src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #include <stdio.h>      //      size_t
  31 #ifdef SG_MATH_EXCEPTION_CLASH
  32 #  include <math.h>
  33 #endif
  34
  35 #include STL_STRING
  36
  37 #include <simgear/constants.h>
  38 #include <simgear/debug/logstream.hxx>
  39 #include <simgear/math/sg_geodesy.hxx>
  40 #include <simgear/misc/sg_path.hxx>
  41
  42 #include <FDM/flight.hxx>
  43
  44 #include <Aircraft/aircraft.hxx>
  45 #include <Controls/controls.hxx>
  46 #include <Main/globals.hxx>
  47 #include <Main/fg_props.hxx>
  48
  49 #include <FDM/JSBSim/FGFDMExec.h>
  50 #include <FDM/JSBSim/FGAircraft.h>
  51 #include <FDM/JSBSim/FGFCS.h>
  52 #include <FDM/JSBSim/FGPosition.h>
  53 #include <FDM/JSBSim/FGRotation.h>
  54 #include <FDM/JSBSim/FGState.h>
  55 #include <FDM/JSBSim/FGTranslation.h>
  56 #include <FDM/JSBSim/FGAuxiliary.h>
  57 #include <FDM/JSBSim/FGInitialCondition.h>
  58 #include <FDM/JSBSim/FGTrim.h>
  59 #include <FDM/JSBSim/FGAtmosphere.h>
  60 #include <FDM/JSBSim/FGMassBalance.h>
  61 #include <FDM/JSBSim/FGAerodynamics.h>
  62 #include <FDM/JSBSim/FGLGear.h>
  63 #include <FDM/JSBSim/FGPropertyManager.h>
  64 #include <FDM/JSBSim/FGEngine.h>
  65 #include <FDM/JSBSim/FGRotor.h>
  66 #include "JSBSim.hxx"
  67
  68 static inline double
  69 FMAX (double a, double b)
  70 {
  71   return a > b ? a : b;
  72 }
  73
  74
  75 /******************************************************************************/
  76
  77 FGJSBsim::FGJSBsim( double dt )
  78   : FGInterface(dt)
  79 {
  80     bool result;
  81
  82                                 // Set up the debugging level
  83                                 // FIXME: this will not respond to
  84                                 // runtime changes
  85
  86                                 // if flight is excluded, don't bother
  87     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
  88
  89                                 // do a rough-and-ready mapping to
  90                                 // the levels documented in FGFDMExec.h
  91         switch (logbuf::get_log_priority()) {
  92         case SG_BULK:
  93             FGJSBBase::debug_lvl = 0x1f;
  94             break;
  95         case SG_DEBUG:
  96             FGJSBBase::debug_lvl = 0x0f;
  97         case SG_INFO:
  98             FGJSBBase::debug_lvl = 0x01;
  99             break;
 100         case SG_WARN:
 101         case SG_ALERT:
 102             FGJSBBase::debug_lvl = 0x00;
 103             break;
 104         }
 105     }
 106
 107     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 108
 109     State           = fdmex->GetState();
 110     Atmosphere      = fdmex->GetAtmosphere();
 111     FCS             = fdmex->GetFCS();
 112     MassBalance     = fdmex->GetMassBalance();
 113     Propulsion      = fdmex->GetPropulsion();
 114     Aircraft        = fdmex->GetAircraft();
 115     Translation     = fdmex->GetTranslation();
 116     Rotation        = fdmex->GetRotation();
 117     Position        = fdmex->GetPosition();
 118     Auxiliary       = fdmex->GetAuxiliary();
 119     Aerodynamics    = fdmex->GetAerodynamics();
 120     GroundReactions = fdmex->GetGroundReactions();
 121
 122     fgic=fdmex->GetIC();
 123     needTrim=true;
 124
 125     SGPath aircraft_path( globals->get_fg_root() );
 126     aircraft_path.append( "Aircraft" );
 127
 128     SGPath engine_path( globals->get_fg_root() );
 129     engine_path.append( "Engine" );
 130     State->Setdt( dt );
 131
 132     result = fdmex->LoadModel( aircraft_path.str(),
 133                                engine_path.str(),
 134                                fgGetString("/sim/aero") );
 135
 136     if (result) {
 137       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 138     } else {
 139       SG_LOG( SG_FLIGHT, SG_INFO,
 140               "  aero does not exist (you may have mis-typed the name).");
 141       throw(-1);
 142     }
 143
 144     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 145     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 146     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 147
 148     int Neng = Propulsion->GetNumEngines();
 149     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 150
 151     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 152         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 153                 << GroundReactions->GetNumGearUnits() );
 154         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 155          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 156          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 157          exit(-1);
 158     }
 159
 160     init_gear();
 161
 162     // Set initial fuel levels if provided.
