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  - http://www.flightgear.org/~curt
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #include <stdio.h>      //      size_t
  31 #ifdef SG_MATH_EXCEPTION_CLASH
  32 #  include <math.h>
  33 #endif
  34
  35 #include STL_STRING
  36
  37 #include <simgear/constants.h>
  38 #include <simgear/debug/logstream.hxx>
  39 #include <simgear/math/sg_geodesy.hxx>
  40 #include <simgear/misc/sg_path.hxx>
  41
  42 #include <FDM/flight.hxx>
  43
  44 #include <Aircraft/aircraft.hxx>
  45 #include <Controls/controls.hxx>
  46 #include <Main/globals.hxx>
  47 #include <Main/fg_props.hxx>
  48
  49 #include <FDM/JSBSim/FGFDMExec.h>
  50 #include <FDM/JSBSim/FGAircraft.h>
  51 #include <FDM/JSBSim/FGFCS.h>
  52 #include <FDM/JSBSim/FGPropagate.h>
  53 #include <FDM/JSBSim/FGState.h>
  54 #include <FDM/JSBSim/FGAuxiliary.h>
  55 #include <FDM/JSBSim/FGInitialCondition.h>
  56 #include <FDM/JSBSim/FGTrim.h>
  57 #include <FDM/JSBSim/FGAtmosphere.h>
  58 #include <FDM/JSBSim/FGMassBalance.h>
  59 #include <FDM/JSBSim/FGAerodynamics.h>
  60 #include <FDM/JSBSim/FGLGear.h>
  61 #include <FDM/JSBSim/FGPropertyManager.h>
  62 #include <FDM/JSBSim/FGEngine.h>
  63 #include <FDM/JSBSim/FGPiston.h>
  64 #include <FDM/JSBSim/FGTurbine.h>
  65 #include <FDM/JSBSim/FGRocket.h>
  66 #include <FDM/JSBSim/FGElectric.h>
  67 #include <FDM/JSBSim/FGNozzle.h>
  68 #include <FDM/JSBSim/FGPropeller.h>
  69 #include <FDM/JSBSim/FGRotor.h>
  70 #include <FDM/JSBSim/FGTank.h>
  71 #include "JSBSim.hxx"
  72
  73 static inline double
  74 FMAX (double a, double b)
  75 {
  76   return a > b ? a : b;
  77 }
  78
  79
  80 /******************************************************************************/
  81
  82 FGJSBsim::FGJSBsim( double dt )
  83   : FGInterface(dt)
  84 {
  85     bool result;
  86
  87                                 // Set up the debugging level
  88                                 // FIXME: this will not respond to
  89                                 // runtime changes
  90
  91                                 // if flight is excluded, don't bother
  92     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
  93
  94                                 // do a rough-and-ready mapping to
  95                                 // the levels documented in FGFDMExec.h
  96         switch (logbuf::get_log_priority()) {
  97         case SG_BULK:
  98             FGJSBBase::debug_lvl = 0x1f;
  99             break;
 100         case SG_DEBUG:
 101             FGJSBBase::debug_lvl = 0x0f;
 102         case SG_INFO:
 103             FGJSBBase::debug_lvl = 0x01;
 104             break;
 105         case SG_WARN:
 106         case SG_ALERT:
 107             FGJSBBase::debug_lvl = 0x00;
 108             break;
 109         }
 110     }
 111
 112     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 113
 114     State           = fdmex->GetState();
 115     Atmosphere      = fdmex->GetAtmosphere();
 116     FCS             = fdmex->GetFCS();
 117     MassBalance     = fdmex->GetMassBalance();
 118     Propulsion      = fdmex->GetPropulsion();
 119     Aircraft        = fdmex->GetAircraft();
 120     Propagate        = fdmex->GetPropagate();
 121     Auxiliary       = fdmex->GetAuxiliary();
 122     Aerodynamics    = fdmex->GetAerodynamics();
 123     GroundReactions = fdmex->GetGroundReactions();
 124
 125     fgic=fdmex->GetIC();
 126     needTrim=true;
 127
 128     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
 129
 130     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
 131     engine_path.append( "Engine" );
 132     State->Setdt( dt );
 133
 134     result = fdmex->LoadModel( aircraft_path.str(),
 135                                engine_path.str(),
 136                                fgGetString("/sim/aero"), false );
 137
 138     if (result) {
 139       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 140     } else {
 141       SG_LOG( SG_FLIGHT, SG_INFO,
 142               "  aero does not exist (you may have mis-typed the name).");
 143       throw(-1);
 144     }
 145
 146     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 147     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 148     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 149
 150     int Neng = Propulsion->GetNumEngines();
 151     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 152
 153     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 154         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 155                 << GroundReactions->GetNumGearUnits() );
 156         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 157         SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 158         SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 159         exit(-1);
 160     }
 161
 162     init_gear();
 163
 164     // Set initial fuel levels if provided.
