmosphere->UseExternal();
 306       Atmosphere->SetExTemperature(
 307                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 308       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 309       Atmosphere->SetExDensity(density->getDoubleValue());
 310       Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
 311       Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
 312       Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
 313
 314     } else {
 315       Atmosphere->UseInternal();
 316     }
 317
 318     fgic->SetVNorthFpsIC( wind_from_north->getDoubleValue() );
 319     fgic->SetVEastFpsIC( wind_from_east->getDoubleValue() );
 320     fgic->SetVDownFpsIC( wind_from_down->getDoubleValue() );
 321
 322     //Atmosphere->SetExTemperature(get_Static_temperature());
 323     //Atmosphere->SetExPressure(get_Static_pressure());
 324     //Atmosphere->SetExDensity(get_Density());
 325     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 326      << ", " << fdmex->GetAtmosphere()->GetPressure()
 327      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 328
 329     if (fgGetBool("/sim/presets/running")) {
 330           for (int i=0; i < Propulsion->GetNumEngines(); i++) {
 331             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 332             node->setBoolValue("running", true);
 333             Propulsion->GetEngine(i)->SetRunning(true);
 334           }
 335     }
 336
 337     FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
 338
 339     common_init();
 340
 341     copy_to_JSBsim();
 342     fdmex->RunIC();     //loop JSBSim once w/o integrating
 343     copy_from_JSBsim(); //update the bus
 344
 345     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 346
 347     switch(fgic->GetSpeedSet()) {
 348     case setned:
 349         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 350                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
 351                << Propagate->GetVel(FGJSBBase::eEast) << ", "
 352                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
 353     break;
 354     case setuvw:
 355         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 356                << Propagate->GetUVW(1) << ", "
 357                << Propagate->GetUVW(2) << ", "
 358                << Propagate->GetUVW(3) << " ft/s");
 359     break;
 360     case setmach:
 361         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 362                << Auxiliary->GetMach() );
 363     break;
 364     case setvc:
 365     default:
 366         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 367                << Auxiliary->GetVcalibratedKTS() << " knots" );
 368     break;
 369     }
 370
 371     stall_warning->setDoubleValue(0);
 372
 373     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 374             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
 375     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 376             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
 377     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 378             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
 379     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 380             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 381     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 382             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 383     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 384             << Propagate->Geth() << " feet" );
 385     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 386
 387     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 388
 389     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 390
 391     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 392                                   globals->get_controls()->get_gear_down() );
 393 }
 394
 395 /******************************************************************************/
 396
 397 // Run an iteration of the EOM (equations of motion)
 398
 399 void FGJSBsim::update( double dt )
 400 {
 401     if (is_suspended())
 402       return;
 403
 404     int multiloop = _calc_multiloop(dt);
 405
 406     int i;
 407
 408     // Compute the radius of the aircraft. That is the radius of a ball
 409     // where all gear units are in. At the moment it is at least 10ft ...
 410     double acrad = 10.0;
 411     int n_gears = GroundReactions->GetNumGearUnits();
 412     for (i=0; i<n_gears; ++i) {
 413       FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
 414       double r = bl.Magnitude();
 415       if (acrad < r)
 416         acrad = r;
 417     }
 418
 419     // Compute the potential movement of this aircraft and query for the
 420     // ground in this area.
