src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #include <stdio.h>    //    size_t
  31 #include <string>
  32
  33 #include <simgear/constants.h>
  34 #include <simgear/debug/logstream.hxx>
  35 #include <simgear/math/sg_geodesy.hxx>
  36 #include <simgear/misc/sg_path.hxx>
  37 #include <simgear/structure/commands.hxx>
  38
  39 #include <FDM/flight.hxx>
  40
  41 #include <Aircraft/controls.hxx>
  42 #include <Main/globals.hxx>
  43 #include <Main/fg_props.hxx>
  44
  45 #include "JSBSim.hxx"
  46 #include <FDM/JSBSim/FGFDMExec.h>
  47 #include <FDM/JSBSim/FGJSBBase.h>
  48 #include <FDM/JSBSim/FGState.h>
  49 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
  50 #include <FDM/JSBSim/initialization/FGTrim.h>
  51 #include <FDM/JSBSim/models/FGModel.h>
  52 #include <FDM/JSBSim/models/FGAircraft.h>
  53 #include <FDM/JSBSim/models/FGFCS.h>
  54 #include <FDM/JSBSim/models/FGPropagate.h>
  55 #include <FDM/JSBSim/models/FGAuxiliary.h>
  56 #include <FDM/JSBSim/models/FGInertial.h>
  57 #include <FDM/JSBSim/models/FGAtmosphere.h>
  58 #include <FDM/JSBSim/models/FGMassBalance.h>
  59 #include <FDM/JSBSim/models/FGAerodynamics.h>
  60 #include <FDM/JSBSim/models/FGLGear.h>
  61 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
  62 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
  63 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
  64 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
  65 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
  66 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
  67 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
  68 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
  69 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
  70 #include <FDM/JSBSim/models/propulsion/FGTank.h>
  71 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
  72 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
  73
  74 using namespace JSBSim;
  75
  76 static inline double
  77 FMAX (double a, double b)
  78 {
  79   return a > b ? a : b;
  80 }
  81
  82 class FGFSGroundCallback : public FGGroundCallback {
  83 public:
  84   FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
  85   virtual ~FGFSGroundCallback() {}
  86
  87   /** Get the altitude above sea level dependent on the location. */
  88   virtual double GetAltitude(const FGLocation& l) const {
  89     double pt[3] = { SG_FEET_TO_METER*l(eX),
  90                      SG_FEET_TO_METER*l(eY),
  91                      SG_FEET_TO_METER*l(eZ) };
  92     double lat, lon, alt;
  93     sgCartToGeod( pt, &lat, &lon, &alt);
  94     return alt * SG_METER_TO_FEET;
  95   }
  96
  97   /** Compute the altitude above ground. */
  98   virtual double GetAGLevel(double t, const FGLocation& l,
  99                             FGLocation& cont,
 100                             FGColumnVector3& n, FGColumnVector3& v) const {
 101     double loc_cart[3] = { l(eX), l(eY), l(eZ) };
 102     double contact[3], normal[3], vel[3], agl = 0;
 103     mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
 104                            vel, &agl);
 105     n = FGColumnVector3( -normal[0], -normal[1], -normal[2] );
 106     v = FGColumnVector3( vel[0], vel[1], vel[2] );
 107     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
 108     return agl;
 109   }
 110 private:
 111   FGJSBsim* mInterface;
 112 };
 113
 114 /******************************************************************************/
 115
 116 FGJSBsim::FGJSBsim( double dt )
 117   : FGInterface(dt), got_wire(false)
 118 {
 119     bool result;
 120                                 // Set up the debugging level
 121                                 // FIXME: this will not respond to
 122                                 // runtime changes
 123
 124                                 // if flight is excluded, don't bother
 125     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
 126
 127                                 // do a rough-and-ready mapping to
 128                                 // the levels documented in FGFDMExec.h
 129         switch (logbuf::get_log_priority()) {
 130         case SG_BULK:
 131             FGJSBBase::debug_lvl = 0x1f;
 132             break;
 133         case SG_DEBUG:
 134             FGJSBBase::debug_lvl = 0x0f;
 135         case SG_INFO:
 136             FGJSBBase::debug_lvl = 0x01;
 137             break;
 138         case SG_WARN:
 139         case SG_ALERT:
 140             FGJSBBase::debug_lvl = 0x00;
 141             break;
 142         }
 143     }
 144
 145     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 146
 147     // Register ground callback.