 163     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 164       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 165       if (node->getChild("level-gal_us", 0, false) != 0) {
 166         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 167       } else {
 168         node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
 169         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 170       }
 171     }
 172
 173     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 174     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 175     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 176     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 177
 178     startup_trim = fgGetNode("/sim/presets/trim", true);
 179
 180     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 181     trimmed->setBoolValue(false);
 182
 183     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 184     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 185     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 186     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 187
 188     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 189     stall_warning->setDoubleValue(0);
 190
 191
 192     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 193     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 194     left_aileron_pos_pct
 195         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 196     right_aileron_pos_pct
 197         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 198     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 199     speedbrake_pos_pct
 200         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 201     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 202
 203     elevator_pos_pct->setDoubleValue(0);
 204     left_aileron_pos_pct->setDoubleValue(0);
 205     right_aileron_pos_pct->setDoubleValue(0);
 206     rudder_pos_pct->setDoubleValue(0);
 207     flap_pos_pct->setDoubleValue(0);
 208     speedbrake_pos_pct->setDoubleValue(0);
 209     spoilers_pos_pct->setDoubleValue(0);
 210
 211     temperature = fgGetNode("/environment/temperature-degc",true);
 212     pressure = fgGetNode("/environment/pressure-inhg",true);
 213     density = fgGetNode("/environment/density-slugft3",true);
 214     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 215     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 216
 217     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 218     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 219     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 220
 221     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 222       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 223       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm") /
 224                      Propulsion->GetThruster(i)->GetGearRatio());
 225     }
 226 }
 227
 228 /******************************************************************************/
 229 FGJSBsim::~FGJSBsim(void)
 230 {
 231   delete fdmex;
 232 }
 233
 234 /******************************************************************************/
 235
 236 // Initialize the JSBsim flight model, dt is the time increment for
 237 // each subsequent iteration through the EOM
 238
 239 void FGJSBsim::init()
 240 {
 241     double tmp;
 242
 243     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 244
 245     // Explicitly call the superclass's
 246     // init method first.
 247
 248 #ifdef FG_WEATHERCM
 249     Atmosphere->UseInternal();
 250 #else
 251     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 252       Atmosphere->UseExternal();
 253       Atmosphere->SetExTemperature(
 254                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 255       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 256       Atmosphere->SetExDensity(density->getDoubleValue());
 257
 258       tmp = turbulence_gain->getDoubleValue();
 259       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 260
 261       tmp = turbulence_rate->getDoubleValue();
 262       Atmosphere->SetTurbRate(tmp);
 263
 264     } else {
 265       Atmosphere->UseInternal();
 266     }
 267 #endif
 268
 269     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 270     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 271     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 272
 273     //Atmosphere->SetExTemperature(get_Static_temperature());
 274     //Atmosphere->SetExPressure(get_Static_pressure());
 275     //Atmosphere->SetExDensity(get_Density());
 276     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 277      << ", " << fdmex->GetAtmosphere()->GetPressure()
 278      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 279
 280     common_init();
 281
 282     copy_to_JSBsim();
 283     fdmex->RunIC();     //loop JSBSim once w/o integrating
 284     copy_from_JSBsim(); //update the bus
 285
 286     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 287