 421     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
 422     double alt, slr, lat, lon;
 423     FGColumnVector3 cart = Auxiliary->GetLocationVRP();
 424     if ( needTrim && startup_trim->getBoolValue() ) {
 425       alt = fgic->GetAltitudeFtIC();
 426       slr = fgic->GetSeaLevelRadiusFtIC();
 427       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 428       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 429       cart = FGLocation(lon, lat, alt+slr);
 430     }
 431     double cart_pos[3] = { cart(1), cart(2), cart(3) };
 432     bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
 433                                              groundCacheRadius );
 434     if (!cache_ok) {
 435       SG_LOG(SG_FLIGHT, SG_WARN,
 436              "FGInterface is being called without scenery below the aircraft!");
 437       SG_LOG(SG_FLIGHT, SG_WARN,
 438              "altitude         = " << alt);
 439       SG_LOG(SG_FLIGHT, SG_WARN,
 440             "sea level radius = " << slr);
 441       SG_LOG(SG_FLIGHT, SG_WARN,
 442             "latitude         = " << lat);
 443       SG_LOG(SG_FLIGHT, SG_WARN,
 444             "longitude        = " << lon);
 445       //return;
 446     }
 447
 448     copy_to_JSBsim();
 449
 450     trimmed->setBoolValue(false);
 451
 452     if ( needTrim ) {
 453       if ( startup_trim->getBoolValue() ) {
 454         double contact[3], dummy[3], lc, ff, agl;
 455         int groundtype;
 456         get_agl_ft(State->Getsim_time(), cart_pos, contact,
 457                    dummy, dummy, &groundtype, &lc, &ff, &agl);
 458         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
 459              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 460
 461         SG_LOG(SG_FLIGHT, SG_INFO,
 462           "Ready to trim, terrain altitude is: "
 463             << terrain_alt * SG_METER_TO_FEET );
 464
 465         fgic->SetTerrainAltitudeFtIC( terrain_alt );
 466         do_trim();
 467       } else {
 468         fdmex->RunIC();  //apply any changes made through the set_ functions
 469       }
 470       needTrim = false;
 471     }
 472
 473     for ( i=0; i < multiloop; i++ ) {
 474       fdmex->Run();
 475       update_external_forces(State->Getsim_time() + i * State->Getdt());
 476     }
 477
 478     FGJSBBase::Message* msg;
 479     while (fdmex->SomeMessages()) {
 480       msg = fdmex->ProcessMessage();
 481       switch (msg->type) {
 482       case FGJSBBase::Message::eText:
 483         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 484         break;
 485       case FGJSBBase::Message::eBool:
 486         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 487         break;
 488       case FGJSBBase::Message::eInteger:
 489         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 490         break;
 491       case FGJSBBase::Message::eDouble:
 492         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 493         break;
 494       default:
 495         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 496         break;
 497       }
 498     }
 499
 500     // translate JSBsim back to FG structure so that the
 501     // autopilot (and the rest of the sim can use the updated values
 502     copy_from_JSBsim();
 503 }
 504
 505 /******************************************************************************/
 506
 507 // Convert from the FGInterface struct to the JSBsim generic_ struct
 508
 509 bool FGJSBsim::copy_to_JSBsim()
 510 {
 511     double tmp;
 512     unsigned int i;
 513
 514     // copy control positions into the JSBsim structure
 515
 516     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 517     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 518     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 519     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 520     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 521     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 522     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 523     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 524     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 525     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 526
 527         // Parking brake sets minimum braking
 528         // level for mains.