 148     fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
 149
 150     State           = fdmex->GetState();
 151     Atmosphere      = fdmex->GetAtmosphere();
 152     FCS             = fdmex->GetFCS();
 153     MassBalance     = fdmex->GetMassBalance();
 154     Propulsion      = fdmex->GetPropulsion();
 155     Aircraft        = fdmex->GetAircraft();
 156     Propagate        = fdmex->GetPropagate();
 157     Auxiliary       = fdmex->GetAuxiliary();
 158     Inertial        = fdmex->GetInertial();
 159     Aerodynamics    = fdmex->GetAerodynamics();
 160     GroundReactions = fdmex->GetGroundReactions();
 161
 162     fgic=fdmex->GetIC();
 163     needTrim=true;
 164
 165     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
 166
 167     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
 168     engine_path.append( "Engine" );
 169
 170     SGPath systems_path( fgGetString("/sim/aircraft-dir") );
 171     systems_path.append( "Systems" );
 172
 173     State->Setdt( dt );
 174
 175     result = fdmex->LoadModel( aircraft_path.str(),
 176                                engine_path.str(),
 177                                systems_path.str(),
 178                                fgGetString("/sim/aero"), false );
 179
 180     if (result) {
 181       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 182     } else {
 183       SG_LOG( SG_FLIGHT, SG_INFO,
 184               "  aero does not exist (you may have mis-typed the name).");
 185       throw(-1);
 186     }
 187
 188     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 189     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 190     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 191
 192     int Neng = Propulsion->GetNumEngines();
 193     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 194
 195     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 196         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 197                 << GroundReactions->GetNumGearUnits() );
 198         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 199         SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 200         SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 201         exit(-1);
 202     }
 203
 204     init_gear();
 205
 206     // Set initial fuel levels if provided.
 207     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 208       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 209       if (node->getChild("level-gal_us", 0, false) != 0) {
 210         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 211       } else {
 212         node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
 213         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 214       }
 215       node->setDoubleValue("capacity-gal_us",
 216                            Propulsion->GetTank(i)->GetCapacity() / 6.6);
 217     }
 218     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 219
 220     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 221     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 222     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 223     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 224
 225     startup_trim = fgGetNode("/sim/presets/trim", true);
 226
 227     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 228     trimmed->setBoolValue(false);
 229
 230     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 231     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 232     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 233     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 234
 235     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 236     stall_warning->setDoubleValue(0);
 237
 238
 239     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 240     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 241     left_aileron_pos_pct
 242         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 243     right_aileron_pos_pct
 244         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 245     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 246     speedbrake_pos_pct
 247         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 248     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 249     tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
 250     wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
 251
 252     elevator_pos_pct->setDoubleValue(0);
 253     left_aileron_pos_pct->setDoubleValue(0);
 254     right_aileron_pos_pct->setDoubleValue(0);
 255     rudder_pos_pct->setDoubleValue(0);
 256     flap_pos_pct->setDoubleValue(0);
 257     speedbrake_pos_pct->setDoubleValue(0);
 258     spoilers_pos_pct->setDoubleValue(0);
 259
 260     temperature = fgGetNode("/environment/temperature-degc",true);
 261     pressure = fgGetNode("/environment/pressure-inhg",true);
 262     density = fgGetNode("/environment/density-slugft3",true);
 263     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 264     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 265
 266     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 267     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 268     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 269
 270     slaved = fgGetNode("/sim/slaved/enabled", true);
 271
 272     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 273       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 274       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 275                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 276     }
 277
 278     hook_root_struct = FGColumnVector3(
 279         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
 280         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
 281         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
 282
 283     crashed = false;
 284 }
 285
 286 /******************************************************************************/
 287 FGJSBsim::~FGJSBsim(void)
 288 {
 289   delete fdmex;
 290 }
 291
 292 /******************************************************************************/
 293
 294 // Initialize the JSBsim flight model, dt is the time increment for
 295 // each subsequent iteration through the EOM
 296
 297 void FGJSBsim::init()
 298 {
 299     double tmp;
 300
 301     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 302
 303     // Explicitly call the superclass's
 304     // init method first.
 305
 306     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 307       Atmosphere->UseExternal();
 308       Atmosphere->SetExTemperature(
 309                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 310       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 311       Atmosphere->SetExDensity(density->getDoubleValue());
 312       Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
 313       Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
 314       Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
 315
 316     } else {
 317       Atmosphere->UseInternal();
 318     }
 319
 320     fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
 321     fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
 322     fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
 323
 324     //Atmosphere->SetExTemperature(get_Static_temperature());
 325     //Atmosphere->SetExPressure(get_Static_pressure());
 326     //Atmosphere->SetExDensity(get_Density());
 327     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 328      << ", " << fdmex->GetAtmosphere()->GetPressure()
 329      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 330
 331     if (fgGetBool("/sim/presets/running")) {
 332           for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
 333             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 334             node->setBoolValue("running", true);
 335             Propulsion->GetEngine(i)->SetRunning(true);
 336           }
 337     }
 338
 339     FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
 340
 341     common_init();
 342
 343     copy_to_JSBsim();
 344     fdmex->RunIC();     //loop JSBSim once w/o integrating
 345     copy_from_JSBsim(); //update the bus
 346
 347     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 348
 349     switch(fgic->GetSpeedSet()) {
 350     case setned:
 351         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 352                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
 353                << Propagate->GetVel(FGJSBBase::eEast) << ", "
 354                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
 355     break;
 356     case setuvw:
 357         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 358                << Propagate->GetUVW(1) << ", "
 359                << Propagate->GetUVW(2) << ", "
 360                << Propagate->GetUVW(3) << " ft/s");
 361     break;
 362     case setmach:
 363         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 364                << Auxiliary->GetMach() );
 365     break;
 366     case setvc:
 367     default:
 368         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 369                << Auxiliary->GetVcalibratedKTS() << " knots" );
 370     break;
 371     }
 372
 373     stall_warning->setDoubleValue(0);
 374
 375     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 376             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
 377     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 378             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
 379     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 380             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
 381     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 382             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 383     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 384             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 385     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 386             << Propagate->GetAltitudeASL() << " feet" );
 387     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 388
 389     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 390
 391     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 392
 393     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 394                                   globals->get_controls()->get_gear_down() );
 395 }
 396
 397 /******************************************************************************/
 398
 399 // Run an iteration of the EOM (equations of motion)
 400
 401 void FGJSBsim::update( double dt )
 402 {
 403     if(crashed) {
 404       if(!fgGetBool("/sim/crashed"))
 405         fgSetBool("/sim/crashed", true);
 406       return;
 407     }
 408
 409     if (is_suspended())
 410       return;
 411
 412     int multiloop = _calc_multiloop(dt);
 413
 414     int i;
 415
 416     // Compute the radius of the aircraft. That is the radius of a ball
 417     // where all gear units are in. At the moment it is at least 10ft ...
