src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #ifdef SG_MATH_EXCEPTION_CLASH
  31 #  include <math.h>
  32 #endif
  33
  34 #include STL_STRING
  35
  36 #include <simgear/constants.h>
  37 #include <simgear/debug/logstream.hxx>
  38 #include <simgear/math/sg_geodesy.hxx>
  39 #include <simgear/misc/sg_path.hxx>
  40
  41 #include <FDM/flight.hxx>
  42
  43 #include <Aircraft/aircraft.hxx>
  44 #include <Controls/controls.hxx>
  45 #include <Main/globals.hxx>
  46 #include <Main/fg_props.hxx>
  47
  48 #include <FDM/JSBSim/FGFDMExec.h>
  49 #include <FDM/JSBSim/FGAircraft.h>
  50 #include <FDM/JSBSim/FGFCS.h>
  51 #include <FDM/JSBSim/FGPosition.h>
  52 #include <FDM/JSBSim/FGRotation.h>
  53 #include <FDM/JSBSim/FGState.h>
  54 #include <FDM/JSBSim/FGTranslation.h>
  55 #include <FDM/JSBSim/FGAuxiliary.h>
  56 #include <FDM/JSBSim/FGInitialCondition.h>
  57 #include <FDM/JSBSim/FGTrim.h>
  58 #include <FDM/JSBSim/FGAtmosphere.h>
  59 #include <FDM/JSBSim/FGMassBalance.h>
  60 #include <FDM/JSBSim/FGAerodynamics.h>
  61 #include <FDM/JSBSim/FGLGear.h>
  62 #include <FDM/JSBSim/FGPropertyManager.h>
  63 #include "JSBSim.hxx"
  64
  65 static inline double
  66 FMAX (double a, double b)
  67 {
  68   return a > b ? a : b;
  69 }
  70
  71
  72 /******************************************************************************/
  73
  74 FGJSBsim::FGJSBsim( double dt )
  75   : FGInterface(dt)
  76 {
  77     bool result;
  78
  79     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
  80
  81     State           = fdmex->GetState();
  82     Atmosphere      = fdmex->GetAtmosphere();
  83     FCS             = fdmex->GetFCS();
  84     MassBalance     = fdmex->GetMassBalance();
  85     Propulsion      = fdmex->GetPropulsion();
  86     Aircraft        = fdmex->GetAircraft();
  87     Translation     = fdmex->GetTranslation();
  88     Rotation        = fdmex->GetRotation();
  89     Position        = fdmex->GetPosition();
  90     Auxiliary       = fdmex->GetAuxiliary();
  91     Aerodynamics    = fdmex->GetAerodynamics();
  92     GroundReactions = fdmex->GetGroundReactions();
  93
  94     fgic=fdmex->GetIC();
  95     needTrim=true;
  96
  97     SGPath aircraft_path( globals->get_fg_root() );
  98     aircraft_path.append( "Aircraft" );
  99
 100     SGPath engine_path( globals->get_fg_root() );
 101     engine_path.append( "Engine" );
 102     State->Setdt( dt );
 103
 104     result = fdmex->LoadModel( aircraft_path.str(),
 105                                engine_path.str(),
 106                                fgGetString("/sim/aero") );
 107
 108     if (result) {
 109       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 110     } else {
 111       SG_LOG( SG_FLIGHT, SG_INFO,
 112               "  aero does not exist (you may have mis-typed the name).");
 113       throw(-1);
 114     }
 115
 116     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 117     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 118     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 119
 120     int Neng = Propulsion->GetNumEngines();
 121     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 122
 123     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 124         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 125                 << GroundReactions->GetNumGearUnits() );
 126         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 127          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 128          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 129          exit(-1);
 130     }
 131
 132
 133     init_gear();
 134
 135                                 // Set initial fuel levels if provided.
