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/FGPiston.h>
  66 #include <FDM/JSBSim/FGSimTurbine.h>
  67 #include <FDM/JSBSim/FGRocket.h>
  68 #include <FDM/JSBSim/FGNozzle.h>
  69 #include <FDM/JSBSim/FGPropeller.h>
  70 #include <FDM/JSBSim/FGRotor.h>
  71 #include "JSBSim.hxx"
  72
  73 static inline double
  74 FMAX (double a, double b)
  75 {
  76   return a > b ? a : b;
  77 }
  78
  79
  80 /******************************************************************************/
  81
  82 FGJSBsim::FGJSBsim( double dt )
  83   : FGInterface(dt)
  84 {
  85     bool result;
  86
  87                                 // Set up the debugging level
  88                                 // FIXME: this will not respond to
  89                                 // runtime changes
  90
  91                                 // if flight is excluded, don't bother
  92     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
  93
  94                                 // do a rough-and-ready mapping to
  95                                 // the levels documented in FGFDMExec.h
  96         switch (logbuf::get_log_priority()) {
  97         case SG_BULK:
  98             FGJSBBase::debug_lvl = 0x1f;
  99             break;
 100         case SG_DEBUG:
 101             FGJSBBase::debug_lvl = 0x0f;
 102         case SG_INFO:
 103             FGJSBBase::debug_lvl = 0x01;
 104             break;
 105         case SG_WARN:
 106         case SG_ALERT:
 107             FGJSBBase::debug_lvl = 0x00;
 108             break;
 109         }
 110     }
 111
 112     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 113
 114     State           = fdmex->GetState();
 115     Atmosphere      = fdmex->GetAtmosphere();
 116     FCS             = fdmex->GetFCS();
 117     MassBalance     = fdmex->GetMassBalance();
 118     Propulsion      = fdmex->GetPropulsion();
 119     Aircraft        = fdmex->GetAircraft();
 120     Translation     = fdmex->GetTranslation();
 121     Rotation        = fdmex->GetRotation();
 122     Position        = fdmex->GetPosition();
 123     Auxiliary       = fdmex->GetAuxiliary();
 124     Aerodynamics    = fdmex->GetAerodynamics();
 125     GroundReactions = fdmex->GetGroundReactions();
 126
 127     fgic=fdmex->GetIC();
 128     needTrim=true;
 129
 130     SGPath aircraft_path( globals->get_fg_root() );
 131     aircraft_path.append( "Aircraft" );
 132
 133     SGPath engine_path( globals->get_fg_root() );
 134     engine_path.append( "Engine" );
 135     State->Setdt( dt );
 136
 137     result = fdmex->LoadModel( aircraft_path.str(),
 138                                engine_path.str(),
 139                                fgGetString("/sim/aero") );
 140
 141     if (result) {
 142       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 143     } else {
 144       SG_LOG( SG_FLIGHT, SG_INFO,
 145               "  aero does not exist (you may have mis-typed the name).");
 146       throw(-1);
 147     }
 148
 149     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 150     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 151     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 152
 153     int Neng = Propulsion->GetNumEngines();
 154     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 155
 156     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 157         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 158                 << GroundReactions->GetNumGearUnits() );
 159         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 160          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 161          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 162          exit(-1);
 163     }
 164
 165     init_gear();
 166
 167     // Set initial fuel levels if provided.