 418     double acrad = 10.0;
 419     int n_gears = GroundReactions->GetNumGearUnits();
 420     for (i=0; i<n_gears; ++i) {
 421       FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
 422       double r = bl.Magnitude();
 423       if (acrad < r)
 424         acrad = r;
 425     }
 426
 427     // Compute the potential movement of this aircraft and query for the
 428     // ground in this area.
 429     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
 430     double alt, slr, lat, lon;
 431     FGColumnVector3 cart = Auxiliary->GetLocationVRP();
 432     if ( needTrim && startup_trim->getBoolValue() ) {
 433       alt = fgic->GetAltitudeASLFtIC();
 434       slr = fgic->GetSeaLevelRadiusFtIC();
 435       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 436       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 437       cart = FGLocation(lon, lat, alt+slr);
 438     }
 439     double cart_pos[3] = { cart(1), cart(2), cart(3) };
 440     double t0 = State->Getsim_time();
 441     bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
 442                                              groundCacheRadius );
 443     if (!cache_ok) {
 444       SG_LOG(SG_FLIGHT, SG_WARN,
 445              "FGInterface is being called without scenery below the aircraft!");
 446
 447       alt = fgic->GetAltitudeASLFtIC();
 448       SG_LOG(SG_FLIGHT, SG_WARN, "altitude         = " << alt);
 449
 450       slr = fgic->GetSeaLevelRadiusFtIC();
 451       SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
 452
 453       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 454       SG_LOG(SG_FLIGHT, SG_WARN, "latitude         = " << lat);
 455
 456       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 457       SG_LOG(SG_FLIGHT, SG_WARN, "longitude        = " << lon);
 458       //return;
 459     }
 460
 461     copy_to_JSBsim();
 462
 463     trimmed->setBoolValue(false);
 464
 465     if ( needTrim ) {
 466       if ( startup_trim->getBoolValue() ) {
 467         double contact[3], d[3], agl;
 468         get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact,
 469                    d, d, &agl);
 470         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
 471              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 472
 473         SG_LOG(SG_FLIGHT, SG_INFO,
 474           "Ready to trim, terrain elevation is: "
 475             << terrain_alt * SG_METER_TO_FEET );
 476
 477         fgic->SetTerrainElevationFtIC( terrain_alt );
 478         do_trim();
 479       } else {
 480         fdmex->RunIC();  //apply any changes made through the set_ functions
 481       }
 482       needTrim = false;
 483     }
 484
 485     for ( i=0; i < multiloop; i++ ) {
 486       fdmex->Run();
 487       update_external_forces(State->Getsim_time() + i * State->Getdt());
 488     }
 489
 490     FGJSBBase::Message* msg;
 491     while (msg = fdmex->ProcessNextMessage()) {
 492 //      msg = fdmex->ProcessNextMessage();
 493       switch (msg->type) {
 494       case FGJSBBase::Message::eText:
 495         if (msg->text == "Crash Detected: Simulation FREEZE.")
 496           crashed = true;
 497         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 498         break;
 499       case FGJSBBase::Message::eBool:
 500         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 501         break;
 502       case FGJSBBase::Message::eInteger:
 503         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 504         break;
 505       case FGJSBBase::Message::eDouble:
 506         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 507         break;
 508       default:
 509         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 510         break;
 511       }
 512     }
 513
 514     // translate JSBsim back to FG structure so that the
 515     // autopilot (and the rest of the sim can use the updated values
 516     copy_from_JSBsim();
 517 }
 518
 519 /******************************************************************************/
 520
 521 // Convert from the FGInterface struct to the JSBsim generic_ struct
 522
 523 bool FGJSBsim::copy_to_JSBsim()
 524 {
 525     double tmp;
 526     unsigned int i;
 527
 528     // copy control positions into the JSBsim structure
 529
 530     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 531     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 532     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 533     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 534     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 535     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 536     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 537     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 538     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 539     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 540
 541         // Parking brake sets minimum braking
 542         // level for mains.