 136     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 137       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 138       if (node->getChild("level-gal_us", 0, false) != 0)
 139         Propulsion->GetTank(i)
 140           ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 141     }
 142
 143     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 144     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 145     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 146     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 147
 148     startup_trim = fgGetNode("/sim/presets/trim", true);
 149
 150     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 151     trimmed->setBoolValue(false);
 152
 153     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 154     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 155     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 156     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 157
 158     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 159     stall_warning->setDoubleValue(0);
 160
 161
 162     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 163     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 164     left_aileron_pos_pct
 165         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 166     right_aileron_pos_pct
 167         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 168     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 169     speedbrake_pos_pct
 170         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 171     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 172
 173
 174     elevator_pos_pct->setDoubleValue(0);
 175     left_aileron_pos_pct->setDoubleValue(0);
 176     right_aileron_pos_pct->setDoubleValue(0);
 177     rudder_pos_pct->setDoubleValue(0);
 178     flap_pos_pct->setDoubleValue(0);
 179     speedbrake_pos_pct->setDoubleValue(0);
 180     spoilers_pos_pct->setDoubleValue(0);
 181
 182     temperature = fgGetNode("/environment/temperature-degc",true);
 183     pressure = fgGetNode("/environment/pressure-inhg",true);
 184     density = fgGetNode("/environment/density-slugft3",true);
 185     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 186     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 187
 188     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 189     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 190     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 191
 192
 193 }
 194 /******************************************************************************/
 195 FGJSBsim::~FGJSBsim(void) {
 196         delete fdmex;
 197 }
 198
 199 /******************************************************************************/
 200
 201 // Initialize the JSBsim flight model, dt is the time increment for
 202 // each subsequent iteration through the EOM
 203
 204 void FGJSBsim::init() {
 205
 206     double tmp;
 207
 208     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 209
 210     // Explicitly call the superclass's
 211     // init method first.
 212
 213 #ifdef FG_WEATHERCM
 214     Atmosphere->UseInternal();
 215 #else
 216     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 217       Atmosphere->UseExternal();
 218       Atmosphere->SetExTemperature(
 219                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 220       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 221       Atmosphere->SetExDensity(density->getDoubleValue());
 222
 223       tmp = turbulence_gain->getDoubleValue();
 224       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 225
 226       tmp = turbulence_rate->getDoubleValue();
 227       if (tmp <= 0)
 228           tmp = 1.0;
 229       Atmosphere->SetTurbRate(tmp);
 230
 231     } else {
 232       Atmosphere->UseInternal();
 233     }
 234 #endif
 235
 236     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 237     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 238     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 239
 240     //Atmosphere->SetExTemperature(get_Static_temperature());
 241     //Atmosphere->SetExPressure(get_Static_pressure());
 242     //Atmosphere->SetExDensity(get_Density());
 243     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 244      << ", " << fdmex->GetAtmosphere()->GetPressure()
 245      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 246
 247     common_init();
 248     copy_to_JSBsim();
 249
 250
 251     fdmex->RunIC(); //loop JSBSim once w/o integrating
 252     copy_from_JSBsim(); //update the bus
 253
 254     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 255
 256     switch(fgic->GetSpeedSet()) {
 257     case setned:
 258         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 259                << Position->GetVn() << ", "
 260                << Position->GetVe() << ", "
 261                << Position->GetVd() << " ft/s");
 262     break;
 263     case setuvw:
 264         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 265                << Translation->GetUVW(1) << ", "
 266                << Translation->GetUVW(2) << ", "
 267                << Translation->GetUVW(3) << " ft/s");
 268     break;
 269     case setmach:
 270         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 271                << Translation->GetMach() );
 272     break;
 273     case setvc:
 274     default:
 275         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 276                << Auxiliary->GetVcalibratedKTS() << " knots" );
 277     break;
 278     }
 279
 280     stall_warning->setDoubleValue(0);
 281
 282     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 283             <<  Rotation->Getphi()*RADTODEG << " deg" );
 284     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 285             << Rotation->Gettht()*RADTODEG << " deg" );
 286     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 287             << Rotation->Getpsi()*RADTODEG << " deg" );
 288     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 289             << Position->GetLatitude() << " deg" );
 290     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 291             << Position->GetLongitude() << " deg" );
 292     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 293         << Position->Geth() << " feet" );
