1 // JSBsim.cxx -- interface to the JSBsim flight model
3 // Written by Curtis Olson, started February 1999.
5 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
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.
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.
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.
28 #include <simgear/compiler.h>
30 #include <stdio.h> // size_t
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>
39 #include <FDM/flight.hxx>
41 #include <Aircraft/aircraft.hxx>
42 #include <Aircraft/controls.hxx>
43 #include <Main/globals.hxx>
44 #include <Main/fg_props.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>
75 using namespace JSBSim;
78 FMAX (double a, double b)
83 class FGFSGroundCallback : public FGGroundCallback {
85 FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
86 virtual ~FGFSGroundCallback() {}
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) };
94 sgCartToGeod( pt, &lat, &lon, &alt);
95 return alt * SG_METER_TO_FEET;
98 /** Compute the altitude above ground. */
99 virtual double GetAGLevel(double t, const FGLocation& l,
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], agl = 0;
104 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
106 n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
107 v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
108 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
112 FGJSBsim* mInterface;
115 /******************************************************************************/
117 FGJSBsim::FGJSBsim( double dt )
118 : FGInterface(dt), got_wire(false)
121 // Set up the debugging level
122 // FIXME: this will not respond to
125 // if flight is excluded, don't bother
126 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
128 // do a rough-and-ready mapping to
129 // the levels documented in FGFDMExec.h
130 switch (logbuf::get_log_priority()) {
132 FGJSBBase::debug_lvl = 0x1f;
135 FGJSBBase::debug_lvl = 0x0f;
137 FGJSBBase::debug_lvl = 0x01;
141 FGJSBBase::debug_lvl = 0x00;
146 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
149 // Untie the write-state-file property to avoid creating an initfile.xml
150 // file on each FlightGear reset.
151 fgGetNode("/fdm/jsbsim/simulation/write-state-file")->untie();
152 fgGetNode("/fdm/jsbsim/simulation")->removeChild("write-state-file", false);
155 // Register ground callback.
156 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
158 State = fdmex->GetState();
159 Atmosphere = fdmex->GetAtmosphere();
160 FCS = fdmex->GetFCS();
161 MassBalance = fdmex->GetMassBalance();
162 Propulsion = fdmex->GetPropulsion();
163 Aircraft = fdmex->GetAircraft();
164 Propagate = fdmex->GetPropagate();
165 Auxiliary = fdmex->GetAuxiliary();
166 Inertial = fdmex->GetInertial();
167 Aerodynamics = fdmex->GetAerodynamics();
168 GroundReactions = fdmex->GetGroundReactions();
173 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
175 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
176 engine_path.append( "Engine" );
178 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
179 systems_path.append( "Systems" );
183 result = fdmex->LoadModel( aircraft_path.str(),
186 fgGetString("/sim/aero"), false );
189 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
191 SG_LOG( SG_FLIGHT, SG_INFO,
192 " aero does not exist (you may have mis-typed the name).");
196 SG_LOG( SG_FLIGHT, SG_INFO, "" );
197 SG_LOG( SG_FLIGHT, SG_INFO, "" );
198 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
200 int Neng = Propulsion->GetNumEngines();
201 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
203 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
204 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
205 << GroundReactions->GetNumGearUnits() );
206 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
207 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
208 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
214 // Set initial fuel levels if provided.
215 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
216 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
217 if (node->getChild("level-gal_us", 0, false) != 0) {
218 Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
220 node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
221 node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
223 node->setDoubleValue("capacity-gal_us",
224 Propulsion->GetTank(i)->GetCapacity() / 6.6);
226 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
228 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
229 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
230 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
231 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
233 startup_trim = fgGetNode("/sim/presets/trim", true);
235 trimmed = fgGetNode("/fdm/trim/trimmed", true);
236 trimmed->setBoolValue(false);
238 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
239 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
240 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
241 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
243 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
244 stall_warning->setDoubleValue(0);
247 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
248 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
250 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
251 right_aileron_pos_pct
252 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
253 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
255 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
256 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
257 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
258 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
260 elevator_pos_pct->setDoubleValue(0);
261 left_aileron_pos_pct->setDoubleValue(0);
262 right_aileron_pos_pct->setDoubleValue(0);
263 rudder_pos_pct->setDoubleValue(0);
264 flap_pos_pct->setDoubleValue(0);
265 speedbrake_pos_pct->setDoubleValue(0);
266 spoilers_pos_pct->setDoubleValue(0);
268 temperature = fgGetNode("/environment/temperature-degc",true);
269 pressure = fgGetNode("/environment/pressure-inhg",true);
270 density = fgGetNode("/environment/density-slugft3",true);
271 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
272 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
274 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
275 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
276 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
278 slaved = fgGetNode("/sim/slaved/enabled", true);
280 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
281 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
282 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
283 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
286 hook_root_struct = FGColumnVector3(
287 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
288 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
289 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
294 /******************************************************************************/
295 FGJSBsim::~FGJSBsim(void)
300 /******************************************************************************/
302 // Initialize the JSBsim flight model, dt is the time increment for
303 // each subsequent iteration through the EOM
305 void FGJSBsim::init()
309 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
311 // Explicitly call the superclass's
312 // init method first.