 543     double parking_brake = globals->get_controls()->get_brake_parking();
 544     double left_brake = globals->get_controls()->get_brake_left();
 545     double right_brake = globals->get_controls()->get_brake_right();
 546     FCS->SetLBrake(FMAX(left_brake, parking_brake));
 547     FCS->SetRBrake(FMAX(right_brake, parking_brake));
 548
 549
 550     FCS->SetCBrake( 0.0 );
 551     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 552
 553     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 554     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 555       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 556
 557       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 558       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 559       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 560       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
 561
 562       switch (Propulsion->GetEngine(i)->GetType()) {
 563       case FGEngine::etPiston:
 564         { // FGPiston code block
 565         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 566         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 567         break;
 568         } // end FGPiston code block
 569       case FGEngine::etTurbine:
 570         { // FGTurbine code block
 571         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 572         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 573         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 574         //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 575         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 576         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 577         break;
 578         } // end FGTurbine code block
 579       case FGEngine::etRocket:
 580         { // FGRocket code block
 581         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 582         break;
 583         } // end FGRocket code block
 584       case FGEngine::etTurboprop:
 585         { // FGTurboProp code block
 586         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 587         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 588         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 589         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 590
 591         eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
 592         eng->SetCondition( globals->get_controls()->get_condition(i) );
 593         break;
 594         } // end FGTurboProp code block
 595       default:
 596         break;
 597       }
 598
 599       { // FGEngine code block
 600       FGEngine* eng = Propulsion->GetEngine(i);
 601
 602       eng->SetStarter( globals->get_controls()->get_starter(i) );
 603       eng->SetRunning( node->getBoolValue("running") );
 604       } // end FGEngine code block
 605     }
 606
 607
 608     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 609
 610     Atmosphere->SetExTemperature(
 611                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 612     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 613     Atmosphere->SetExDensity(density->getDoubleValue());
 614
 615     tmp = turbulence_gain->getDoubleValue();
 616     //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 617
 618     tmp = turbulence_rate->getDoubleValue();
 619     //Atmosphere->SetTurbRate(tmp);
 620
 621     Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
 622                             -wind_from_east->getDoubleValue(),
 623                             -wind_from_down->getDoubleValue() );
 624 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 625 //                  << get_V_north_airmass() << ", "
 626 //                  << get_V_east_airmass()  << ", "
 627 //                  << get_V_down_airmass() );
 628
 629     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 630       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 631       FGTank * tank = Propulsion->GetTank(i);
 632       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 633 //       tank->SetContents(node->getDoubleValue("level-lbs"));
 634     }
 635
 636     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 637     fdmex->SetChild(slaved->getBoolValue());
 638
 639     return true;
 640 }
 641
 642 /******************************************************************************/
 643
 644 // Convert from the JSBsim generic_ struct to the FGInterface struct
 645
 646 bool FGJSBsim::copy_from_JSBsim()
 647 {
 648     unsigned int i, j;
 649 /*
 650     _set_Inertias( MassBalance->GetMass(),
 651                    MassBalance->GetIxx(),
 652                    MassBalance->GetIyy(),
 653                    MassBalance->GetIzz(),
 654                    MassBalance->GetIxz() );
 655 */
 656     _set_CG_Position( MassBalance->GetXYZcg(1),
 657                       MassBalance->GetXYZcg(2),
 658                       MassBalance->GetXYZcg(3) );
 659
 660     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 661                       Aircraft->GetBodyAccel(2),
 662                       Aircraft->GetBodyAccel(3) );
 663
 664     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 665                             Aircraft->GetNcg(2),
 666                             Aircraft->GetNcg(3) );
 667
 668     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 669                             Auxiliary->GetPilotAccel(2),
 670                             Auxiliary->GetPilotAccel(3) );
 671
 672     _set_Nlf( Aircraft->GetNlf() );
 673
 674     // Velocities
 675
 676     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
 677                            Propagate->GetVel(FGJSBBase::eEast),
 678                            Propagate->GetVel(FGJSBBase::eDown) );
 679
 680     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 681                                Propagate->GetUVW(2),
 682                                Propagate->GetUVW(3) );
 683
 684     // Make the HUD work ...