 294     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 295
 296     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 297
 298     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 299
 300     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 301                                   globals->get_controls()->get_gear_down() );
 302
 303
 304
 305 }
 306
 307 /******************************************************************************/
 308
 309 // Run an iteration of the EOM (equations of motion)
 310
 311 void
 312 FGJSBsim::update( double dt ) {
 313
 314     if (is_suspended())
 315       return;
 316
 317     int multiloop = _calc_multiloop(dt);
 318
 319     int i;
 320
 321     // double save_alt = 0.0;
 322
 323     copy_to_JSBsim();
 324
 325     trimmed->setBoolValue(false);
 326
 327     if ( needTrim ) {
 328       if ( startup_trim->getBoolValue() ) {
 329         SG_LOG(SG_FLIGHT, SG_INFO,
 330           "Ready to trim, terrain altitude is: "
 331             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 332         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 333         do_trim();
 334       } else {
 335         fdmex->RunIC();  //apply any changes made through the set_ functions
 336       }
 337       needTrim = false;
 338     }
 339
 340     for ( i=0; i < multiloop; i++ ) {
 341         fdmex->Run();
 342     }
 343
 344     FGJSBBase::Message* msg;
 345     while (fdmex->ReadMessage()) {
 346       msg = fdmex->ProcessMessage();
 347       switch (msg->type) {
 348       case FGJSBBase::Message::eText:
 349         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 350         break;
 351       case FGJSBBase::Message::eBool:
 352         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 353         break;
 354       case FGJSBBase::Message::eInteger:
 355         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 356         break;
 357       case FGJSBBase::Message::eDouble:
 358         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 359         break;
 360       default:
 361         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 362         break;
 363       }
 364     }
 365
 366     // translate JSBsim back to FG structure so that the
 367     // autopilot (and the rest of the sim can use the updated values
 368     copy_from_JSBsim();
 369 }
 370
 371 /******************************************************************************/
 372
 373 // Convert from the FGInterface struct to the JSBsim generic_ struct
 374
 375 bool FGJSBsim::copy_to_JSBsim() {
 376     double tmp;
 377     unsigned int i;
 378
 379     // copy control positions into the JSBsim structure
 380
 381     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 382     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 383     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 384     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 385     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 386     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 387     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 388     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 389     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 390
 391                                 // Parking brake sets minimum braking
 392                                 // level for mains.
 393     double parking_brake = globals->get_controls()->get_parking_brake();
 394     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
 395     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
 396     FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 397
 398     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 399     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 400       FGEngine * eng = Propulsion->GetEngine(i);
 401       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 402       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 403       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 404       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 405       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
 406       eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 407       eng->SetStarter( globals->get_controls()->get_starter(i) );
 408       eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 409       eng->SetReverse( globals->get_controls()->get_reverser(i) );
 410       eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 411       eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 412       eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 413       eng->SetNitrous( globals->get_controls()->get_nitrous_injection(i) );
 414       eng->SetRunning( node->getBoolValue("running") );
 415     }
 416
 417     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 418     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 419     Position->SetRunwayRadius( get_Runway_altitude()
 420                                + get_Sea_level_radius() );
 421
 422     Atmosphere->SetExTemperature(
 423                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 424     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 425     Atmosphere->SetExDensity(density->getDoubleValue());
 426
 427     tmp = turbulence_gain->getDoubleValue();
 428     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 429
 430     if (turbulence_rate->hasValue())
 431         tmp = turbulence_rate->getDoubleValue();
 432     else
 433         tmp = 1.0;
 434     Atmosphere->SetTurbRate(tmp);
 435
 436     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 437                             wind_from_east->getDoubleValue(),
 438                             wind_from_down->getDoubleValue() );
 439 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 440 //                  << get_V_north_airmass() << ", "
 441 //                  << get_V_east_airmass()  << ", "
 442 //                  << get_V_down_airmass() );
 443
 444     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 445       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 446       FGTank * tank = Propulsion->GetTank(i);
 447       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 448 //       tank->SetContents(node->getDoubleValue("level-lb"));