 168     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 169       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 170       if (node->getChild("level-gal_us", 0, false) != 0) {
 171         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 172       } else {
 173         node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
 174         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 175       }
 176     }
 177
 178     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 179     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 180     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 181     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 182
 183     startup_trim = fgGetNode("/sim/presets/trim", true);
 184
 185     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 186     trimmed->setBoolValue(false);
 187
 188     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 189     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 190     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 191     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 192
 193     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 194     stall_warning->setDoubleValue(0);
 195
 196
 197     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 198     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 199     left_aileron_pos_pct
 200         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 201     right_aileron_pos_pct
 202         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 203     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 204     speedbrake_pos_pct
 205         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 206     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 207
 208     elevator_pos_pct->setDoubleValue(0);
 209     left_aileron_pos_pct->setDoubleValue(0);
 210     right_aileron_pos_pct->setDoubleValue(0);
 211     rudder_pos_pct->setDoubleValue(0);
 212     flap_pos_pct->setDoubleValue(0);
 213     speedbrake_pos_pct->setDoubleValue(0);
 214     spoilers_pos_pct->setDoubleValue(0);
 215
 216     temperature = fgGetNode("/environment/temperature-degc",true);
 217     pressure = fgGetNode("/environment/pressure-inhg",true);
 218     density = fgGetNode("/environment/density-slugft3",true);
 219     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 220     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 221
 222     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 223     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 224     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 225
 226     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 227       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 228       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm") /
 229                      Propulsion->GetThruster(i)->GetGearRatio());
 230     }
 231 }
 232
 233 /******************************************************************************/
 234 FGJSBsim::~FGJSBsim(void)
 235 {
 236   delete fdmex;
 237 }
 238
 239 /******************************************************************************/
 240
 241 // Initialize the JSBsim flight model, dt is the time increment for
 242 // each subsequent iteration through the EOM
 243
 244 void FGJSBsim::init()
 245 {
 246     double tmp;
 247
 248     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 249
 250     // Explicitly call the superclass's
 251     // init method first.
 252
 253 #ifdef FG_WEATHERCM
 254     Atmosphere->UseInternal();
 255 #else
 256     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 257       Atmosphere->UseExternal();
 258       Atmosphere->SetExTemperature(
 259                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 260       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 261       Atmosphere->SetExDensity(density->getDoubleValue());
 262
 263       tmp = turbulence_gain->getDoubleValue();
 264       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 265
 266       tmp = turbulence_rate->getDoubleValue();
 267       Atmosphere->SetTurbRate(tmp);
 268
 269     } else {
 270       Atmosphere->UseInternal();
 271     }
 272 #endif
 273
 274     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 275     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 276     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 277
 278     //Atmosphere->SetExTemperature(get_Static_temperature());
 279     //Atmosphere->SetExPressure(get_Static_pressure());
 280     //Atmosphere->SetExDensity(get_Density());
 281     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 282      << ", " << fdmex->GetAtmosphere()->GetPressure()
 283      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 284
 285     common_init();
 286
 287     copy_to_JSBsim();
 288     fdmex->RunIC();     //loop JSBSim once w/o integrating
 289     copy_from_JSBsim(); //update the bus
 290
 291     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 292
 293     switch(fgic->GetSpeedSet()) {
 294     case setned:
 295         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 296                << Position->GetVn() << ", "
 297                << Position->GetVe() << ", "
 298                << Position->GetVd() << " ft/s");
 299     break;
 300     case setuvw:
 301         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 302                << Translation->GetUVW(1) << ", "
 303                << Translation->GetUVW(2) << ", "
 304                << Translation->GetUVW(3) << " ft/s");
 305     break;
 306     case setmach:
 307         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 308                << Translation->GetMach() );
 309     break;
 310     case setvc:
 311     default:
 312         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 313                << Auxiliary->GetVcalibratedKTS() << " knots" );
 314     break;
 315     }
 316
 317     stall_warning->setDoubleValue(0);
 318
 319     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 320             <<  Rotation->Getphi()*RADTODEG << " deg" );
 321     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 322             << Rotation->Gettht()*RADTODEG << " deg" );
 323     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 324             << Rotation->Getpsi()*RADTODEG << " deg" );
 325     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 326             << Position->GetLatitude() << " deg" );
 327     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 328             << Position->GetLongitude() << " deg" );
 329     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 330         << Position->Geth() << " feet" );
 331     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 332
 333     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 334
 335     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 336
 337     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 338                                   globals->get_controls()->get_gear_down() );
 339 }
 340
 341 /******************************************************************************/
 342
 343 // Run an iteration of the EOM (equations of motion)
 344
 345 void FGJSBsim::update( double dt )
 346 {
 347     if (is_suspended())
 348       return;
 349
 350     int multiloop = _calc_multiloop(dt);
 351
 352     int i;
 353
 354     // double save_alt = 0.0;
 355
 356     copy_to_JSBsim();
 357
 358     trimmed->setBoolValue(false);
 359
 360     if ( needTrim ) {
 361       if ( startup_trim->getBoolValue() ) {
 362         SG_LOG(SG_FLIGHT, SG_INFO,
 363           "Ready to trim, terrain altitude is: "
 364             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 365         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 366         do_trim();
 367       } else {
 368         fdmex->RunIC();  //apply any changes made through the set_ functions
 369       }
 370       needTrim = false;
 371     }
 372
 373     for ( i=0; i < multiloop; i++ ) {
 374       fdmex->Run();
 375     }
 376
 377     FGJSBBase::Message* msg;
 378     while (fdmex->ReadMessage()) {
 379       msg = fdmex->ProcessMessage();
 380       switch (msg->type) {
 381       case FGJSBBase::Message::eText:
 382         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 383         break;
 384       case FGJSBBase::Message::eBool:
 385         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 386         break;
 387       case FGJSBBase::Message::eInteger:
 388         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 389         break;
 390       case FGJSBBase::Message::eDouble:
 391         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 392         break;
 393       default:
 394         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 395         break;
 396       }
 397     }
 398
 399     // translate JSBsim back to FG structure so that the
 400     // autopilot (and the rest of the sim can use the updated values
 401     copy_from_JSBsim();
 402 }
 403
 404 /******************************************************************************/
 405
 406 // Convert from the FGInterface struct to the JSBsim generic_ struct
 407
 408 bool FGJSBsim::copy_to_JSBsim()
 409 {
 410     double tmp;
 411     unsigned int i;
 412
 413     // copy control positions into the JSBsim structure
 414
 415     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 416     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 417     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 418     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 419     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 420     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 421     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 422     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 423     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 424
 425         // Parking brake sets minimum braking
 426         // level for mains.
 427     double parking_brake = globals->get_controls()->get_brake_parking();
 428     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 429     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 430     FCS->SetCBrake( 0.0 );
 431     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 432
 433     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 434     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 435       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 436
 437       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 438       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 439       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 440
 441       switch (Propulsion->GetEngine(i)->GetType()) {
 442       case FGEngine::etPiston:
 443         { // FGPiston code block
 444         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 445         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 446         break;
 447         } // end FGPiston code block
 448       case FGEngine::etSimTurbine:
 449         { // FGSimTurbine code block
 450         FGSimTurbine* eng = (FGSimTurbine*)Propulsion->GetEngine(i);
 451         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 452         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 453         eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 454         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 455         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 456         break;