 685     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
 686                             Propagate->GetVel(FGJSBBase::eEast),
 687                             -Propagate->GetVel(FGJSBBase::eDown) );
 688
 689     _set_V_rel_wind( Auxiliary->GetVt() );
 690
 691     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 692
 693     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 694
 695     _set_V_ground_speed( Auxiliary->GetVground() );
 696
 697     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
 698                      Propagate->GetPQR(FGJSBBase::eQ),
 699                      Propagate->GetPQR(FGJSBBase::eR) );
 700
 701     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
 702                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
 703                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
 704
 705     _set_Mach_number( Auxiliary->GetMach() );
 706
 707     // Positions of Visual Reference Point
 708     FGLocation l = Auxiliary->GetLocationVRP();
 709     _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
 710                                l.GetRadius() - get_Sea_level_radius() );
 711
 712     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 713     {
 714       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
 715       double contact[3], d[3], sd, t;
 716       is_valid_m(&t, d, &sd);
 717       get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
 718       double rwrad
 719         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
 720       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
 721     }
 722
 723     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
 724                        Propagate->GetEuler(FGJSBBase::eTht),
 725                        Propagate->GetEuler(FGJSBBase::ePsi) );
 726
 727     _set_Alpha( Auxiliary->Getalpha() );
 728     _set_Beta( Auxiliary->Getbeta() );
 729
 730
 731     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 732
 733     _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
 734
 735     _set_Climb_Rate( Propagate->Gethdot() );
 736
 737     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 738     for ( i = 1; i <= 3; i++ ) {
 739         for ( j = 1; j <= 3; j++ ) {
 740             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 741         }
 742     }
 743
 744     // Copy the engine values from JSBSim.
 745     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 746       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 747       SGPropertyNode * tnode = node->getChild("thruster", 0, true);
 748       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 749
 750       switch (Propulsion->GetEngine(i)->GetType()) {
 751       case FGEngine::etPiston:
 752         { // FGPiston code block
 753         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 754         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 755         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 756         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 757         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 758         // NOTE: mp-osi is not in ounces per square inch.
 759         // This error is left for reasons of backwards compatibility with
 760         // existing FlightGear sound and instrument configurations.
 761         node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
 762         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 763         node->setDoubleValue("rpm", eng->getRPM());
 764         } // end FGPiston code block
 765         break;
 766       case FGEngine::etRocket:
 767         { // FGRocket code block
 768         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 769         } // end FGRocket code block
 770         break;
 771       case FGEngine::etTurbine:
 772         { // FGTurbine code block
 773         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 774         node->setDoubleValue("n1", eng->GetN1());
 775         node->setDoubleValue("n2", eng->GetN2());
 776         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 777         node->setBoolValue("augmentation", eng->GetAugmentation());
 778         node->setBoolValue("water-injection", eng->GetInjection());
 779         node->setBoolValue("ignition", eng->GetIgnition());
 780         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 781         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 782         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 783         node->setBoolValue("reversed", eng->GetReversed());
 784         node->setBoolValue("cutoff", eng->GetCutoff());
 785         node->setDoubleValue("epr", eng->GetEPR());
 786         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 787         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 788         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 789         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 790         } // end FGTurbine code block
 791         break;
 792       case FGEngine::etTurboprop:
 793         { // FGTurboProp code block
 794         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 795         node->setDoubleValue("n1", eng->GetN1());
 796         //node->setDoubleValue("n2", eng->GetN2());
 797         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
 798         node->setBoolValue("ignition", eng->GetIgnition());
 799         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 800         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 801         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 802         node->setBoolValue("reversed", eng->GetReversed());
 803         node->setBoolValue("cutoff", eng->GetCutoff());
 804         node->setBoolValue("starting", eng->GetEngStarting());
 805         node->setBoolValue("generator-power", eng->GetGeneratorPower());
 806         node->setBoolValue("damaged", eng->GetCondition());
 807         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
 808         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 809 //        node->setBoolValue("onfire", eng->GetFire());
 810         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 811         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 812         } // end FGTurboProp code block
 813         break;
 814       case FGEngine::etElectric:
 815         { // FGElectric code block
 816         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 817         node->setDoubleValue("rpm", eng->getRPM());
 818         } // end FGElectric code block
 819         break;
 820       }
 821
 822       { // FGEngine code block
 823       FGEngine* eng = Propulsion->GetEngine(i);
 824       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 825       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 826       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 827       node->setBoolValue("running", eng->GetRunning());
 828       node->setBoolValue("starter", eng->GetStarter());
 829       node->setBoolValue("cranking", eng->GetCranking());
 830       globals->get_controls()->set_starter(i, eng->GetStarter() );
 831       } // end FGEngine code block
 832
 833       switch (thruster->GetType()) {
 834       case FGThruster::ttNozzle:
 835         { // FGNozzle code block
 836         FGNozzle* noz = (FGNozzle*)thruster;
 837         } // end FGNozzle code block
 838         break;
 839       case FGThruster::ttPropeller:
 840         { // FGPropeller code block
 841         FGPropeller* prop = (FGPropeller*)thruster;
 842         tnode->setDoubleValue("rpm", thruster->GetRPM());
 843         tnode->setDoubleValue("pitch", prop->GetPitch());
 844         tnode->setDoubleValue("torque", prop->GetTorque());
 845         tnode->setBoolValue("feathered", prop->GetFeather());
 846         } // end FGPropeller code block
 847         break;
 848       case FGThruster::ttRotor:
 849         { // FGRotor code block
 850         FGRotor* rotor = (FGRotor*)thruster;
 851         } // end FGRotor code block
 852         break;
 853       case FGThruster::ttDirect:
 854         { // Direct code block
 855         } // end Direct code block
 856         break;
 857       }
 858
 859     }
 860
 861     // Copy the fuel levels from JSBSim if fuel
 862     // freeze not enabled.