 529     double parking_brake = globals->get_controls()->get_brake_parking();
 530     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 531     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 532     FCS->SetCBrake( 0.0 );
 533     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 534
 535     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 536     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 537       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 538
 539       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 540       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 541       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 542       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
 543
 544       switch (Propulsion->GetEngine(i)->GetType()) {
 545       case FGEngine::etPiston:
 546         { // FGPiston code block
 547         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 548         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 549         break;
 550         } // end FGPiston code block
 551       case FGEngine::etTurbine:
 552         { // FGTurbine code block
 553         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 554         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 555         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 556         //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 557         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 558         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 559         break;
 560         } // end FGTurbine code block
 561       case FGEngine::etRocket:
 562         { // FGRocket code block
 563         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 564         break;
 565         } // end FGRocket code block
 566       case FGEngine::etTurboprop:
 567         { // FGTurboProp code block
 568         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 569         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 570         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 571         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 572
 573         eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
 574         eng->SetCondition( globals->get_controls()->get_condition(i) );
 575         break;
 576         } // end FGTurboProp code block
 577       }
 578
 579       { // FGEngine code block
 580       FGEngine* eng = Propulsion->GetEngine(i);
 581
 582       eng->SetStarter( globals->get_controls()->get_starter(i) );
 583       eng->SetRunning( node->getBoolValue("running") );
 584       } // end FGEngine code block
 585     }
 586
 587
 588     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 589
 590     Atmosphere->SetExTemperature(
 591                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 592     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 593     Atmosphere->SetExDensity(density->getDoubleValue());
 594
 595     tmp = turbulence_gain->getDoubleValue();
 596     //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 597
 598     tmp = turbulence_rate->getDoubleValue();
 599     //Atmosphere->SetTurbRate(tmp);
 600
 601     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 602                             wind_from_east->getDoubleValue(),
 603                             wind_from_down->getDoubleValue() );
 604 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 605 //                  << get_V_north_airmass() << ", "
 606 //                  << get_V_east_airmass()  << ", "
 607 //                  << get_V_down_airmass() );
 608
 609     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 610       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 611       FGTank * tank = Propulsion->GetTank(i);
 612       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 613 //       tank->SetContents(node->getDoubleValue("level-lb"));
 614     }
 615
 616     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 617     fdmex->SetSlave(slaved->getBoolValue());
 618
 619     return true;
 620 }
 621
 622 /******************************************************************************/
 623
 624 // Convert from the JSBsim generic_ struct to the FGInterface struct
 625
 626 bool FGJSBsim::copy_from_JSBsim()
 627 {
 628     unsigned int i, j;
 629 /*
 630     _set_Inertias( MassBalance->GetMass(),
 631                    MassBalance->GetIxx(),
 632                    MassBalance->GetIyy(),
 633                    MassBalance->GetIzz(),
 634                    MassBalance->GetIxz() );
 635 */
 636     _set_CG_Position( MassBalance->GetXYZcg(1),
 637                       MassBalance->GetXYZcg(2),
 638                       MassBalance->GetXYZcg(3) );
 639
 640     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 641                       Aircraft->GetBodyAccel(2),
 642                       Aircraft->GetBodyAccel(3) );
 643
 644     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 645                             Aircraft->GetNcg(2),
 646                             Aircraft->GetNcg(3) );
 647
 648     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 649                             Auxiliary->GetPilotAccel(2),
 650                             Auxiliary->GetPilotAccel(3) );
 651
 652     _set_Nlf( Aircraft->GetNlf() );
 653
 654     // Velocities
 655
 656     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
 657                            Propagate->GetVel(FGJSBBase::eEast),
 658                            Propagate->GetVel(FGJSBBase::eDown) );
 659
 660     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 661                                Propagate->GetUVW(2),
 662                                Propagate->GetUVW(3) );
 663
 664     // Make the HUD work ...
 665     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
 666                             Propagate->GetVel(FGJSBBase::eEast),
 667                             -Propagate->GetVel(FGJSBBase::eDown) );
 668
 669     _set_V_rel_wind( Auxiliary->GetVt() );
 670
 671     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 672
 673     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 674
 675     _set_V_ground_speed( Auxiliary->GetVground() );
 676
 677     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
 678                      Propagate->GetPQR(FGJSBBase::eQ),
 679                      Propagate->GetPQR(FGJSBBase::eR) );
 680
 681     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
 682                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
 683                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
 684
 685     _set_Mach_number( Auxiliary->GetMach() );
 686
 687     // Positions of Visual Reference Point
 688     FGLocation l = Auxiliary->GetLocationVRP();
 689     _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
 690                                l.GetRadius() - get_Sea_level_radius() );
 691
 692     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 693     {
 694       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
 695       double contact[3], d[3], sd, t;
 696       int id;
 697       is_valid_m(&t, d, &sd);
 698       get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd);
 699       double rwrad
 700         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
 701       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
 702     }
 703
 704     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
 705                        Propagate->GetEuler(FGJSBBase::eTht),
 706                        Propagate->GetEuler(FGJSBBase::ePsi) );
 707
 708     _set_Alpha( Auxiliary->Getalpha() );
 709     _set_Beta( Auxiliary->Getbeta() );
 710
 711
 712     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 713
 714     _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
 715
 716     _set_Climb_Rate( Propagate->Gethdot() );
 717
 718     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 719     for ( i = 1; i <= 3; i++ ) {
 720         for ( j = 1; j <= 3; j++ ) {
 721             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 722         }
 723     }
 724
 725     // Copy the engine values from JSBSim.