 449     }
 450
 451     return true;
 452 }
 453
 454 /******************************************************************************/
 455
 456 // Convert from the JSBsim generic_ struct to the FGInterface struct
 457
 458 bool FGJSBsim::copy_from_JSBsim() {
 459     unsigned int i, j;
 460
 461     _set_Inertias( MassBalance->GetMass(),
 462                    MassBalance->GetIxx(),
 463                    MassBalance->GetIyy(),
 464                    MassBalance->GetIzz(),
 465                    MassBalance->GetIxz() );
 466
 467     _set_CG_Position( MassBalance->GetXYZcg(1),
 468                       MassBalance->GetXYZcg(2),
 469                       MassBalance->GetXYZcg(3) );
 470
 471     _set_Accels_Body( Aircraft->GetBodyAccel()(1),
 472                       Aircraft->GetBodyAccel()(2),
 473                       Aircraft->GetBodyAccel()(3) );
 474
 475     //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
 476     //                     Aircraft->GetBodyAccel()(2),
 477     //                     Aircraft->GetBodyAccel()(3) );
 478     //
 479     _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
 480                             Aircraft->GetNcg()(2),
 481                             Aircraft->GetNcg()(3) );
 482
 483     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
 484                             Auxiliary->GetPilotAccel()(2),
 485                             Auxiliary->GetPilotAccel()(3) );
 486
 487    // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
 488    //                           Auxiliary->GetNpilot(2)/32.1739,
 489    //                           Auxiliary->GetNpilot(3)/32.1739 );
 490
 491     _set_Nlf( Aircraft->GetNlf() );
 492
 493     // Velocities
 494
 495     _set_Velocities_Local( Position->GetVn(),
 496                            Position->GetVe(),
 497                            Position->GetVd() );
 498
 499     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 500                                Translation->GetUVW(2),
 501                                Translation->GetUVW(3) );
 502
 503     _set_V_rel_wind( Translation->GetVt() );
 504
 505     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 506
 507     // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
 508
 509     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 510
 511     _set_V_ground_speed( Position->GetVground() );
 512
 513     _set_Omega_Body( Rotation->GetPQR(1),
 514                      Rotation->GetPQR(2),
 515                      Rotation->GetPQR(3) );
 516
 517     _set_Euler_Rates( Rotation->GetEulerRates(1),
 518                       Rotation->GetEulerRates(2),
 519                       Rotation->GetEulerRates(3) );
 520
 521     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 522                           Position->GetLongitudeDot(),
 523                           Position->Gethdot() );
 524
 525     _set_Mach_number( Translation->GetMach() );
 526
 527     // Positions
 528     _updateGeocentricPosition( Position->GetLatitude(),
 529                                Position->GetLongitude(),
 530                                Position->Geth() );
 531
 532     _set_Altitude_AGL( Position->GetDistanceAGL() );
 533
 534     _set_Euler_Angles( Rotation->Getphi(),
 535                        Rotation->Gettht(),
 536                        Rotation->Getpsi() );
 537
 538     _set_Alpha( Translation->Getalpha() );
 539     _set_Beta( Translation->Getbeta() );
 540
 541
 542     _set_Gamma_vert_rad( Position->GetGamma() );
 543     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 544
 545     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 546
 547     _set_Climb_Rate( Position->Gethdot() );
 548
 549
 550     for ( i = 1; i <= 3; i++ ) {
 551         for ( j = 1; j <= 3; j++ ) {
 552             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 553         }
 554     }
 555
 556                                 // Copy the engine values from JSBSim.
 557     for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 558       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 559       FGEngine * eng = Propulsion->GetEngine(i);
 560       FGThruster * thrust = Propulsion->GetThruster(i);
 561
 562       node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 563       node->setDoubleValue("rpm", thrust->GetRPM());
 564       node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 565       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 566       node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 567       node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 568       node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 569       node->setDoubleValue("thrust_lb", eng->GetThrust());
 570       node->setDoubleValue("N1", eng->GetN1());
 571       node->setDoubleValue("N2", eng->GetN2());
 572       node->setDoubleValue("EGT_degC", eng->GetEGT());
 573       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 574       node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 575       node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 576       node->setBoolValue("running", eng->GetRunning());
 577       node->setBoolValue("starter", eng->GetStarter());
 578       node->setBoolValue("cranking", eng->GetCranking());
 579       node->setBoolValue("ignition", eng->GetIgnition());
 580       node->setBoolValue("augmentation", eng->GetAugmentation());
 581       node->setBoolValue("water-injection", eng->GetInjection());
 582       node->setBoolValue("reversed", eng->GetReversed());
 583       node->setBoolValue("cutoff", eng->GetCutoff());
 584       node->setBoolValue("nitrous", eng->GetNitrous());
 585       globals->get_controls()->set_starter(i, eng->GetStarter() );
 586       globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 587       globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 588       globals->get_controls()->set_reverser(i, eng->GetReversed() );
 589       globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 590     }
 591
 592     static const SGPropertyNode *fuel_freeze
 593         = fgGetNode("/sim/freeze/fuel");
 594
 595                                 // Copy the fuel levels from JSBSim if fuel
 596                                 // freeze not enabled.