 863     if ( ! Propulsion->GetFuelFreeze() ) {
 864       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 865         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 866         FGTank* tank = Propulsion->GetTank(i);
 867         double contents = tank->GetContents();
 868         double temp = tank->GetTemperature_degC();
 869         node->setDoubleValue("level-gal_us", contents/6.6);
 870         node->setDoubleValue("level-lbs", contents);
 871         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 872       }
 873     }
 874
 875     update_gear();
 876
 877     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 878
 879     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 880     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 881     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 882     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 883     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 884     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 885     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 886     tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
 887     wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
 888
 889     // force a sim crashed if crashed (altitude AGL < 0)
 890     if (get_Altitude_AGL() < -100.0) {
 891          State->SuspendIntegration();
 892          crashed = true;
 893     }
 894
 895     return true;
 896 }
 897
 898
 899 bool FGJSBsim::ToggleDataLogging(void)
 900 {
 901   // ToDo: handle this properly
 902   fdmex->DisableOutput();
 903   return false;
 904 }
 905
 906
 907 bool FGJSBsim::ToggleDataLogging(bool state)
 908 {
 909     if (state) {
 910       fdmex->EnableOutput();
 911       return true;
 912     } else {
 913       fdmex->DisableOutput();
 914       return false;
 915     }
 916 }
 917
 918
 919 //Positions
 920 void FGJSBsim::set_Latitude(double lat)
 921 {
 922     static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
 923     double alt;
 924     double sea_level_radius_meters, lat_geoc;
 925
 926     // In case we're not trimming
 927     FGInterface::set_Latitude(lat);
 928
 929     if ( altitude->getDoubleValue() > -9990 ) {
 930       alt = altitude->getDoubleValue();
 931     } else {
 932       alt = 0.0;
 933     }
 934
 935     update_ic();
 936     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 937     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 938
 939     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 940                       &sea_level_radius_meters, &lat_geoc );
 941     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 942     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 943     fgic->SetLatitudeRadIC( lat_geoc );
 944     needTrim=true;
 945 }
 946
 947
 948 void FGJSBsim::set_Longitude(double lon)
 949 {
 950     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 951
 952     // In case we're not trimming
 953     FGInterface::set_Longitude(lon);
 954
 955     update_ic();
 956     fgic->SetLongitudeRadIC( lon );
 957     needTrim=true;
 958 }
 959
 960 // Sets the altitude above sea level.
 961 void FGJSBsim::set_Altitude(double alt)
 962 {
 963     static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
 964
 965     double sea_level_radius_meters,lat_geoc;
 966
 967     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 968     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 969
 970     // In case we're not trimming
 971     FGInterface::set_Altitude(alt);
 972
 973     update_ic();
 974     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 975                   &sea_level_radius_meters, &lat_geoc);
 976     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 977     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 978     SG_LOG(SG_FLIGHT, SG_INFO,
 979           "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
 980     fgic->SetLatitudeRadIC( lat_geoc );
 981     fgic->SetAltitudeASLFtIC(alt);
 982     needTrim=true;
 983 }
 984
 985 void FGJSBsim::set_V_calibrated_kts(double vc)
 986 {
 987     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 988
 989     // In case we're not trimming
 990     FGInterface::set_V_calibrated_kts(vc);
 991
 992     update_ic();
 993     fgic->SetVcalibratedKtsIC(vc);
 994     needTrim=true;
 995 }
 996
 997 void FGJSBsim::set_Mach_number(double mach)
 998 {
 999     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
1000
1001     // In case we're not trimming
1002     FGInterface::set_Mach_number(mach);
1003
1004     update_ic();
1005     fgic->SetMachIC(mach);
1006     needTrim=true;
1007 }
1008
1009 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1010 {
1011     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1012        << north << ", " <<  east << ", " << down );
1013
1014     // In case we're not trimming
1015     FGInterface::set_Velocities_Local(north, east, down);
1016
1017     update_ic();
1018     fgic->SetVNorthFpsIC(north);
1019     fgic->SetVEastFpsIC(east);
1020     fgic->SetVDownFpsIC(down);
1021     needTrim=true;
1022 }
1023
1024 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1025 {
1026     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1027        << u << ", " <<  v << ", " <<  w );
1028
1029     // In case we're not trimming
1030     FGInterface::set_Velocities_Wind_Body(u, v, w);
1031
1032     update_ic();
1033     fgic->SetUBodyFpsIC(u);
1034     fgic->SetVBodyFpsIC(v);
1035     fgic->SetWBodyFpsIC(w);
1036     needTrim=true;
1037 }
1038
1039 //Euler angles
1040 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1041 {
1042     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1043        << phi << ", " << theta << ", " << psi );
1044
1045     // In case we're not trimming
1046     FGInterface::set_Euler_Angles(phi, theta, psi);
1047
1048     update_ic();
1049     fgic->SetThetaRadIC(theta);
1050     fgic->SetPhiRadIC(phi);
1051     fgic->SetPsiRadIC(psi);
1052     needTrim=true;
1053 }
1054
1055 //Flight Path
1056 void FGJSBsim::set_Climb_Rate( double roc)
1057 {
1058     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1059
1060     // In case we're not trimming
1061     FGInterface::set_Climb_Rate(roc);
1062
1063     update_ic();
1064     //since both climb rate and flight path angle are set in the FG
1065     //startup sequence, something is needed to keep one from cancelling
1066     //out the other.