 726     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 727       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 728       char buf[30];
 729       sprintf(buf, "engines/engine[%d]/thruster", i);
 730       SGPropertyNode * tnode = fgGetNode(buf, true);
 731       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 732
 733       switch (Propulsion->GetEngine(i)->GetType()) {
 734       case FGEngine::etPiston:
 735         { // FGPiston code block
 736         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 737         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 738         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 739         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 740         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 741         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 742         node->setDoubleValue("rpm", eng->getRPM());
 743         } // end FGPiston code block
 744         break;
 745       case FGEngine::etRocket:
 746         { // FGRocket code block
 747         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 748         } // end FGRocket code block
 749         break;
 750       case FGEngine::etTurbine:
 751         { // FGTurbine code block
 752         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 753         node->setDoubleValue("n1", eng->GetN1());
 754         node->setDoubleValue("n2", eng->GetN2());
 755         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 756         node->setBoolValue("augmentation", eng->GetAugmentation());
 757         node->setBoolValue("water-injection", eng->GetInjection());
 758         node->setBoolValue("ignition", eng->GetIgnition());
 759         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 760         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 761         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 762         node->setBoolValue("reversed", eng->GetReversed());
 763         node->setBoolValue("cutoff", eng->GetCutoff());
 764         node->setDoubleValue("epr", eng->GetEPR());
 765         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 766         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 767         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 768         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 769         } // end FGTurbine code block
 770         break;
 771       case FGEngine::etTurboprop:
 772         { // FGTurboProp code block
 773         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 774         node->setDoubleValue("n1", eng->GetN1());
 775         //node->setDoubleValue("n2", eng->GetN2());
 776         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
 777         node->setBoolValue("ignition", eng->GetIgnition());
 778         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 779         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 780         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 781         node->setBoolValue("reversed", eng->GetReversed());
 782         node->setBoolValue("cutoff", eng->GetCutoff());
 783         node->setBoolValue("starting", eng->GetEngStarting());
 784         node->setBoolValue("generator-power", eng->GetGeneratorPower());
 785         node->setBoolValue("damaged", eng->GetCondition());
 786         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
 787         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 788 //        node->setBoolValue("onfire", eng->GetFire());
 789         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 790         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 791         } // end FGTurboProp code block
 792         break;
 793       case FGEngine::etElectric:
 794         { // FGElectric code block
 795         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 796         node->setDoubleValue("rpm", eng->getRPM());
 797         } // end FGElectric code block
 798         break;
 799       }
 800
 801       { // FGEngine code block
 802       FGEngine* eng = Propulsion->GetEngine(i);
 803       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 804       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 805       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 806       node->setBoolValue("running", eng->GetRunning());
 807       node->setBoolValue("starter", eng->GetStarter());
 808       node->setBoolValue("cranking", eng->GetCranking());
 809       globals->get_controls()->set_starter(i, eng->GetStarter() );
 810       } // end FGEngine code block
 811
 812       switch (thruster->GetType()) {
 813       case FGThruster::ttNozzle:
 814         { // FGNozzle code block
 815         FGNozzle* noz = (FGNozzle*)thruster;
 816         } // end FGNozzle code block
 817         break;
 818       case FGThruster::ttPropeller:
 819         { // FGPropeller code block
 820         FGPropeller* prop = (FGPropeller*)thruster;
 821         tnode->setDoubleValue("rpm", thruster->GetRPM());
 822         tnode->setDoubleValue("pitch", prop->GetPitch());
 823         tnode->setDoubleValue("torque", prop->GetTorque());
 824         tnode->setBoolValue("feathered", prop->GetFeather());
 825         } // end FGPropeller code block
 826         break;
 827       case FGThruster::ttRotor:
 828         { // FGRotor code block
 829         FGRotor* rotor = (FGRotor*)thruster;
 830         } // end FGRotor code block
 831         break;
 832       case FGThruster::ttDirect:
 833         { // Direct code block
 834         } // end Direct code block
 835         break;
 836       }
 837
 838     }
 839
 840     // Copy the fuel levels from JSBSim if fuel
 841     // freeze not enabled.