 165     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 166       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 167       if (node->getChild("level-gal_us", 0, false) != 0) {
 168         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 169       } else {
 170         node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
 171         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 172       }
 173     }
 174
 175     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 176     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 177     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 178     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 179
 180     startup_trim = fgGetNode("/sim/presets/trim", true);
 181
 182     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 183     trimmed->setBoolValue(false);
 184
 185     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 186     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 187     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 188     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 189
 190     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 191     stall_warning->setDoubleValue(0);
 192
 193
 194     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 195     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 196     left_aileron_pos_pct
 197         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 198     right_aileron_pos_pct
 199         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 200     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 201     speedbrake_pos_pct
 202         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 203     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 204
 205     elevator_pos_pct->setDoubleValue(0);
 206     left_aileron_pos_pct->setDoubleValue(0);
 207     right_aileron_pos_pct->setDoubleValue(0);
 208     rudder_pos_pct->setDoubleValue(0);
 209     flap_pos_pct->setDoubleValue(0);
 210     speedbrake_pos_pct->setDoubleValue(0);
 211     spoilers_pos_pct->setDoubleValue(0);
 212
 213     temperature = fgGetNode("/environment/temperature-degc",true);
 214     pressure = fgGetNode("/environment/pressure-inhg",true);
 215     density = fgGetNode("/environment/density-slugft3",true);
 216     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 217     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 218
 219     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 220     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 221     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 222
 223     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 224       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 225       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 226                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 227     }
 228 }
 229
 230 /******************************************************************************/
 231 FGJSBsim::~FGJSBsim(void)
 232 {
 233   delete fdmex;
 234 }
 235
 236 /******************************************************************************/
 237
 238 // Initialize the JSBsim flight model, dt is the time increment for
 239 // each subsequent iteration through the EOM
 240
 241 void FGJSBsim::init()
 242 {
 243     double tmp;
 244
 245     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 246
 247     // Explicitly call the superclass's
 248     // init method first.
 249
 250 #ifdef FG_WEATHERCM
 251     Atmosphere->UseInternal();
 252 #else
 253     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 254       Atmosphere->UseExternal();
 255       Atmosphere->SetExTemperature(
 256                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 257       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 258       Atmosphere->SetExDensity(density->getDoubleValue());
 259
 260       tmp = turbulence_gain->getDoubleValue();
 261       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 262
 263       tmp = turbulence_rate->getDoubleValue();
 264       Atmosphere->SetTurbRate(tmp);
 265
 266     } else {
 267       Atmosphere->UseInternal();
 268     }
 269 #endif
 270
 271     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 272     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 273     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 274
 275     //Atmosphere->SetExTemperature(get_Static_temperature());
 276     //Atmosphere->SetExPressure(get_Static_pressure());
 277     //Atmosphere->SetExDensity(get_Density());
 278     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 279      << ", " << fdmex->GetAtmosphere()->GetPressure()
 280      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 281
 282     common_init();
 283
 284     copy_to_JSBsim();
 285     fdmex->RunIC();     //loop JSBSim once w/o integrating
 286     copy_from_JSBsim(); //update the bus
 287
 288     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 289
 290     switch(fgic->GetSpeedSet()) {
 291     case setned:
 292         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 293                << Propagate->GetVel(eNorth) << ", "
 294                << Propagate->GetVel(eEast) << ", "
 295                << Propagate->GetVel(eDown) << " ft/s");
 296     break;
 297     case setuvw:
 298         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 299                << Propagate->GetUVW(1) << ", "
 300                << Propagate->GetUVW(2) << ", "
 301                << Propagate->GetUVW(3) << " ft/s");
 302     break;
 303     case setmach:
 304         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 305                << Auxiliary->GetMach() );
 306     break;
 307     case setvc:
 308     default:
 309         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 310                << Auxiliary->GetVcalibratedKTS() << " knots" );
 311     break;
 312     }
 313
 314     stall_warning->setDoubleValue(0);