1067     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1068       fgic->SetClimbRateFpsIC(roc);
1069     }
1070     needTrim=true;
1071 }
1072
1073 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1074 {
1075     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1076
1077     update_ic();
1078     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1079       fgic->SetFlightPathAngleRadIC(gamma);
1080     }
1081     needTrim=true;
1082 }
1083
1084 void FGJSBsim::init_gear(void )
1085 {
1086     FGGroundReactions* gr=fdmex->GetGroundReactions();
1087     int Ngear=GroundReactions->GetNumGearUnits();
1088     for (int i=0;i<Ngear;i++) {
1089       FGLGear *gear = gr->GetGearUnit(i);
1090       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1091       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1092       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1093       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1094       node->setBoolValue("wow", gear->GetWOW());
1095       node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1096       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1097       node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1098       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1099       node->setDoubleValue("compression-norm", gear->GetCompLen());
1100       node->setDoubleValue("compression-ft", gear->GetCompLen());
1101       if ( gear->GetSteerable() )
1102         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1103     }
1104 }
1105
1106 void FGJSBsim::update_gear(void)
1107 {
1108     FGGroundReactions* gr=fdmex->GetGroundReactions();
1109     int Ngear=GroundReactions->GetNumGearUnits();
1110     for (int i=0;i<Ngear;i++) {
1111       FGLGear *gear = gr->GetGearUnit(i);
1112       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1113       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1114       node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1115       node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1116       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1117       node->setDoubleValue("compression-norm", gear->GetCompLen());
1118       node->setDoubleValue("compression-ft", gear->GetCompLen());
1119       if ( gear->GetSteerable() )
1120         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1121     }
1122 }
1123
1124 void FGJSBsim::do_trim(void)
1125 {
1126   FGTrim *fgtrim;
1127
1128   if ( fgGetBool("/sim/presets/onground") )
1129   {
1130     fgtrim = new FGTrim(fdmex,tGround);
1131   } else {
1132     fgtrim = new FGTrim(fdmex,tLongitudinal);
1133   }
1134
1135   if ( !fgtrim->DoTrim() ) {
1136     fgtrim->Report();
1137     fgtrim->TrimStats();
1138   } else {
1139     trimmed->setBoolValue(true);
1140   }
1141 //  if (FGJSBBase::debug_lvl > 0)
1142 //      State->ReportState();
1143
1144   delete fgtrim;
1145
1146   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1147   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1148   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1149   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1150
1151   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1152   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1153   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1154   FCS->GetThrottleCmd(0));
1155
1156   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1157   globals->get_controls()->set_rudder( FCS->GetDrCmd());
1158
1159   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1160 }
1161
1162 void FGJSBsim::update_ic(void)
1163 {
1164    if ( !needTrim ) {
1165      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1166      fgic->SetLongitudeRadIC( get_Longitude() );
1167      fgic->SetAltitudeASLFtIC( get_Altitude() );
1168      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1169      fgic->SetThetaRadIC( get_Theta() );
1170      fgic->SetPhiRadIC( get_Phi() );
1171      fgic->SetPsiRadIC( get_Psi() );
1172      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1173    }
1174 }
1175
1176 bool
1177 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1178                      double contact[3], double normal[3], double vel[3],
1179                      double *agl)
1180 {
1181    double angularVel[3];
1182    const SGMaterial* material;
1183    simgear::BVHNode::Id id;
1184    if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1185                                 angularVel, material, id))
1186        return false;
1187    SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1188    SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1189    *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1190    return true;
1191 }
1192
1193 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1194 {
1195     return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1196 }
1197
1198 inline static double sqr(double x)
1199 {
1200     return x * x;
1201 }
1202
1203 static double angle_diff(double a, double b)
1204 {
1205     double diff = fabs(a - b);
1206     if (diff > 180) diff = 360 - diff;
1207
1208     return diff;
1209 }
1210
1211 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)
1212 {
1213     FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1214     double dist = dot3(tip, ground_normal_body);
1215     if (fabs(dist + E) < 0.0001) {
1216         sin_fis[*points] = sin_fi_guess;
1217         cos_fis[*points] = cos_fi_guess;
1218         fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1219         (*points)++;
1220     }
1221 }
1222
1223
1224 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)
1225 {
1226     if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1227         double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1228         check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1229         if (fabs(cos_fi_guess) > SG_EPSILON) {
1230             check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1231         }
1232     }
1233 }
1234
1235 void FGJSBsim::update_external_forces(double t_off)
1236 {
1237     const FGMatrix33& Tb2l = Propagate->GetTb2l();
1238     const FGMatrix33& Tl2b = Propagate->GetTl2b();
1239     const FGLocation& Location = Propagate->GetLocation();