314 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
315 Atmosphere->UseExternal();
316 Atmosphere->SetExTemperature(
317 9.0/5.0*(temperature->getDoubleValue()+273.15) );
318 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
319 Atmosphere->SetExDensity(density->getDoubleValue());
320 Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
321 Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
322 Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
325 Atmosphere->UseInternal();
328 fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
329 fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
330 fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
332 //Atmosphere->SetExTemperature(get_Static_temperature());
333 //Atmosphere->SetExPressure(get_Static_pressure());
334 //Atmosphere->SetExDensity(get_Density());
335 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
336 << ", " << fdmex->GetAtmosphere()->GetPressure()
337 << ", " << fdmex->GetAtmosphere()->GetDensity() );
339 if (fgGetBool("/sim/presets/running")) {
340 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
341 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
342 node->setBoolValue("running", true);
343 Propulsion->GetEngine(i)->SetRunning(true);
347 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
352 fdmex->RunIC(); //loop JSBSim once w/o integrating
353 copy_from_JSBsim(); //update the bus
355 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
357 switch(fgic->GetSpeedSet()) {
359 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
360 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
361 << Propagate->GetVel(FGJSBBase::eEast) << ", "
362 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
365 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
366 << Propagate->GetUVW(1) << ", "
367 << Propagate->GetUVW(2) << ", "
368 << Propagate->GetUVW(3) << " ft/s");
371 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
372 << Auxiliary->GetMach() );
376 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
377 << Auxiliary->GetVcalibratedKTS() << " knots" );
381 stall_warning->setDoubleValue(0);
383 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
384 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
385 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
386 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
387 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
388 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
389 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
390 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
391 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
392 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
393 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
394 << Propagate->Geth() << " feet" );
395 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
397 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
399 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
401 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
402 globals->get_controls()->get_gear_down() );
405 /******************************************************************************/
407 // Run an iteration of the EOM (equations of motion)
409 void FGJSBsim::update( double dt )
412 if(!fgGetBool("/sim/crashed"))
413 fgSetBool("/sim/crashed", true);
420 int multiloop = _calc_multiloop(dt);
424 // Compute the radius of the aircraft. That is the radius of a ball
425 // where all gear units are in. At the moment it is at least 10ft ...
427 int n_gears = GroundReactions->GetNumGearUnits();
428 for (i=0; i<n_gears; ++i) {
429 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
430 double r = bl.Magnitude();
435 // Compute the potential movement of this aircraft and query for the
436 // ground in this area.
437 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
438 double alt, slr, lat, lon;
439 FGColumnVector3 cart = Auxiliary->GetLocationVRP();
440 if ( needTrim && startup_trim->getBoolValue() ) {
441 alt = fgic->GetAltitudeFtIC();
442 slr = fgic->GetSeaLevelRadiusFtIC();
443 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
444 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
445 cart = FGLocation(lon, lat, alt+slr);
447 double cart_pos[3] = { cart(1), cart(2), cart(3) };
448 double t0 = State->Getsim_time();
449 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
452 SG_LOG(SG_FLIGHT, SG_WARN,
453 "FGInterface is being called without scenery below the aircraft!");
455 alt = fgic->GetAltitudeFtIC();
456 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt);
458 slr = fgic->GetSeaLevelRadiusFtIC();
459 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
461 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
462 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat);
464 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
465 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon);
471 trimmed->setBoolValue(false);
474 if ( startup_trim->getBoolValue() ) {
475 double contact[3], d[3], agl;
476 get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact,
478 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
479 + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
481 SG_LOG(SG_FLIGHT, SG_INFO,
482 "Ready to trim, terrain altitude is: "
483 << terrain_alt * SG_METER_TO_FEET );
485 fgic->SetTerrainAltitudeFtIC( terrain_alt );
488 fdmex->RunIC(); //apply any changes made through the set_ functions
493 for ( i=0; i < multiloop; i++ ) {
495 update_external_forces(State->Getsim_time() + i * State->Getdt());
498 FGJSBBase::Message* msg;
499 while (fdmex->SomeMessages()) {
500 msg = fdmex->ProcessMessage();
502 case FGJSBBase::Message::eText:
503 if (msg->text == "Crash Detected: Simulation FREEZE.")