 288     switch(fgic->GetSpeedSet()) {
 289     case setned:
 290         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 291                << Position->GetVn() << ", "
 292                << Position->GetVe() << ", "
 293                << Position->GetVd() << " ft/s");
 294     break;
 295     case setuvw:
 296         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 297                << Translation->GetUVW(1) << ", "
 298                << Translation->GetUVW(2) << ", "
 299                << Translation->GetUVW(3) << " ft/s");
 300     break;
 301     case setmach:
 302         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 303                << Translation->GetMach() );
 304     break;
 305     case setvc:
 306     default:
 307         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 308                << Auxiliary->GetVcalibratedKTS() << " knots" );
 309     break;
 310     }
 311
 312     stall_warning->setDoubleValue(0);
 313
 314     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 315             <<  Rotation->Getphi()*RADTODEG << " deg" );
 316     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 317             << Rotation->Gettht()*RADTODEG << " deg" );
 318     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 319             << Rotation->Getpsi()*RADTODEG << " deg" );
 320     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 321             << Position->GetLatitude() << " deg" );
 322     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 323             << Position->GetLongitude() << " deg" );
 324     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 325         << Position->Geth() << " feet" );
 326     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 327
 328     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 329
 330     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 331
 332     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 333                                   globals->get_controls()->get_gear_down() );
 334 }
 335
 336 /******************************************************************************/
 337
 338 // Run an iteration of the EOM (equations of motion)
 339
 340 void FGJSBsim::update( double dt )
 341 {
 342     if (is_suspended())
 343       return;
 344
 345     int multiloop = _calc_multiloop(dt);
 346
 347     int i;
 348
 349     // double save_alt = 0.0;
 350
 351     copy_to_JSBsim();
 352
 353     trimmed->setBoolValue(false);
 354
 355     if ( needTrim ) {
 356       if ( startup_trim->getBoolValue() ) {
 357         SG_LOG(SG_FLIGHT, SG_INFO,
 358           "Ready to trim, terrain altitude is: "
 359             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 360         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 361         do_trim();
 362       } else {
 363         fdmex->RunIC();  //apply any changes made through the set_ functions
 364       }
 365       needTrim = false;
 366     }
 367
 368     for ( i=0; i < multiloop; i++ ) {
 369       fdmex->Run();
 370     }
 371
 372     FGJSBBase::Message* msg;
 373     while (fdmex->ReadMessage()) {
 374       msg = fdmex->ProcessMessage();
 375       switch (msg->type) {
 376       case FGJSBBase::Message::eText:
 377         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 378         break;
 379       case FGJSBBase::Message::eBool:
 380         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 381         break;
 382       case FGJSBBase::Message::eInteger:
 383         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 384         break;
 385       case FGJSBBase::Message::eDouble:
 386         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 387         break;
 388       default:
 389         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 390         break;
 391       }
 392     }
 393
 394     // translate JSBsim back to FG structure so that the
 395     // autopilot (and the rest of the sim can use the updated values
 396     copy_from_JSBsim();
 397 }
 398
 399 /******************************************************************************/
 400
 401 // Convert from the FGInterface struct to the JSBsim generic_ struct
 402
 403 bool FGJSBsim::copy_to_JSBsim()
 404 {
 405     double tmp;
 406     unsigned int i;
 407
 408     // copy control positions into the JSBsim structure
 409
 410     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 411     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 412     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 413     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 414     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 415     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 416     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 417     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 418     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 419
 420         // Parking brake sets minimum braking
 421         // level for mains.