1240     const FGMatrix33& Tec2l = Location.GetTec2l();
1241
1242     double hook_area[4][3];
1243
1244     FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1245     FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l *   hook_root_body);
1246     hook_area[1][0] = hook_root(1);
1247     hook_area[1][1] = hook_root(2);
1248     hook_area[1][2] = hook_root(3);
1249
1250     hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1251     double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1252     double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1253     double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1254     double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1255     double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1256
1257     FGColumnVector3 hook_tip_body = hook_root_body;
1258     hook_tip_body(1) -= hook_length * cos_fi;
1259     hook_tip_body(3) += hook_length * sin_fi;
1260     bool hook_tip_valid = true;
1261
1262     double contact[3];
1263     double ground_normal[3];
1264     double ground_vel[3];
1265     double root_agl_ft;
1266
1267     if (!got_wire) {
1268         bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
1269         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1270             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1271             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1272             double D = -dot3(contact_body, ground_normal_body);
1273
1274             // check hook tip agl against same ground plane
1275             double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1276             if (hook_tip_agl_ft < 0) {
1277
1278                 // hook tip: hx - l cos, hy, hz + l sin
1279                 // on ground:  - n0 l cos + n2 l sin + E = 0
1280
1281                 double E = D + dot3(hook_root_body, ground_normal_body);
1282
1283                 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1284                 // and rearrange to get a quadratic with coeffs:
1285                 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1286                 double b = 2 * E * ground_normal_body(3) * hook_length;
1287                 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1288
1289                 double disc = sqr(b) - 4 * a * c;
1290                 if (disc >= 0) {
1291                     double delta = sqrt(disc) / (2 * a);
1292
1293                     // allow 4 solutions for safety, should never happen
1294                     double sin_fis[4];
1295                     double cos_fis[4];
1296                     double fis[4];
1297                     int points = 0;
1298
1299                     double sin_fi_guess = -b / (2 * a) - delta;
1300                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1301                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1302
1303                     if (points == 2) {
1304                         double diff1 = angle_diff(fi, fis[0]);
1305                         double diff2 = angle_diff(fi, fis[1]);
1306                         int point = diff1 < diff2 ? 0 : 1;
1307                         fi = fis[point];
1308                         sin_fi = sin_fis[point];
1309                         cos_fi = cos_fis[point];
1310                         hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1311                         hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1312                     }
1313                 }
1314             }
1315         }
1316     } else {
1317         FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() *  hook_root_body));
1318         double wire_ends_ec[2][3];
1319         double wire_vel_ec[2][3];
1320         get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1321         FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1322         FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1323         FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1324         if (rel_vel.Magnitude() < 3) {
1325             got_wire = false;
1326             release_wire();
1327             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1328         } else {
1329             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;
1330             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;
1331             FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1332             force_plane_normal.Normalize();
1333             cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1334             if (cos_fi < 0) cos_fi = -cos_fi;
1335             sin_fi = sqrt(1 - sqr(cos_fi));
1336             fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1337
1338             fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1339             fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1340             fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1341             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1342         }
1343     }
1344
1345     FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1346
1347     hook_area[0][0] = hook_tip(1);
1348     hook_area[0][1] = hook_tip(2);
1349     hook_area[0][2] = hook_tip(3);
1350
1351     if (!got_wire) {
1352         // The previous positions.
1353         hook_area[2][0] = last_hook_root[0];
1354         hook_area[2][1] = last_hook_root[1];
1355         hook_area[2][2] = last_hook_root[2];
1356         hook_area[3][0] = last_hook_tip[0];
1357         hook_area[3][1] = last_hook_tip[1];
1358         hook_area[3][2] = last_hook_tip[2];
1359
1360         // Check if we caught a wire.
1361         // Returns true if we caught one.
1362         if (caught_wire_ft(t_off, hook_area)) {
1363                 got_wire = true;
1364         }
1365     }
1366
1367     // save actual position as old position ...
1368     last_hook_tip[0] = hook_area[0][0];
1369     last_hook_tip[1] = hook_area[0][1];
1370     last_hook_tip[2] = hook_area[0][2];
1371     last_hook_root[0] = hook_area[1][0];
1372     last_hook_root[1] = hook_area[1][1];
1373     last_hook_root[2] = hook_area[1][2];
1374
1375     fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
1376 }
1377