 315
 316     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 317             << Propagate->GetEuler(ePhi)*RADTODEG << " deg" );
 318     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 319             << Propagate->GetEuler(eTht)*RADTODEG << " deg" );
 320     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 321             << Propagate->GetEuler(ePsi)*RADTODEG << " deg" );
 322     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 323             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 324     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 325             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 326     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 327             << Propagate->Geth() << " feet" );
 328     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 329
 330     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 331
 332     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 333
 334     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 335                                   globals->get_controls()->get_gear_down() );
 336 }
 337
 338 /******************************************************************************/
 339
 340 // Run an iteration of the EOM (equations of motion)
 341
 342 void FGJSBsim::update( double dt )
 343 {
 344     if (is_suspended())
 345       return;
 346
 347     int multiloop = _calc_multiloop(dt);
 348
 349     int i;
 350
 351     // double save_alt = 0.0;
 352
 353     copy_to_JSBsim();
 354
 355     trimmed->setBoolValue(false);
 356
 357     if ( needTrim ) {
 358       if ( startup_trim->getBoolValue() ) {
 359         SG_LOG(SG_FLIGHT, SG_INFO,
 360           "Ready to trim, terrain altitude is: "
 361             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 362         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 363         do_trim();
 364       } else {
 365         fdmex->RunIC();  //apply any changes made through the set_ functions
 366       }
 367       needTrim = false;
 368     }
 369
 370     for ( i=0; i < multiloop; i++ ) {
 371       fdmex->Run();
 372     }
 373
 374     FGJSBBase::Message* msg;
 375     while (fdmex->ReadMessage()) {
 376       msg = fdmex->ProcessMessage();
 377       switch (msg->type) {
 378       case FGJSBBase::Message::eText:
 379         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 380         break;
 381       case FGJSBBase::Message::eBool:
 382         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 383         break;
 384       case FGJSBBase::Message::eInteger:
 385         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 386         break;
 387       case FGJSBBase::Message::eDouble:
 388         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 389         break;
 390       default:
 391         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 392         break;
 393       }
 394     }
 395
 396     // translate JSBsim back to FG structure so that the
 397     // autopilot (and the rest of the sim can use the updated values
 398     copy_from_JSBsim();
 399 }
 400
 401 /******************************************************************************/
 402
 403 // Convert from the FGInterface struct to the JSBsim generic_ struct
 404
 405 bool FGJSBsim::copy_to_JSBsim()
 406 {
 407     double tmp;
 408     unsigned int i;
 409
 410     // copy control positions into the JSBsim structure
 411
 412     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 413     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 414     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 415     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 416     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 417     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 418     // FIXME: make that get_steering work
 419 //     FCS->SetDsCmd( globals->get_controls()->get_steering()/80.0 );
 420     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 421     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 422     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 423     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 424
 425         // Parking brake sets minimum braking
 426         // level for mains.
 427     double parking_brake = globals->get_controls()->get_brake_parking();
 428     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 429     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 430     FCS->SetCBrake( 0.0 );
 431     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 432
 433     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 434     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 435       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 436
 437       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 438       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 439       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 440
 441       switch (Propulsion->GetEngine(i)->GetType()) {
 442       case FGEngine::etPiston:
 443         { // FGPiston code block
 444         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 445         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 446         break;
 447         } // end FGPiston code block
 448       case FGEngine::etTurbine:
 449         { // FGTurbine code block
 450         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 451         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 452         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 453         eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 454         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 455         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 456         break;
 457         } // end FGTurbine code block
 458       case FGEngine::etRocket:
 459         { // FGRocket code block
 460         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 461         break;