 422     double parking_brake = globals->get_controls()->get_brake_parking();
 423     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 424     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 425     FCS->SetCBrake( 0.0 );
 426     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 427
 428     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 429     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 430       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 431
 432       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 433       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 434       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 435
 436       switch (Propulsion->GetEngine(i)->GetType()) {
 437       case FGEngine::etPiston:
 438         { // FGPiston code block
 439         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 440         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 441         break;
 442         } // end FGPiston code block
 443       case FGEngine::etSimTurbine:
 444         { // FGSimTurbine code block
 445         FGSimTurbine* eng = (FGSimTurbine*)Propulsion->GetEngine(i);
 446         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 447         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 448         eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 449         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 450         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 451         break;
 452         } // end FGSimTurbine code block
 453       case FGEngine::etRocket:
 454         { // FGRocket code block
 455         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 456         break;
 457         } // end FGRocket code block
 458       }
 459
 460       { // FGEngine code block
 461       FGEngine* eng = Propulsion->GetEngine(i);
 462
 463       eng->SetStarter( globals->get_controls()->get_starter(i) );
 464       eng->SetRunning( node->getBoolValue("running") );
 465       } // end FGEngine code block
 466     }
 467
 468     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 469     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 470     Position->SetRunwayRadius( get_Runway_altitude()
 471                                + get_Sea_level_radius() );
 472
 473     Atmosphere->SetExTemperature(
 474                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 475     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 476     Atmosphere->SetExDensity(density->getDoubleValue());
 477
 478     tmp = turbulence_gain->getDoubleValue();
 479     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 480
 481     tmp = turbulence_rate->getDoubleValue();
 482     Atmosphere->SetTurbRate(tmp);
 483
 484     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 485                             wind_from_east->getDoubleValue(),
 486                             wind_from_down->getDoubleValue() );
 487 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 488 //                  << get_V_north_airmass() << ", "
 489 //                  << get_V_east_airmass()  << ", "
 490 //                  << get_V_down_airmass() );
 491
 492     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 493       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 494       FGTank * tank = Propulsion->GetTank(i);
 495       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 496 //       tank->SetContents(node->getDoubleValue("level-lb"));
 497     }
 498
 499     return true;
 500 }
 501
 502 /******************************************************************************/
 503
 504 // Convert from the JSBsim generic_ struct to the FGInterface struct
 505
 506 bool FGJSBsim::copy_from_JSBsim()
 507 {
 508     unsigned int i, j;
 509
 510     _set_Inertias( MassBalance->GetMass(),
 511                    MassBalance->GetIxx(),
 512                    MassBalance->GetIyy(),
 513                    MassBalance->GetIzz(),
 514                    MassBalance->GetIxz() );
 515
 516     _set_CG_Position( MassBalance->GetXYZcg(1),
 517                       MassBalance->GetXYZcg(2),
 518                       MassBalance->GetXYZcg(3) );
 519
 520     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 521                       Aircraft->GetBodyAccel(2),
 522                       Aircraft->GetBodyAccel(3) );
 523
 524     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 525                             Aircraft->GetNcg(2),
 526                             Aircraft->GetNcg(3) );
 527
 528     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 529                             Auxiliary->GetPilotAccel(2),
 530                             Auxiliary->GetPilotAccel(3) );
 531
 532     _set_Nlf( Aircraft->GetNlf() );
 533
 534     // Velocities
 535
 536     _set_Velocities_Local( Position->GetVn(),
 537                            Position->GetVe(),
 538                            Position->GetVd() );
 539
 540     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 541                                Translation->GetUVW(2),
 542                                Translation->GetUVW(3) );
 543
 544     _set_V_rel_wind( Translation->GetVt() );
 545
 546     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 547
 548     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 549
 550     _set_V_ground_speed( Position->GetVground() );
 551
 552     _set_Omega_Body( Rotation->GetPQR(1),
 553                      Rotation->GetPQR(2),
 554                      Rotation->GetPQR(3) );
 555
 556     _set_Euler_Rates( Rotation->GetEulerRates(1),
 557                       Rotation->GetEulerRates(2),
 558                       Rotation->GetEulerRates(3) );
 559
 560     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 561                           Position->GetLongitudeDot(),
 562                           Position->Gethdot() );
 563
 564     _set_Mach_number( Translation->GetMach() );
 565
 566     // Positions
 567     _updateGeocentricPosition( Position->GetLatitude(),
 568              Position->GetLongitude(),
 569              Position->Geth() );
 570
 571     // Positions of Visual Reference Point
 572 /*
 573     _updateGeocentricPosition( Position->GetLatitudeVRP(),
 574              Position->GetLongitudeVRP(),
 575              Position->GethVRP() );
 576 */
 577     _set_Altitude_AGL( Position->GetDistanceAGL() );
 578
 579     _set_Euler_Angles( Rotation->Getphi(),
 580                        Rotation->Gettht(),
 581                        Rotation->Getpsi() );
 582
 583     _set_Alpha( Translation->Getalpha() );
 584     _set_Beta( Translation->Getbeta() );
 585
 586
 587     _set_Gamma_vert_rad( Position->GetGamma() );
 588
 589     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 590
 591     _set_Climb_Rate( Position->Gethdot() );
 592
 593
 594     for ( i = 1; i <= 3; i++ ) {
 595         for ( j = 1; j <= 3; j++ ) {
 596             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 597         }
 598     }
 599
 600     // Copy the engine values from JSBSim.