 842     if ( ! Propulsion->GetFuelFreeze() ) {
 843       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 844         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 845         FGTank* tank = Propulsion->GetTank(i);
 846         double contents = tank->GetContents();
 847         double temp = tank->GetTemperature_degC();
 848         node->setDoubleValue("level-gal_us", contents/6.6);
 849         node->setDoubleValue("level-lb", contents);
 850         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 851       }
 852     }
 853
 854     update_gear();
 855
 856     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 857
 858     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 859     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 860     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 861     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 862     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 863     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 864     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 865
 866     // force a sim reset if crashed (altitude AGL < 0)
 867     if (get_Altitude_AGL() < -100.0) {
 868          fgSetBool("/sim/crashed", true);
 869          SGPropertyNode* node = fgGetNode("/sim/presets", true);
 870          globals->get_commands()->execute("old-reinit-dialog", node);
 871     }
 872
 873     return true;
 874 }
 875
 876
 877 bool FGJSBsim::ToggleDataLogging(void)
 878 {
 879   // ToDo: handle this properly
 880   fdmex->DisableOutput();
 881   return false;
 882 }
 883
 884
 885 bool FGJSBsim::ToggleDataLogging(bool state)
 886 {
 887     if (state) {
 888       fdmex->EnableOutput();
 889       return true;
 890     } else {
 891       fdmex->DisableOutput();
 892       return false;
 893     }
 894 }
 895
 896
 897 //Positions
 898 void FGJSBsim::set_Latitude(double lat)
 899 {
 900     static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
 901     double alt;
 902     double sea_level_radius_meters, lat_geoc;
 903
 904     // In case we're not trimming
 905     FGInterface::set_Latitude(lat);
 906
 907     if ( altitude->getDoubleValue() > -9990 ) {
 908       alt = altitude->getDoubleValue();
 909     } else {
 910       alt = 0.0;
 911     }
 912
 913     update_ic();
 914     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 915     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 916
 917     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 918                       &sea_level_radius_meters, &lat_geoc );
 919     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 920     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 921     fgic->SetLatitudeRadIC( lat_geoc );
 922     needTrim=true;
 923 }
 924
 925
 926 void FGJSBsim::set_Longitude(double lon)
 927 {
 928     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 929
 930     // In case we're not trimming
 931     FGInterface::set_Longitude(lon);
 932
 933     update_ic();
 934     fgic->SetLongitudeRadIC( lon );
 935     needTrim=true;
 936 }
 937
 938 void FGJSBsim::set_Altitude(double alt)
 939 {
 940     static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
 941
 942     double sea_level_radius_meters,lat_geoc;
 943
 944     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 945     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 946
 947     // In case we're not trimming
 948     FGInterface::set_Altitude(alt);
 949
 950     update_ic();
 951     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 952                   &sea_level_radius_meters, &lat_geoc);
 953     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 954     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 955     SG_LOG(SG_FLIGHT, SG_INFO,
 956           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 957     fgic->SetLatitudeRadIC( lat_geoc );
 958     fgic->SetAltitudeFtIC(alt);
 959     needTrim=true;
 960 }
 961
 962 void FGJSBsim::set_V_calibrated_kts(double vc)
 963 {
 964     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 965
 966     // In case we're not trimming
 967     FGInterface::set_V_calibrated_kts(vc);
 968
 969     update_ic();
 970     fgic->SetVcalibratedKtsIC(vc);
 971     needTrim=true;
 972 }
 973
 974 void FGJSBsim::set_Mach_number(double mach)
 975 {
 976     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 977
 978     // In case we're not trimming
 979     FGInterface::set_Mach_number(mach);
 980
 981     update_ic();
 982     fgic->SetMachIC(mach);
 983     needTrim=true;
 984 }
 985