505 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
507 case FGJSBBase::Message::eBool:
508 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
510 case FGJSBBase::Message::eInteger:
511 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
513 case FGJSBBase::Message::eDouble:
514 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
517 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
522 // translate JSBsim back to FG structure so that the
523 // autopilot (and the rest of the sim can use the updated values
527 /******************************************************************************/
529 // Convert from the FGInterface struct to the JSBsim generic_ struct
531 bool FGJSBsim::copy_to_JSBsim()
536 // copy control positions into the JSBsim structure
538 FCS->SetDaCmd( globals->get_controls()->get_aileron());
539 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
540 FCS->SetDeCmd( globals->get_controls()->get_elevator());
541 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
542 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
543 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
544 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
545 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
546 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
547 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
549 // Parking brake sets minimum braking
551 double parking_brake = globals->get_controls()->get_brake_parking();
552 FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
553 FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
554 FCS->SetCBrake( 0.0 );
555 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
557 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
558 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
559 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
561 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
562 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
563 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
564 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
566 switch (Propulsion->GetEngine(i)->GetType()) {
567 case FGEngine::etPiston:
568 { // FGPiston code block
569 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
570 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
572 } // end FGPiston code block
573 case FGEngine::etTurbine:
574 { // FGTurbine code block
575 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
576 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
577 eng->SetReverse( globals->get_controls()->get_reverser(i) );
578 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
579 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
580 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
582 } // end FGTurbine code block
583 case FGEngine::etRocket:
584 { // FGRocket code block
585 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
587 } // end FGRocket code block
588 case FGEngine::etTurboprop:
589 { // FGTurboProp code block
590 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
591 eng->SetReverse( globals->get_controls()->get_reverser(i) );
592 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
593 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
595 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
596 eng->SetCondition( globals->get_controls()->get_condition(i) );
598 } // end FGTurboProp code block
603 { // FGEngine code block
604 FGEngine* eng = Propulsion->GetEngine(i);
606 eng->SetStarter( globals->get_controls()->get_starter(i) );
607 eng->SetRunning( node->getBoolValue("running") );
608 } // end FGEngine code block
612 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
614 Atmosphere->SetExTemperature(
615 9.0/5.0*(temperature->getDoubleValue()+273.15) );
616 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
617 Atmosphere->SetExDensity(density->getDoubleValue());
619 tmp = turbulence_gain->getDoubleValue();
620 //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
622 tmp = turbulence_rate->getDoubleValue();
623 //Atmosphere->SetTurbRate(tmp);
625 Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
626 -wind_from_east->getDoubleValue(),
627 -wind_from_down->getDoubleValue() );
628 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
629 // << get_V_north_airmass() << ", "
630 // << get_V_east_airmass() << ", "
631 // << get_V_down_airmass() );
633 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
634 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
635 FGTank * tank = Propulsion->GetTank(i);
636 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
637 // tank->SetContents(node->getDoubleValue("level-lbs"));
640 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
641 fdmex->SetSlave(slaved->getBoolValue());
646 /******************************************************************************/
648 // Convert from the JSBsim generic_ struct to the FGInterface struct
650 bool FGJSBsim::copy_from_JSBsim()
654 _set_Inertias( MassBalance->GetMass(),
655 MassBalance->GetIxx(),
656 MassBalance->GetIyy(),
657 MassBalance->GetIzz(),
658 MassBalance->GetIxz() );
660 _set_CG_Position( MassBalance->GetXYZcg(1),
661 MassBalance->GetXYZcg(2),
662 MassBalance->GetXYZcg(3) );
664 _set_Accels_Body( Aircraft->GetBodyAccel(1),
665 Aircraft->GetBodyAccel(2),
666 Aircraft->GetBodyAccel(3) );
668 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
670 Aircraft->GetNcg(3) );
672 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
673 Auxiliary->GetPilotAccel(2),
674 Auxiliary->GetPilotAccel(3) );
676 _set_Nlf( Aircraft->GetNlf() );
680 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
681 Propagate->GetVel(FGJSBBase::eEast),
682 Propagate->GetVel(FGJSBBase::eDown) );
684 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
685 Propagate->GetUVW(2),
686 Propagate->GetUVW(3) );
688 // Make the HUD work ...