 601     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 602       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 603       char buf[30];
 604       sprintf(buf, "engines/engine[%d]/thruster", i);
 605       SGPropertyNode * tnode = fgGetNode(buf, true);
 606       FGThruster * thruster = Propulsion->GetThruster(i);
 607
 608       switch (Propulsion->GetEngine(i)->GetType()) {
 609       case FGEngine::etPiston:
 610         { // FGPiston code block
 611         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 612         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 613         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 614         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 615         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 616         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 617         node->setDoubleValue("rpm", eng->getRPM());
 618         } // end FGPiston code block
 619         break;
 620       case FGEngine::etRocket:
 621         { // FGRocket code block
 622         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 623         } // end FGRocket code block
 624         break;
 625       case FGEngine::etSimTurbine:
 626         { // FGSimTurbine code block
 627         FGSimTurbine* eng = (FGSimTurbine*)Propulsion->GetEngine(i);
 628         node->setDoubleValue("N1", eng->GetN1());
 629         node->setDoubleValue("N2", eng->GetN2());
 630         node->setDoubleValue("EGT_degC", eng->GetEGT());
 631         node->setBoolValue("augmentation", eng->GetAugmentation());
 632         node->setBoolValue("water-injection", eng->GetInjection());
 633         node->setBoolValue("ignition", eng->GetIgnition());
 634         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 635         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 636         node->setBoolValue("reversed", eng->GetReversed());
 637         node->setBoolValue("cutoff", eng->GetCutoff());
 638         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 639         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 640         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 641         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 642         } // end FGSimTurbine code block
 643         break;
 644       }
 645
 646       { // FGEngine code block
 647       FGEngine* eng = Propulsion->GetEngine(i);
 648       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 649       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 650       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 651       node->setBoolValue("running", eng->GetRunning());
 652       node->setBoolValue("starter", eng->GetStarter());
 653       node->setBoolValue("cranking", eng->GetCranking());
 654       globals->get_controls()->set_starter(i, eng->GetStarter() );
 655       } // end FGEngine code block
 656
 657       switch (thruster->GetType()) {
 658       case FGThruster::ttNozzle:
 659         { // FGNozzle code block
 660         FGNozzle* noz = (FGNozzle*)thruster;
 661         } // end FGNozzle code block
 662         break;
 663       case FGThruster::ttPropeller:
 664         { // FGPropeller code block
 665         FGPropeller* prop = (FGPropeller*)thruster;
 666         tnode->setDoubleValue("rpm", thruster->GetRPM());
 667         tnode->setDoubleValue("pitch", prop->GetPitch());
 668         tnode->setDoubleValue("torque", prop->GetTorque());
 669         } // end FGPropeller code block
 670         break;
 671       case FGThruster::ttRotor:
 672         { // FGRotor code block
 673         FGRotor* rotor = (FGRotor*)thruster;
 674         } // end FGRotor code block
 675         break;
 676       case FGThruster::ttDirect:
 677         { // Direct code block
 678         } // end Direct code block
 679         break;
 680       }
 681
 682     }
 683
 684     static const SGPropertyNode *fuel_freeze = fgGetNode("/sim/freeze/fuel");
 685
 686     // Copy the fuel levels from JSBSim if fuel
 687     // freeze not enabled.