 986 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
 987 {
 988     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 989        << north << ", " <<  east << ", " << down );
 990
 991     // In case we're not trimming
 992     FGInterface::set_Velocities_Local(north, east, down);
 993
 994     update_ic();
 995     fgic->SetVNorthFpsIC(north);
 996     fgic->SetVEastFpsIC(east);
 997     fgic->SetVDownFpsIC(down);
 998     needTrim=true;
 999 }
1000
1001 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1002 {
1003     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1004        << u << ", " <<  v << ", " <<  w );
1005
1006     // In case we're not trimming
1007     FGInterface::set_Velocities_Wind_Body(u, v, w);
1008
1009     update_ic();
1010     fgic->SetUBodyFpsIC(u);
1011     fgic->SetVBodyFpsIC(v);
1012     fgic->SetWBodyFpsIC(w);
1013     needTrim=true;
1014 }
1015
1016 //Euler angles
1017 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1018 {
1019     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1020        << phi << ", " << theta << ", " << psi );
1021
1022     // In case we're not trimming
1023     FGInterface::set_Euler_Angles(phi, theta, psi);
1024
1025     update_ic();
1026     fgic->SetThetaRadIC(theta);
1027     fgic->SetPhiRadIC(phi);
1028     fgic->SetPsiRadIC(psi);
1029     needTrim=true;
1030 }
1031
1032 //Flight Path
1033 void FGJSBsim::set_Climb_Rate( double roc)
1034 {
1035     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1036
1037     // In case we're not trimming
1038     FGInterface::set_Climb_Rate(roc);
1039
1040     update_ic();
1041     //since both climb rate and flight path angle are set in the FG
1042     //startup sequence, something is needed to keep one from cancelling
1043     //out the other.
1044     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1045       fgic->SetClimbRateFpsIC(roc);
1046     }
1047     needTrim=true;
1048 }
1049
1050 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1051 {
1052     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1053
1054     update_ic();
1055     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1056       fgic->SetFlightPathAngleRadIC(gamma);
1057     }
1058     needTrim=true;
1059 }
1060
1061 void FGJSBsim::init_gear(void )
1062 {
1063     FGGroundReactions* gr=fdmex->GetGroundReactions();
1064     int Ngear=GroundReactions->GetNumGearUnits();
1065     for (int i=0;i<Ngear;i++) {
1066       FGLGear *gear = gr->GetGearUnit(i);
1067       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1068       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1069       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1070       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1071       node->setBoolValue("wow", gear->GetWOW());
1072       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1073       node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1074       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1075       node->setDoubleValue("compression-norm", gear->GetCompLen());
1076       if ( gear->GetSteerable() )
1077         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1078     }
1079 }
1080
1081 void FGJSBsim::update_gear(void)
1082 {
1083     FGGroundReactions* gr=fdmex->GetGroundReactions();
1084     int Ngear=GroundReactions->GetNumGearUnits();
1085     for (int i=0;i<Ngear;i++) {
1086       FGLGear *gear = gr->GetGearUnit(i);
1087       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1088       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1089       node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1090       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1091       node->setDoubleValue("compression-norm", gear->GetCompLen());
1092       if ( gear->GetSteerable() )
1093         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1094     }
1095 }
1096
1097 void FGJSBsim::do_trim(void)
1098 {
1099   FGTrim *fgtrim;
1100
1101   if ( fgGetBool("/sim/presets/onground") )
1102   {
1103     fgtrim = new FGTrim(fdmex,tGround);
1104   } else {
1105     fgtrim = new FGTrim(fdmex,tLongitudinal);
1106   }
1107
1108   if ( !fgtrim->DoTrim() ) {
1109     fgtrim->Report();
1110     fgtrim->TrimStats();
1111   } else {
1112     trimmed->setBoolValue(true);
1113   }
1114 //  if (FGJSBBase::debug_lvl > 0)
1115 //      State->ReportState();
1116
1117   delete fgtrim;
1118
1119   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1120   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1121   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1122   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1123