689 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
690 Propagate->GetVel(FGJSBBase::eEast),
691 -Propagate->GetVel(FGJSBBase::eDown) );
693 _set_V_rel_wind( Auxiliary->GetVt() );
695 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
697 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
699 _set_V_ground_speed( Auxiliary->GetVground() );
701 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
702 Propagate->GetPQR(FGJSBBase::eQ),
703 Propagate->GetPQR(FGJSBBase::eR) );
705 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
706 Auxiliary->GetEulerRates(FGJSBBase::eTht),
707 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
709 _set_Mach_number( Auxiliary->GetMach() );
711 // Positions of Visual Reference Point
712 FGLocation l = Auxiliary->GetLocationVRP();
713 _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
714 l.GetRadius() - get_Sea_level_radius() );
716 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
718 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
719 double contact[3], d[3], sd, t;
720 is_valid_m(&t, d, &sd);
721 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
723 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
724 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
727 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
728 Propagate->GetEuler(FGJSBBase::eTht),
729 Propagate->GetEuler(FGJSBBase::ePsi) );
731 _set_Alpha( Auxiliary->Getalpha() );
732 _set_Beta( Auxiliary->Getbeta() );
735 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
737 _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
739 _set_Climb_Rate( Propagate->Gethdot() );
741 const FGMatrix33& Tl2b = Propagate->GetTl2b();
742 for ( i = 1; i <= 3; i++ ) {
743 for ( j = 1; j <= 3; j++ ) {
744 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
748 // Copy the engine values from JSBSim.
749 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
750 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
752 sprintf(buf, "engines/engine[%d]/thruster", i);
753 SGPropertyNode * tnode = fgGetNode(buf, true);
754 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
756 switch (Propulsion->GetEngine(i)->GetType()) {
757 case FGEngine::etPiston:
758 { // FGPiston code block
759 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
760 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
761 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
762 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
763 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
764 // NOTE: mp-osi is not in ounces per square inch.
765 // This error is left for reasons of backwards compatibility with
766 // existing FlightGear sound and instrument configurations.
767 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
768 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
769 node->setDoubleValue("rpm", eng->getRPM());
770 } // end FGPiston code block
772 case FGEngine::etRocket:
773 { // FGRocket code block
774 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
775 } // end FGRocket code block
777 case FGEngine::etTurbine:
778 { // FGTurbine code block
779 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
780 node->setDoubleValue("n1", eng->GetN1());
781 node->setDoubleValue("n2", eng->GetN2());
782 node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
783 node->setBoolValue("augmentation", eng->GetAugmentation());
784 node->setBoolValue("water-injection", eng->GetInjection());
785 node->setBoolValue("ignition", eng->GetIgnition());
786 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
787 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
788 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
789 node->setBoolValue("reversed", eng->GetReversed());
790 node->setBoolValue("cutoff", eng->GetCutoff());
791 node->setDoubleValue("epr", eng->GetEPR());
792 globals->get_controls()->set_reverser(i, eng->GetReversed() );
793 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
794 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
795 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
796 } // end FGTurbine code block
798 case FGEngine::etTurboprop:
799 { // FGTurboProp code block
800 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
801 node->setDoubleValue("n1", eng->GetN1());
802 //node->setDoubleValue("n2", eng->GetN2());
803 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
804 node->setBoolValue("ignition", eng->GetIgnition());
805 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
806 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
807 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
808 node->setBoolValue("reversed", eng->GetReversed());
809 node->setBoolValue("cutoff", eng->GetCutoff());
810 node->setBoolValue("starting", eng->GetEngStarting());
811 node->setBoolValue("generator-power", eng->GetGeneratorPower());
812 node->setBoolValue("damaged", eng->GetCondition());
813 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
814 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
815 // node->setBoolValue("onfire", eng->GetFire());
816 globals->get_controls()->set_reverser(i, eng->GetReversed() );
817 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
818 } // end FGTurboProp code block