 688     if ( ! fuel_freeze->getBoolValue() ) {
 689       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 690         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 691         double contents = Propulsion->GetTank(i)->GetContents();
 692         node->setDoubleValue("level-gal_us", contents/6.6);
 693         node->setDoubleValue("level-lb", contents);
 694         // node->setDoubleValue("temperature_degC",
 695       }
 696     }
 697
 698     update_gear();
 699
 700     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 701
 702     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 703     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 704     right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
 705     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 706     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 707     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 708     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 709
 710     return true;
 711 }
 712
 713
 714 bool FGJSBsim::ToggleDataLogging(void)
 715 {
 716     return fdmex->GetOutput()->Toggle();
 717 }
 718
 719
 720 bool FGJSBsim::ToggleDataLogging(bool state)
 721 {
 722     if (state) {
 723       fdmex->GetOutput()->Enable();
 724       return true;
 725     } else {
 726       fdmex->GetOutput()->Disable();
 727       return false;
 728     }
 729 }
 730
 731
 732 //Positions
 733 void FGJSBsim::set_Latitude(double lat)
 734 {
 735     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 736     double alt;
 737     double sea_level_radius_meters, lat_geoc;
 738
 739     // In case we're not trimming
 740     FGInterface::set_Latitude(lat);
 741
 742     if ( altitude->getDoubleValue() > -9990 ) {
 743       alt = altitude->getDoubleValue();
 744     } else {
 745       alt = 0.0;
 746     }
 747
 748     update_ic();
 749     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 750     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 751
 752     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 753                       &sea_level_radius_meters, &lat_geoc );
 754     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 755     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 756     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 757     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 758     fgic->SetLatitudeRadIC( lat_geoc );
 759     needTrim=true;
 760 }
 761
 762
 763 void FGJSBsim::set_Longitude(double lon)
 764 {
 765     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 766
 767     // In case we're not trimming
 768     FGInterface::set_Longitude(lon);
 769
 770     update_ic();
 771     fgic->SetLongitudeRadIC( lon );
 772     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 773     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 774     needTrim=true;
 775 }
 776
 777 void FGJSBsim::set_Altitude(double alt)
 778 {
 779     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 780
 781     double sea_level_radius_meters,lat_geoc;
 782
 783     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 784     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 785
 786     // In case we're not trimming
 787     FGInterface::set_Altitude(alt);
 788
 789     update_ic();
 790     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 791                   &sea_level_radius_meters, &lat_geoc);
 792     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 793     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 794     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 795     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 796     SG_LOG(SG_FLIGHT, SG_INFO,
 797           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 798     fgic->SetLatitudeRadIC( lat_geoc );
 799     fgic->SetAltitudeFtIC(alt);
 800     needTrim=true;
 801 }
 802
 803 void FGJSBsim::set_V_calibrated_kts(double vc)
 804 {
 805     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 806
 807     // In case we're not trimming
 808     FGInterface::set_V_calibrated_kts(vc);
 809
 810     update_ic();
 811     fgic->SetVcalibratedKtsIC(vc);
 812     needTrim=true;
 813 }
 814
 815 void FGJSBsim::set_Mach_number(double mach)
 816 {
 817     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 818
 819     // In case we're not trimming
 820     FGInterface::set_Mach_number(mach);
 821
 822     update_ic();
 823     fgic->SetMachIC(mach);
 824     needTrim=true;
 825 }
 826
 827 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
 828 {
 829     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 830        << north << ", " <<  east << ", " << down );
 831
 832     // In case we're not trimming
 833     FGInterface::set_Velocities_Local(north, east, down);
 834
 835     update_ic();
 836     fgic->SetVnorthFpsIC(north);
 837     fgic->SetVeastFpsIC(east);
 838     fgic->SetVdownFpsIC(down);
 839     needTrim=true;
 840 }
 841
 842 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
 843 {
 844     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 845        << u << ", " <<  v << ", " <<  w );
 846
 847     // In case we're not trimming
 848     FGInterface::set_Velocities_Wind_Body(u, v, w);
 849
 850     update_ic();
 851     fgic->SetUBodyFpsIC(u);
 852     fgic->SetVBodyFpsIC(v);
 853     fgic->SetWBodyFpsIC(w);
 854     needTrim=true;
 855 }
 856
 857 //Euler angles
 858 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
 859 {
 860     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 861        << phi << ", " << theta << ", " << psi );
 862
 863     // In case we're not trimming
 864     FGInterface::set_Euler_Angles(phi, theta, psi);
 865
 866     update_ic();
 867     fgic->SetPitchAngleRadIC(theta);
 868     fgic->SetRollAngleRadIC(phi);
 869     fgic->SetTrueHeadingRadIC(psi);
 870     needTrim=true;
 871 }
 872
 873 //Flight Path
 874 void FGJSBsim::set_Climb_Rate( double roc)
 875 {
 876     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 877
 878     // In case we're not trimming
 879     FGInterface::set_Climb_Rate(roc);
 880
 881     update_ic();
 882     //since both climb rate and flight path angle are set in the FG
 883     //startup sequence, something is needed to keep one from cancelling
 884     //out the other.