 457         } // end FGSimTurbine code block
 458       case FGEngine::etRocket:
 459         { // FGRocket code block
 460         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 461         break;
 462         } // end FGRocket code block
 463       }
 464
 465       { // FGEngine code block
 466       FGEngine* eng = Propulsion->GetEngine(i);
 467
 468       eng->SetStarter( globals->get_controls()->get_starter(i) );
 469       eng->SetRunning( node->getBoolValue("running") );
 470       } // end FGEngine code block
 471     }
 472
 473     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 474     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 475     Position->SetRunwayRadius( get_Runway_altitude()
 476                                + get_Sea_level_radius() );
 477
 478     Atmosphere->SetExTemperature(
 479                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 480     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 481     Atmosphere->SetExDensity(density->getDoubleValue());
 482
 483     tmp = turbulence_gain->getDoubleValue();
 484     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 485
 486     tmp = turbulence_rate->getDoubleValue();
 487     Atmosphere->SetTurbRate(tmp);
 488
 489     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 490                             wind_from_east->getDoubleValue(),
 491                             wind_from_down->getDoubleValue() );
 492 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 493 //                  << get_V_north_airmass() << ", "
 494 //                  << get_V_east_airmass()  << ", "
 495 //                  << get_V_down_airmass() );
 496
 497     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 498       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 499       FGTank * tank = Propulsion->GetTank(i);
 500       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 501 //       tank->SetContents(node->getDoubleValue("level-lb"));
 502     }
 503
 504     return true;
 505 }
 506
 507 /******************************************************************************/
 508
 509 // Convert from the JSBsim generic_ struct to the FGInterface struct
 510
 511 bool FGJSBsim::copy_from_JSBsim()
 512 {
 513     unsigned int i, j;
 514 /*
 515     _set_Inertias( MassBalance->GetMass(),
 516                    MassBalance->GetIxx(),
 517                    MassBalance->GetIyy(),
 518                    MassBalance->GetIzz(),
 519                    MassBalance->GetIxz() );
 520 */
 521     _set_CG_Position( MassBalance->GetXYZcg(1),
 522                       MassBalance->GetXYZcg(2),
 523                       MassBalance->GetXYZcg(3) );
 524
 525     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 526                       Aircraft->GetBodyAccel(2),
 527                       Aircraft->GetBodyAccel(3) );
 528
 529     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 530                             Aircraft->GetNcg(2),
 531                             Aircraft->GetNcg(3) );
 532
 533     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 534                             Auxiliary->GetPilotAccel(2),
 535                             Auxiliary->GetPilotAccel(3) );
 536
 537     _set_Nlf( Aircraft->GetNlf() );
 538
 539     // Velocities
 540
 541     _set_Velocities_Local( Position->GetVn(),
 542                            Position->GetVe(),
 543                            Position->GetVd() );
 544
 545     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 546                                Translation->GetUVW(2),
 547                                Translation->GetUVW(3) );
 548
 549     // Make the HUD work ...
 550     _set_Velocities_Ground( Position->GetVn(),
 551                             Position->GetVe(),
 552                             -Position->GetVd() );
 553
 554     _set_V_rel_wind( Translation->GetVt() );
 555
 556     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 557
 558     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 559
 560     _set_V_ground_speed( Position->GetVground() );
 561
 562     _set_Omega_Body( Rotation->GetPQR(1),
 563                      Rotation->GetPQR(2),
 564                      Rotation->GetPQR(3) );
 565
 566     _set_Euler_Rates( Rotation->GetEulerRates(1),
 567                       Rotation->GetEulerRates(2),
 568                       Rotation->GetEulerRates(3) );
 569
 570     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 571                           Position->GetLongitudeDot(),
 572                           Position->Gethdot() );
 573
 574     _set_Mach_number( Translation->GetMach() );
 575
 576     // Positions
 577     _updateGeocentricPosition( Position->GetLatitude(),
 578              Position->GetLongitude(),
 579              Position->Geth() );
 580
 581     // Positions of Visual Reference Point
 582 /*
 583     _updateGeocentricPosition( Position->GetLatitudeVRP(),
 584              Position->GetLongitudeVRP(),
 585              Position->GethVRP() );
 586 */
 587     _set_Altitude_AGL( Position->GetDistanceAGL() );
 588
 589     _set_Euler_Angles( Rotation->Getphi(),
 590                        Rotation->Gettht(),
 591                        Rotation->Getpsi() );
 592
 593     _set_Alpha( Translation->Getalpha() );
 594     _set_Beta( Translation->Getbeta() );
 595
 596
 597     _set_Gamma_vert_rad( Position->GetGamma() );
 598
 599     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 600
 601     _set_Climb_Rate( Position->Gethdot() );
 602
 603
 604     for ( i = 1; i <= 3; i++ ) {
 605         for ( j = 1; j <= 3; j++ ) {
 606             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 607         }
 608     }
 609
 610     // Copy the engine values from JSBSim.