 597     if ( ! fuel_freeze->getBoolValue() ) {
 598         for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 599             SGPropertyNode * node
 600                 = fgGetNode("/consumables/fuel/tank", i, true);
 601             double contents = Propulsion->GetTank(i)->GetContents();
 602             node->setDoubleValue("level-gal_us", contents/6.6);
 603             node->setDoubleValue("level-lb", contents);
 604             // node->setDoubleValue("temperature_degC",
 605         }
 606     }
 607
 608     update_gear();
 609
 610     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 611
 612     /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
 613     left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
 614     right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
 615     rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
 616     flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
 617
 618
 619     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 620     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 621     right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
 622     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 623     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 624     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 625     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 626
 627
 628     return true;
 629 }
 630
 631 bool FGJSBsim::ToggleDataLogging(void) {
 632     return fdmex->GetOutput()->Toggle();
 633 }
 634
 635
 636 bool FGJSBsim::ToggleDataLogging(bool state) {
 637     if (state) {
 638       fdmex->GetOutput()->Enable();
 639       return true;
 640     } else {
 641       fdmex->GetOutput()->Disable();
 642       return false;
 643     }
 644 }
 645
 646
 647 //Positions
 648 void FGJSBsim::set_Latitude(double lat) {
 649     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 650     double alt;
 651     double sea_level_radius_meters, lat_geoc;
 652
 653                                 // In case we're not trimming
 654     FGInterface::set_Latitude(lat);
 655
 656     if ( altitude->getDoubleValue() > -9990 ) {
 657       alt = altitude->getDoubleValue();
 658     } else {
 659       alt = 0.0;
 660     }
 661
 662     update_ic();
 663     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 664     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 665
 666     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 667                       &sea_level_radius_meters, &lat_geoc );
 668     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 669     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 670     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 671     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 672     fgic->SetLatitudeRadIC( lat_geoc );
 673     needTrim=true;
 674 }
 675
 676 void FGJSBsim::set_Longitude(double lon) {
 677
 678     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 679
 680                                 // In case we're not trimming
 681     FGInterface::set_Longitude(lon);
 682
 683     update_ic();
 684     fgic->SetLongitudeRadIC( lon );
 685     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 686     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 687     needTrim=true;
 688 }
 689
 690 void FGJSBsim::set_Altitude(double alt) {
 691     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 692
 693     double sea_level_radius_meters,lat_geoc;
 694
 695     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 696     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 697
 698                                 // In case we're not trimming
 699     FGInterface::set_Altitude(alt);
 700
 701     update_ic();
 702     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 703                   &sea_level_radius_meters, &lat_geoc);
 704     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 705     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 706     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 707     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 708     SG_LOG(SG_FLIGHT, SG_INFO,
 709           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 710     fgic->SetLatitudeRadIC( lat_geoc );
 711     fgic->SetAltitudeFtIC(alt);
 712     needTrim=true;
 713 }
 714
 715 void FGJSBsim::set_V_calibrated_kts(double vc) {
 716     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 717
 718                                 // In case we're not trimming
 719     FGInterface::set_V_calibrated_kts(vc);
 720
 721     update_ic();
 722     fgic->SetVcalibratedKtsIC(vc);
 723     needTrim=true;
 724 }
 725
 726 void FGJSBsim::set_Mach_number(double mach) {
 727     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 728
 729                                 // In case we're not trimming
 730     FGInterface::set_Mach_number(mach);
 731
 732     update_ic();
 733     fgic->SetMachIC(mach);
 734     needTrim=true;
 735 }
 736
 737 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
 738     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 739        << north << ", " <<  east << ", " << down );
 740
 741                                 // In case we're not trimming
 742     FGInterface::set_Velocities_Local(north, east, down);
 743
 744     update_ic();
 745     fgic->SetVnorthFpsIC(north);
 746     fgic->SetVeastFpsIC(east);
 747     fgic->SetVdownFpsIC(down);
 748     needTrim=true;
 749 }
 750
 751 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
 752     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 753        << u << ", " <<  v << ", " <<  w );
 754
 755                                 // In case we're not trimming
 756     FGInterface::set_Velocities_Wind_Body(u, v, w);
 757
 758     update_ic();
 759     fgic->SetUBodyFpsIC(u);
 760     fgic->SetVBodyFpsIC(v);
 761     fgic->SetWBodyFpsIC(w);
 762     needTrim=true;
 763 }
 764
 765 //Euler angles
 766 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
 767     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 768        << phi << ", " << theta << ", " << psi );
 769
 770                                 // In case we're not trimming
 771     FGInterface::set_Euler_Angles(phi, theta, psi);
 772
 773     update_ic();
 774     fgic->SetPitchAngleRadIC(theta);
 775     fgic->SetRollAngleRadIC(phi);
 776     fgic->SetTrueHeadingRadIC(psi);
 777     needTrim=true;
 778 }
 779
 780 //Flight Path
 781 void FGJSBsim::set_Climb_Rate( double roc) {
 782     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 783
 784                                 // In case we're not trimming
 785     FGInterface::set_Climb_Rate(roc);
 786
 787     update_ic();
 788     //since both climb rate and flight path angle are set in the FG
 789     //startup sequence, something is needed to keep one from cancelling
 790     //out the other.