820 case FGEngine::etElectric:
821 { // FGElectric code block
822 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
823 node->setDoubleValue("rpm", eng->getRPM());
824 } // end FGElectric code block
828 { // FGEngine code block
829 FGEngine* eng = Propulsion->GetEngine(i);
830 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
831 node->setDoubleValue("thrust_lb", thruster->GetThrust());
832 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
833 node->setBoolValue("running", eng->GetRunning());
834 node->setBoolValue("starter", eng->GetStarter());
835 node->setBoolValue("cranking", eng->GetCranking());
836 globals->get_controls()->set_starter(i, eng->GetStarter() );
837 } // end FGEngine code block
839 switch (thruster->GetType()) {
840 case FGThruster::ttNozzle:
841 { // FGNozzle code block
842 FGNozzle* noz = (FGNozzle*)thruster;
843 } // end FGNozzle code block
845 case FGThruster::ttPropeller:
846 { // FGPropeller code block
847 FGPropeller* prop = (FGPropeller*)thruster;
848 tnode->setDoubleValue("rpm", thruster->GetRPM());
849 tnode->setDoubleValue("pitch", prop->GetPitch());
850 tnode->setDoubleValue("torque", prop->GetTorque());
851 tnode->setBoolValue("feathered", prop->GetFeather());
852 } // end FGPropeller code block
854 case FGThruster::ttRotor:
855 { // FGRotor code block
856 FGRotor* rotor = (FGRotor*)thruster;
857 } // end FGRotor code block
859 case FGThruster::ttDirect:
860 { // Direct code block
861 } // end Direct code block
867 // Copy the fuel levels from JSBSim if fuel
868 // freeze not enabled.
869 if ( ! Propulsion->GetFuelFreeze() ) {
870 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
871 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
872 FGTank* tank = Propulsion->GetTank(i);
873 double contents = tank->GetContents();
874 double temp = tank->GetTemperature_degC();
875 node->setDoubleValue("level-gal_us", contents/6.6);
876 node->setDoubleValue("level-lbs", contents);
877 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
883 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
885 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
886 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
887 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
888 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
889 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
890 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
891 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
892 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
893 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
895 // force a sim crashed if crashed (altitude AGL < 0)
896 if (get_Altitude_AGL() < -100.0) {
897 State->SuspendIntegration();
905 bool FGJSBsim::ToggleDataLogging(void)
907 // ToDo: handle this properly
908 fdmex->DisableOutput();
913 bool FGJSBsim::ToggleDataLogging(bool state)
916 fdmex->EnableOutput();
919 fdmex->DisableOutput();
926 void FGJSBsim::set_Latitude(double lat)
928 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
930 double sea_level_radius_meters, lat_geoc;
932 // In case we're not trimming
933 FGInterface::set_Latitude(lat);
935 if ( altitude->getDoubleValue() > -9990 ) {
936 alt = altitude->getDoubleValue();
942 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
943 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
945 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
946 &sea_level_radius_meters, &lat_geoc );
947 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
948 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
949 fgic->SetLatitudeRadIC( lat_geoc );
954 void FGJSBsim::set_Longitude(double lon)
956 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
958 // In case we're not trimming
959 FGInterface::set_Longitude(lon);
962 fgic->SetLongitudeRadIC( lon );
966 void FGJSBsim::set_Altitude(double alt)
968 static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
970 double sea_level_radius_meters,lat_geoc;
972 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
973 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
975 // In case we're not trimming
976 FGInterface::set_Altitude(alt);
979 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
980 &sea_level_radius_meters, &lat_geoc);
981 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
982 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
983 SG_LOG(SG_FLIGHT, SG_INFO,
984 "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
985 fgic->SetLatitudeRadIC( lat_geoc );
986 fgic->SetAltitudeFtIC(alt);
990 void FGJSBsim::set_V_calibrated_kts(double vc)
992 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
994 // In case we're not trimming
995 FGInterface::set_V_calibrated_kts(vc);
998 fgic->SetVcalibratedKtsIC(vc);
1002 void FGJSBsim::set_Mach_number(double mach)
1004 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1006 // In case we're not trimming
1007 FGInterface::set_Mach_number(mach);
1010 fgic->SetMachIC(mach);
1014 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1016 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1017 << north << ", " << east << ", " << down );
1019 // In case we're not trimming
1020 FGInterface::set_Velocities_Local(north, east, down);