 611     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 612       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 613       char buf[30];
 614       sprintf(buf, "engines/engine[%d]/thruster", i);
 615       SGPropertyNode * tnode = fgGetNode(buf, true);
 616       FGThruster * thruster = Propulsion->GetThruster(i);
 617
 618       switch (Propulsion->GetEngine(i)->GetType()) {
 619       case FGEngine::etPiston:
 620         { // FGPiston code block
 621         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 622         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 623         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 624         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 625         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 626         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 627         node->setDoubleValue("rpm", eng->getRPM());
 628         } // end FGPiston code block
 629         break;
 630       case FGEngine::etRocket:
 631         { // FGRocket code block
 632         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 633         } // end FGRocket code block
 634         break;
 635       case FGEngine::etSimTurbine:
 636         { // FGSimTurbine code block
 637         FGSimTurbine* eng = (FGSimTurbine*)Propulsion->GetEngine(i);
 638         node->setDoubleValue("n1", eng->GetN1());
 639         node->setDoubleValue("n2", eng->GetN2());
 640         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 641         node->setBoolValue("augmentation", eng->GetAugmentation());
 642         node->setBoolValue("water-injection", eng->GetInjection());
 643         node->setBoolValue("ignition", eng->GetIgnition());
 644         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 645         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 646         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 647         node->setBoolValue("reversed", eng->GetReversed());
 648         node->setBoolValue("cutoff", eng->GetCutoff());
 649         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 650         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 651         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 652         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 653         } // end FGSimTurbine code block
 654         break;
 655       }
 656
 657       { // FGEngine code block
 658       FGEngine* eng = Propulsion->GetEngine(i);
 659       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 660       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 661       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 662       node->setBoolValue("running", eng->GetRunning());
 663       node->setBoolValue("starter", eng->GetStarter());
 664       node->setBoolValue("cranking", eng->GetCranking());
 665       globals->get_controls()->set_starter(i, eng->GetStarter() );
 666       } // end FGEngine code block
 667
 668       switch (thruster->GetType()) {
 669       case FGThruster::ttNozzle:
 670         { // FGNozzle code block
 671         FGNozzle* noz = (FGNozzle*)thruster;
 672         } // end FGNozzle code block
 673         break;
 674       case FGThruster::ttPropeller:
 675         { // FGPropeller code block
 676         FGPropeller* prop = (FGPropeller*)thruster;
 677         tnode->setDoubleValue("rpm", thruster->GetRPM());
 678         tnode->setDoubleValue("pitch", prop->GetPitch());
 679         tnode->setDoubleValue("torque", prop->GetTorque());
 680         } // end FGPropeller code block
 681         break;
 682       case FGThruster::ttRotor:
 683         { // FGRotor code block
 684         FGRotor* rotor = (FGRotor*)thruster;
 685         } // end FGRotor code block
 686         break;
 687       case FGThruster::ttDirect:
 688         { // Direct code block
 689         } // end Direct code block
 690         break;
 691       }
 692
 693     }
 694
 695     static const SGPropertyNode *fuel_freeze = fgGetNode("/sim/freeze/fuel");
 696
 697     // Copy the fuel levels from JSBSim if fuel
 698     // freeze not enabled.