1124   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1125   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1126   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1127   FCS->GetThrottleCmd(0));
1128
1129   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1130   globals->get_controls()->set_rudder( FCS->GetDrCmd());
1131
1132   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1133 }
1134
1135 void FGJSBsim::update_ic(void)
1136 {
1137    if ( !needTrim ) {
1138      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1139      fgic->SetLongitudeRadIC( get_Longitude() );
1140      fgic->SetAltitudeFtIC( get_Altitude() );
1141      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1142      fgic->SetThetaRadIC( get_Theta() );
1143      fgic->SetPhiRadIC( get_Phi() );
1144      fgic->SetPsiRadIC( get_Psi() );
1145      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1146    }
1147 }
1148
1149 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1150 {
1151     return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1152 }
1153
1154 inline static double sqr(double x)
1155 {
1156     return x * x;
1157 }
1158
1159 static double angle_diff(double a, double b)
1160 {
1161     double diff = fabs(a - b);
1162     if (diff > 180) diff = 360 - diff;
1163
1164     return diff;
1165 }
1166
1167 static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double cos_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
1168 {
1169     FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1170     double dist = dot3(tip, ground_normal_body);
1171     if (fabs(dist + E) < 0.0001) {
1172         sin_fis[*points] = sin_fi_guess;
1173         cos_fis[*points] = cos_fi_guess;
1174         fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1175         (*points)++;
1176     }
1177 }
1178
1179
1180 static void check_hook_solution(const FGColumnVector3& ground_normal_body, double E, double hook_length, double sin_fi_guess, double* sin_fis, double* cos_fis, double* fis, int* points)
1181 {
1182     if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1183         double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1184         check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1185         if (fabs(cos_fi_guess) > SG_EPSILON) {
1186             check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1187         }
1188     }
1189 }
1190
1191 void FGJSBsim::update_external_forces(double t_off)
1192 {
1193     const FGMatrix33& Tb2l = Propagate->GetTb2l();
1194     const FGMatrix33& Tl2b = Propagate->GetTl2b();
1195     const FGLocation& Location = Propagate->GetLocation();
1196     const FGMatrix33& Tec2l = Location.GetTec2l();
1197
1198     double hook_area[4][3];
1199
1200     FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1201     FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l *   hook_root_body);
1202     hook_area[1][0] = hook_root(1);
1203     hook_area[1][1] = hook_root(2);
1204     hook_area[1][2] = hook_root(3);
1205
1206     hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1207     double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1208     double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1209     double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1210     double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1211     double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1212
1213     FGColumnVector3 hook_tip_body = hook_root_body;
1214     hook_tip_body(1) -= hook_length * cos_fi;
1215     hook_tip_body(3) += hook_length * sin_fi;
1216     bool hook_tip_valid = true;
1217
1218     double contact[3];
1219     double ground_normal[3];
1220     double ground_vel[3];
1221     int ground_type;
1222     const SGMaterial* ground_material;
1223     double root_agl_ft;
1224
1225     if (!got_wire) {
1226         bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &ground_type, &ground_material, &root_agl_ft);
1227         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1228             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1229             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1230             double D = -dot3(contact_body, ground_normal_body);
1231
1232             // check hook tip agl against same ground plane
1233             double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1234             if (hook_tip_agl_ft < 0) {
1235
1236                 // hook tip: hx - l cos, hy, hz + l sin
1237                 // on ground:  - n0 l cos + n2 l sin + E = 0
