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