 699     if ( ! fuel_freeze->getBoolValue() ) {
 700       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 701         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 702         double contents = Propulsion->GetTank(i)->GetContents();
 703         node->setDoubleValue("level-gal_us", contents/6.6);
 704         node->setDoubleValue("level-lb", contents);
 705         // node->setDoubleValue("temperature_degC",
 706       }
 707     }
 708
 709     update_gear();
 710
 711     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 712
 713     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 714     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 715     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 716     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 717     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 718     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 719     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 720
 721     return true;
 722 }
 723
 724
 725 bool FGJSBsim::ToggleDataLogging(void)
 726 {
 727     return fdmex->GetOutput()->Toggle();
 728 }
 729
 730
 731 bool FGJSBsim::ToggleDataLogging(bool state)
 732 {
 733     if (state) {
 734       fdmex->GetOutput()->Enable();
 735       return true;
 736     } else {
 737       fdmex->GetOutput()->Disable();
 738       return false;
 739     }
 740 }
 741
 742
 743 //Positions
 744 void FGJSBsim::set_Latitude(double lat)
 745 {
 746     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 747     double alt;
 748     double sea_level_radius_meters, lat_geoc;
 749
 750     // In case we're not trimming
 751     FGInterface::set_Latitude(lat);
 752
 753     if ( altitude->getDoubleValue() > -9990 ) {
 754       alt = altitude->getDoubleValue();
 755     } else {
 756       alt = 0.0;
 757     }
 758
 759     update_ic();
 760     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 761     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 762
 763     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 764                       &sea_level_radius_meters, &lat_geoc );
 765     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 766     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 767     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 768     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 769     fgic->SetLatitudeRadIC( lat_geoc );
 770     needTrim=true;
 771 }
 772
 773
 774 void FGJSBsim::set_Longitude(double lon)
 775 {
 776     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 777
 778     // In case we're not trimming
 779     FGInterface::set_Longitude(lon);
 780
 781     update_ic();
 782     fgic->SetLongitudeRadIC( lon );
 783     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 784     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 785     needTrim=true;
 786 }
 787
 788 void FGJSBsim::set_Altitude(double alt)
 789 {
 790     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 791
 792     double sea_level_radius_meters,lat_geoc;
 793
 794     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 795     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 796
 797     // In case we're not trimming
 798     FGInterface::set_Altitude(alt);
 799
 800     update_ic();
 801     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 802                   &sea_level_radius_meters, &lat_geoc);
 803     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 804     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 805     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 806     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 807     SG_LOG(SG_FLIGHT, SG_INFO,
 808           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 809     fgic->SetLatitudeRadIC( lat_geoc );
 810     fgic->SetAltitudeFtIC(alt);
 811     needTrim=true;
 812 }
 813
 814 void FGJSBsim::set_V_calibrated_kts(double vc)
 815 {
 816     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 817
 818     // In case we're not trimming
 819     FGInterface::set_V_calibrated_kts(vc);
 820
 821     update_ic();
 822     fgic->SetVcalibratedKtsIC(vc);
 823     needTrim=true;
 824 }
 825
 826 void FGJSBsim::set_Mach_number(double mach)
 827 {
 828     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 829
 830     // In case we're not trimming
 831     FGInterface::set_Mach_number(mach);
 832
 833     update_ic();
 834     fgic->SetMachIC(mach);
 835     needTrim=true;
 836 }
 837
 838 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
 839 {
 840     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 841        << north << ", " <<  east << ", " << down );
 842
 843     // In case we're not trimming
 844     FGInterface::set_Velocities_Local(north, east, down);
 845
 846     update_ic();
 847     fgic->SetVnorthFpsIC(north);
 848     fgic->SetVeastFpsIC(east);
 849     fgic->SetVdownFpsIC(down);
 850     needTrim=true;
 851 }
 852
 853 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
 854 {
 855     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 856        << u << ", " <<  v << ", " <<  w );
 857
 858     // In case we're not trimming
 859     FGInterface::set_Velocities_Wind_Body(u, v, w);
 860
 861     update_ic();
 862     fgic->SetUBodyFpsIC(u);
 863     fgic->SetVBodyFpsIC(v);
 864     fgic->SetWBodyFpsIC(w);
 865     needTrim=true;
 866 }
 867
 868 //Euler angles
 869 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
 870 {
 871     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 872        << phi << ", " << theta << ", " << psi );
 873
 874     // In case we're not trimming
 875     FGInterface::set_Euler_Angles(phi, theta, psi);
 876
 877     update_ic();
 878     fgic->SetPitchAngleRadIC(theta);
 879     fgic->SetRollAngleRadIC(phi);
 880     fgic->SetTrueHeadingRadIC(psi);
 881     needTrim=true;
 882 }
 883
 884 //Flight Path
 885 void FGJSBsim::set_Climb_Rate( double roc)
 886 {
 887     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 888
 889     // In case we're not trimming
 890     FGInterface::set_Climb_Rate(roc);
 891
 892     update_ic();
 893     //since both climb rate and flight path angle are set in the FG
 894     //startup sequence, something is needed to keep one from cancelling
 895     //out the other.