1238
1239                 double E = D + dot3(hook_root_body, ground_normal_body);
1240
1241                 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1242                 // and rearrange to get a quadratic with coeffs:
1243                 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1244                 double b = 2 * E * ground_normal_body(3) * hook_length;
1245                 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1246
1247                 double disc = sqr(b) - 4 * a * c;
1248                 if (disc >= 0) {
1249                     double delta = sqrt(disc) / (2 * a);
1250
1251                     // allow 4 solutions for safety, should never happen
1252                     double sin_fis[4];
1253                     double cos_fis[4];
1254                     double fis[4];
1255                     int points = 0;
1256
1257                     double sin_fi_guess = -b / (2 * a) - delta;
1258                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1259                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1260
1261                     if (points == 2) {
1262                         double diff1 = angle_diff(fi, fis[0]);
1263                         double diff2 = angle_diff(fi, fis[1]);
1264                         int point = diff1 < diff2 ? 0 : 1;
1265                         fi = fis[point];
1266                         sin_fi = sin_fis[point];
1267                         cos_fi = cos_fis[point];
1268                         hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1269                         hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1270                     }
1271                 }
1272             }
1273         }
1274     } else {
1275         FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() *  hook_root_body));
1276         double wire_ends_ec[2][3];
1277         double wire_vel_ec[2][3];
1278         get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1279         FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1280         FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1281         FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1282         if (rel_vel.Magnitude() < 3) {
1283             got_wire = false;
1284             release_wire();
1285             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1286         } else {
1287             FGColumnVector3 wire_end1_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[0][0], wire_ends_ec[0][1], wire_ends_ec[0][2])) - hook_root_body;
1288             FGColumnVector3 wire_end2_body = Tl2b * Location.LocationToLocal(FGColumnVector3(wire_ends_ec[1][0], wire_ends_ec[1][1], wire_ends_ec[1][2])) - hook_root_body;
1289             FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1290             force_plane_normal.Normalize();
1291             cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1292             if (cos_fi < 0) cos_fi = -cos_fi;
1293             sin_fi = sqrt(1 - sqr(cos_fi));
1294             fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1295
1296             fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1297             fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1298             fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1299             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1300         }
1301     }
1302
1303     FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1304
1305     hook_area[0][0] = hook_tip(1);
1306     hook_area[0][1] = hook_tip(2);
1307     hook_area[0][2] = hook_tip(3);
1308
1309     if (!got_wire) {
1310         // The previous positions.
1311         hook_area[2][0] = last_hook_root[0];
1312         hook_area[2][1] = last_hook_root[1];
1313         hook_area[2][2] = last_hook_root[2];
1314         hook_area[3][0] = last_hook_tip[0];
1315         hook_area[3][1] = last_hook_tip[1];
1316         hook_area[3][2] = last_hook_tip[2];
1317
1318         // Check if we caught a wire.
1319         // Returns true if we caught one.
1320         if (caught_wire_ft(t_off, hook_area)) {
1321                 got_wire = true;
1322         }
1323     }
1324
1325     // save actual position as old position ...
1326     last_hook_tip[0] = hook_area[0][0];
1327     last_hook_tip[1] = hook_area[0][1];
1328     last_hook_tip[2] = hook_area[0][2];
1329     last_hook_root[0] = hook_area[1][0];
1330     last_hook_root[1] = hook_area[1][1];
1331     last_hook_root[2] = hook_area[1][2];
1332
1333     fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
1334 }
1335