 791     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 792       fgic->SetClimbRateFpsIC(roc);
 793     }
 794     needTrim=true;
 795 }
 796
 797 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
 798     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 799
 800     update_ic();
 801     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 802       fgic->SetFlightPathAngleRadIC(gamma);
 803     }
 804     needTrim=true;
 805 }
 806
 807 void FGJSBsim::init_gear(void ) {
 808
 809     FGGroundReactions* gr=fdmex->GetGroundReactions();
 810     int Ngear=GroundReactions->GetNumGearUnits();
 811     for (int i=0;i<Ngear;i++) {
 812       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 813       node->setDoubleValue("xoffset-in",
 814                            gr->GetGearUnit(i)->GetBodyLocation()(1));
 815       node->setDoubleValue("yoffset-in",
 816                            gr->GetGearUnit(i)->GetBodyLocation()(2));
 817       node->setDoubleValue("zoffset-in",
 818                            gr->GetGearUnit(i)->GetBodyLocation()(3));
 819       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 820       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 821       node->setDoubleValue("position-norm", FCS->GetGearPos());
 822     }
 823 }
 824
 825 void FGJSBsim::update_gear(void) {
 826
 827     FGGroundReactions* gr=fdmex->GetGroundReactions();
 828     int Ngear=GroundReactions->GetNumGearUnits();
 829     for (int i=0;i<Ngear;i++) {
 830       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 831       node->getChild("wow", 0, true)
 832         ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 833       node->getChild("position-norm", 0, true)
 834         ->setDoubleValue(FCS->GetGearPos());
 835     }
 836 }
 837
 838 void FGJSBsim::do_trim(void) {
 839
 840         FGTrim *fgtrim;
 841         if( fgGetBool("/sim/presets/onground") ) {
 842             fgic->SetVcalibratedKtsIC(0.0);
 843             fgtrim=new FGTrim(fdmex,tGround);
 844         } else {
 845             fgtrim=new FGTrim(fdmex,tLongitudinal);
 846         }
 847         if( !fgtrim->DoTrim() ) {
 848             fgtrim->Report();
 849             fgtrim->TrimStats();
 850         } else {
 851             trimmed->setBoolValue(true);
 852         }
 853         State->ReportState();
 854         delete fgtrim;
 855         pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 856         throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 857         aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 858         rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 859
 860         globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 861         globals->get_controls()->set_elevator(FCS->GetDeCmd());
 862         globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 863                                               FCS->GetThrottleCmd(0));
 864
 865         globals->get_controls()->set_aileron(FCS->GetDaCmd());
 866         globals->get_controls()->set_rudder( FCS->GetDrCmd());
 867
 868         SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 869 }
 870
 871 void FGJSBsim::update_ic(void) {
 872    if( !needTrim ) {
 873      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 874      fgic->SetLongitudeRadIC( get_Longitude() );
 875      fgic->SetAltitudeFtIC( get_Altitude() );
 876      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 877      fgic->SetPitchAngleRadIC( get_Theta() );
 878      fgic->SetRollAngleRadIC( get_Phi() );
 879      fgic->SetTrueHeadingRadIC( get_Psi() );
 880      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 881    }
 882 }
 883