 885     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 886       fgic->SetClimbRateFpsIC(roc);
 887     }
 888     needTrim=true;
 889 }
 890
 891 void FGJSBsim::set_Gamma_vert_rad( double gamma)
 892 {
 893     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 894
 895     update_ic();
 896     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 897       fgic->SetFlightPathAngleRadIC(gamma);
 898     }
 899     needTrim=true;
 900 }
 901
 902 void FGJSBsim::init_gear(void )
 903 {
 904     FGGroundReactions* gr=fdmex->GetGroundReactions();
 905     int Ngear=GroundReactions->GetNumGearUnits();
 906     for (int i=0;i<Ngear;i++) {
 907       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 908       node->setDoubleValue("xoffset-in",
 909          gr->GetGearUnit(i)->GetBodyLocation()(1));
 910       node->setDoubleValue("yoffset-in",
 911          gr->GetGearUnit(i)->GetBodyLocation()(2));
 912       node->setDoubleValue("zoffset-in",
 913          gr->GetGearUnit(i)->GetBodyLocation()(3));
 914       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 915       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 916       node->setDoubleValue("position-norm", FCS->GetGearPos());
 917       node->setDoubleValue("tire-pressure-norm", gr->GetGearUnit(i)->GetTirePressure());
 918     }
 919 }
 920
 921 void FGJSBsim::update_gear(void)
 922 {
 923     FGGroundReactions* gr=fdmex->GetGroundReactions();
 924     int Ngear=GroundReactions->GetNumGearUnits();
 925     for (int i=0;i<Ngear;i++) {
 926       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 927       node->getChild("wow", 0, true)->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 928       node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
 929       gr->GetGearUnit(i)->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
 930     }
 931 }
 932
 933 void FGJSBsim::do_trim(void)
 934 {
 935   FGTrim *fgtrim;
 936
 937   if ( fgGetBool("/sim/presets/onground") )
 938   {
 939     fgic->SetVcalibratedKtsIC(0.0);
 940     fgtrim = new FGTrim(fdmex,tGround);
 941   } else {
 942     fgtrim = new FGTrim(fdmex,tLongitudinal);
 943   }
 944
 945   if ( !fgtrim->DoTrim() ) {
 946     fgtrim->Report();
 947     fgtrim->TrimStats();
 948   } else {
 949     trimmed->setBoolValue(true);
 950   }
 951   if (FGJSBBase::debug_lvl > 0)
 952       State->ReportState();
 953
 954   delete fgtrim;
 955
 956   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 957   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 958   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 959   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 960
 961   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 962   globals->get_controls()->set_elevator(FCS->GetDeCmd());
 963   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 964   FCS->GetThrottleCmd(0));
 965
 966   globals->get_controls()->set_aileron(FCS->GetDaCmd());
 967   globals->get_controls()->set_rudder( FCS->GetDrCmd());
 968
 969   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 970 }
 971
 972 void FGJSBsim::update_ic(void)
 973 {
 974    if ( !needTrim ) {
 975      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 976      fgic->SetLongitudeRadIC( get_Longitude() );
 977      fgic->SetAltitudeFtIC( get_Altitude() );
 978      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 979      fgic->SetPitchAngleRadIC( get_Theta() );
 980      fgic->SetRollAngleRadIC( get_Phi() );
 981      fgic->SetTrueHeadingRadIC( get_Psi() );
 982      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 983    }
 984 }
 985