 896     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 897       fgic->SetClimbRateFpsIC(roc);
 898     }
 899     needTrim=true;
 900 }
 901
 902 void FGJSBsim::set_Gamma_vert_rad( double gamma)
 903 {
 904     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 905
 906     update_ic();
 907     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 908       fgic->SetFlightPathAngleRadIC(gamma);
 909     }
 910     needTrim=true;
 911 }
 912
 913 void FGJSBsim::init_gear(void )
 914 {
 915     FGGroundReactions* gr=fdmex->GetGroundReactions();
 916     int Ngear=GroundReactions->GetNumGearUnits();
 917     for (int i=0;i<Ngear;i++) {
 918       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 919       node->setDoubleValue("xoffset-in",
 920          gr->GetGearUnit(i)->GetBodyLocation()(1));
 921       node->setDoubleValue("yoffset-in",
 922          gr->GetGearUnit(i)->GetBodyLocation()(2));
 923       node->setDoubleValue("zoffset-in",
 924          gr->GetGearUnit(i)->GetBodyLocation()(3));
 925       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 926       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 927       node->setDoubleValue("position-norm", FCS->GetGearPos());
 928       node->setDoubleValue("tire-pressure-norm", gr->GetGearUnit(i)->GetTirePressure());
 929     }
 930 }
 931
 932 void FGJSBsim::update_gear(void)
 933 {
 934     FGGroundReactions* gr=fdmex->GetGroundReactions();
 935     int Ngear=GroundReactions->GetNumGearUnits();
 936     for (int i=0;i<Ngear;i++) {
 937       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 938       node->getChild("wow", 0, true)->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 939       node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
 940       gr->GetGearUnit(i)->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
 941     }
 942 }
 943
 944 void FGJSBsim::do_trim(void)
 945 {
 946   FGTrim *fgtrim;
 947
 948   if ( fgGetBool("/sim/presets/onground") )
 949   {
 950     fgic->SetVcalibratedKtsIC(0.0);
 951     fgtrim = new FGTrim(fdmex,tGround);
 952   } else {
 953     fgtrim = new FGTrim(fdmex,tLongitudinal);
 954   }
 955
 956   if ( !fgtrim->DoTrim() ) {
 957     fgtrim->Report();
 958     fgtrim->TrimStats();
 959   } else {
 960     trimmed->setBoolValue(true);
 961   }
 962   if (FGJSBBase::debug_lvl > 0)
 963       State->ReportState();
 964
 965   delete fgtrim;
 966
 967   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 968   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 969   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 970   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 971
 972   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 973   globals->get_controls()->set_elevator(FCS->GetDeCmd());
 974   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 975   FCS->GetThrottleCmd(0));
 976
 977   globals->get_controls()->set_aileron(FCS->GetDaCmd());
 978   globals->get_controls()->set_rudder( FCS->GetDrCmd());
 979
 980   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 981 }
 982
 983 void FGJSBsim::update_ic(void)
 984 {
 985    if ( !needTrim ) {
 986      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 987      fgic->SetLongitudeRadIC( get_Longitude() );
 988      fgic->SetAltitudeFtIC( get_Altitude() );
 989      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 990      fgic->SetPitchAngleRadIC( get_Theta() );
 991      fgic->SetRollAngleRadIC( get_Phi() );
 992      fgic->SetTrueHeadingRadIC( get_Psi() );
 993      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 994    }
 995 }
 996