1023 fgic->SetVNorthFpsIC(north);
1024 fgic->SetVEastFpsIC(east);
1025 fgic->SetVDownFpsIC(down);
1029 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1031 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1032 << u << ", " << v << ", " << w );
1034 // In case we're not trimming
1035 FGInterface::set_Velocities_Wind_Body(u, v, w);
1038 fgic->SetUBodyFpsIC(u);
1039 fgic->SetVBodyFpsIC(v);
1040 fgic->SetWBodyFpsIC(w);
1045 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1047 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1048 << phi << ", " << theta << ", " << psi );
1050 // In case we're not trimming
1051 FGInterface::set_Euler_Angles(phi, theta, psi);
1054 fgic->SetThetaRadIC(theta);
1055 fgic->SetPhiRadIC(phi);
1056 fgic->SetPsiRadIC(psi);
1061 void FGJSBsim::set_Climb_Rate( double roc)
1063 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1065 // In case we're not trimming
1066 FGInterface::set_Climb_Rate(roc);
1069 //since both climb rate and flight path angle are set in the FG
1070 //startup sequence, something is needed to keep one from cancelling
1072 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1073 fgic->SetClimbRateFpsIC(roc);
1078 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1080 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1083 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1084 fgic->SetFlightPathAngleRadIC(gamma);
1089 void FGJSBsim::init_gear(void )
1091 FGGroundReactions* gr=fdmex->GetGroundReactions();
1092 int Ngear=GroundReactions->GetNumGearUnits();
1093 for (int i=0;i<Ngear;i++) {
1094 FGLGear *gear = gr->GetGearUnit(i);
1095 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1096 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1097 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1098 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1099 node->setBoolValue("wow", gear->GetWOW());
1100 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1101 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1102 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1103 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1104 node->setDoubleValue("compression-norm", gear->GetCompLen());
1105 node->setDoubleValue("compression-ft", gear->GetCompLen());
1106 if ( gear->GetSteerable() )
1107 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1111 void FGJSBsim::update_gear(void)
1113 FGGroundReactions* gr=fdmex->GetGroundReactions();
1114 int Ngear=GroundReactions->GetNumGearUnits();
1115 for (int i=0;i<Ngear;i++) {
1116 FGLGear *gear = gr->GetGearUnit(i);
1117 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1118 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1119 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1120 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1121 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1122 node->setDoubleValue("compression-norm", gear->GetCompLen());
1123 node->setDoubleValue("compression-ft", gear->GetCompLen());
1124 if ( gear->GetSteerable() )
1125 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1129 void FGJSBsim::do_trim(void)
1133 if ( fgGetBool("/sim/presets/onground") )
1135 fgtrim = new FGTrim(fdmex,tGround);
1137 fgtrim = new FGTrim(fdmex,tLongitudinal);
1140 if ( !fgtrim->DoTrim() ) {
1142 fgtrim->TrimStats();
1144 trimmed->setBoolValue(true);
1146 // if (FGJSBBase::debug_lvl > 0)
1147 // State->ReportState();
1151 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1152 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1153 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1154 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1156 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1157 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1158 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1159 FCS->GetThrottleCmd(0));
1161 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1162 globals->get_controls()->set_rudder( FCS->GetDrCmd());
1164 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1167 void FGJSBsim::update_ic(void)
1170 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1171 fgic->SetLongitudeRadIC( get_Longitude() );
1172 fgic->SetAltitudeFtIC( get_Altitude() );
1173 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1174 fgic->SetThetaRadIC( get_Theta() );
1175 fgic->SetPhiRadIC( get_Phi() );
1176 fgic->SetPsiRadIC( get_Psi() );
1177 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1182 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1183 double contact[3], double normal[3], double vel[3],
1186 double angularVel[3];
1187 const SGMaterial* material;
1188 simgear::BVHNode::Id id;
1189 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1190 angularVel, material, id))
1192 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1193 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1194 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1198 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1200 return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1203 inline static double sqr(double x)
1208 static double angle_diff(double a, double b)
1210 double diff = fabs(a - b);
1211 if (diff > 180) diff = 360 - diff;
1216 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)
1218 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1219 double dist = dot3(tip, ground_normal_body);
1220 if (fabs(dist + E) < 0.0001) {
1221 sin_fis[*points] = sin_fi_guess;
1222 cos_fis[*points] = cos_fi_guess;
1223 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1229 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)
1231 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1232 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1233 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1234 if (fabs(cos_fi_guess) > SG_EPSILON) {
1235 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1240 void FGJSBsim::update_external_forces(double t_off)
1242 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1243 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1244 const FGLocation& Location = Propagate->GetLocation();
1245 const FGMatrix33& Tec2l = Location.GetTec2l();
1247 double hook_area[4][3];
1249 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1250 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1251 hook_area[1][0] = hook_root(1);
1252 hook_area[1][1] = hook_root(2);
1253 hook_area[1][2] = hook_root(3);
1255 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1256 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1257 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1258 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1259 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1260 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1262 FGColumnVector3 hook_tip_body = hook_root_body;
1263 hook_tip_body(1) -= hook_length * cos_fi;
1264 hook_tip_body(3) += hook_length * sin_fi;
1265 bool hook_tip_valid = true;
1268 double ground_normal[3];
1269 double ground_vel[3];
1273 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
1274 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1275 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1276 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1277 double D = -dot3(contact_body, ground_normal_body);
1279 // check hook tip agl against same ground plane
1280 double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1281 if (hook_tip_agl_ft < 0) {
1283 // hook tip: hx - l cos, hy, hz + l sin
1284 // on ground: - n0 l cos + n2 l sin + E = 0
1286 double E = D + dot3(hook_root_body, ground_normal_body);
1288 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1289 // and rearrange to get a quadratic with coeffs:
1290 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1291 double b = 2 * E * ground_normal_body(3) * hook_length;
1292 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1294 double disc = sqr(b) - 4 * a * c;
1296 double delta = sqrt(disc) / (2 * a);
1298 // allow 4 solutions for safety, should never happen
1304 double sin_fi_guess = -b / (2 * a) - delta;
1305 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1306 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1309 double diff1 = angle_diff(fi, fis[0]);
1310 double diff2 = angle_diff(fi, fis[1]);
1311 int point = diff1 < diff2 ? 0 : 1;
1313 sin_fi = sin_fis[point];
1314 cos_fi = cos_fis[point];
1315 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1316 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1322 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1323 double wire_ends_ec[2][3];
1324 double wire_vel_ec[2][3];
1325 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1326 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1327 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1328 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1329 if (rel_vel.Magnitude() < 3) {
1332 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1334 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;
1335 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;
1336 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1337 force_plane_normal.Normalize();
1338 cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1339 if (cos_fi < 0) cos_fi = -cos_fi;
1340 sin_fi = sqrt(1 - sqr(cos_fi));
1341 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1343 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1344 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1345 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1346 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1350 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1352 hook_area[0][0] = hook_tip(1);
1353 hook_area[0][1] = hook_tip(2);
1354 hook_area[0][2] = hook_tip(3);
1357 // The previous positions.
1358 hook_area[2][0] = last_hook_root[0];
1359 hook_area[2][1] = last_hook_root[1];
1360 hook_area[2][2] = last_hook_root[2];
1361 hook_area[3][0] = last_hook_tip[0];
1362 hook_area[3][1] = last_hook_tip[1];
1363 hook_area[3][2] = last_hook_tip[2];
1365 // Check if we caught a wire.
1366 // Returns true if we caught one.
1367 if (caught_wire_ft(t_off, hook_area)) {
1372 // save actual position as old position ...
1373 last_hook_tip[0] = hook_area[0][0];
1374 last_hook_tip[1] = hook_area[0][1];
1375 last_hook_tip[2] = hook_area[0][2];
1376 last_hook_root[0] = hook_area[1][0];
1377 last_hook_root[1] = hook_area[1][1];
1378 last_hook_root[2] = hook_area[1][2];
1380 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);