 462         } // end FGRocket code block
 463       }
 464
 465       { // FGEngine code block
 466       FGEngine* eng = Propulsion->GetEngine(i);
 467
 468       eng->SetStarter( globals->get_controls()->get_starter(i) );
 469       eng->SetRunning( node->getBoolValue("running") );
 470       } // end FGEngine code block
 471     }
 472
 473
 474     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 475     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 476     Propagate->SetRunwayRadius( get_Runway_altitude()
 477                                + get_Sea_level_radius() );
 478
 479     Atmosphere->SetExTemperature(
 480                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 481     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 482     Atmosphere->SetExDensity(density->getDoubleValue());
 483
 484     tmp = turbulence_gain->getDoubleValue();
 485     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 486
 487     tmp = turbulence_rate->getDoubleValue();
 488     Atmosphere->SetTurbRate(tmp);
 489
 490     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 491                             wind_from_east->getDoubleValue(),
 492                             wind_from_down->getDoubleValue() );
 493 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 494 //                  << get_V_north_airmass() << ", "
 495 //                  << get_V_east_airmass()  << ", "
 496 //                  << get_V_down_airmass() );
 497
 498     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 499       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 500       FGTank * tank = Propulsion->GetTank(i);
 501       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 502 //       tank->SetContents(node->getDoubleValue("level-lb"));
 503     }
 504     SGPropertyNode* node = fgGetNode("/systems/refuel", true);
 505     Propulsion->SetRefuel(node->getDoubleValue("contact"));
 506
 507     return true;
 508 }
 509
 510 /******************************************************************************/
 511
 512 // Convert from the JSBsim generic_ struct to the FGInterface struct
 513
 514 bool FGJSBsim::copy_from_JSBsim()
 515 {
 516     unsigned int i, j;
 517 /*
 518     _set_Inertias( MassBalance->GetMass(),
 519                    MassBalance->GetIxx(),
 520                    MassBalance->GetIyy(),
 521                    MassBalance->GetIzz(),
 522                    MassBalance->GetIxz() );
 523 */
 524     _set_CG_Position( MassBalance->GetXYZcg(1),
 525                       MassBalance->GetXYZcg(2),
 526                       MassBalance->GetXYZcg(3) );
 527
 528     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 529                       Aircraft->GetBodyAccel(2),
 530                       Aircraft->GetBodyAccel(3) );
 531
 532     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 533                             Aircraft->GetNcg(2),
 534                             Aircraft->GetNcg(3) );
 535
 536     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 537                             Auxiliary->GetPilotAccel(2),
 538                             Auxiliary->GetPilotAccel(3) );
 539
 540     _set_Nlf( Aircraft->GetNlf() );
 541
 542     // Velocities
 543
 544     _set_Velocities_Local( Propagate->GetVel(eNorth),
 545                            Propagate->GetVel(eEast),
 546                            Propagate->GetVel(eDown) );
 547
 548     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 549                                Propagate->GetUVW(2),
 550                                Propagate->GetUVW(3) );
 551
 552     // Make the HUD work ...
 553     _set_Velocities_Ground( Propagate->GetVel(eNorth),
 554                             Propagate->GetVel(eEast),
 555                             -Propagate->GetVel(eDown) );
 556
 557     _set_V_rel_wind( Auxiliary->GetVt() );
 558
 559     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 560
 561     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 562
 563     _set_V_ground_speed( Auxiliary->GetVground() );
 564
 565     _set_Omega_Body( Propagate->GetPQR(eP),
 566                      Propagate->GetPQR(eQ),
 567                      Propagate->GetPQR(eR) );
 568
 569     _set_Euler_Rates( Auxiliary->GetEulerRates(ePhi),
 570                       Auxiliary->GetEulerRates(eTht),
 571                       Auxiliary->GetEulerRates(ePsi) );
 572
 573     _set_Mach_number( Auxiliary->GetMach() );
 574
 575     // Positions of Visual Reference Point
 576     _updateGeocentricPosition( Auxiliary->GetLocationVRP().GetLatitude(),
 577                                Auxiliary->GetLocationVRP().GetLongitude(),
 578                                Auxiliary->GethVRP() );
 579
 580     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 581
 582     _set_Euler_Angles( Propagate->GetEuler(ePhi),
 583                        Propagate->GetEuler(eTht),
 584                        Propagate->GetEuler(ePsi) );
 585
 586     _set_Alpha( Auxiliary->Getalpha() );
 587     _set_Beta( Auxiliary->Getbeta() );
 588
 589
 590     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 591
 592     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 593
 594     _set_Climb_Rate( Propagate->Gethdot() );
 595
 596     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 597     for ( i = 1; i <= 3; i++ ) {
 598         for ( j = 1; j <= 3; j++ ) {
 599             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 600         }
 601     }
 602
 603     // Copy the engine values from JSBSim.
 604     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 605       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 606       char buf[30];
 607       sprintf(buf, "engines/engine[%d]/thruster", i);
 608       SGPropertyNode * tnode = fgGetNode(buf, true);
 609       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 610
 611       switch (Propulsion->GetEngine(i)->GetType()) {
 612       case FGEngine::etPiston:
 613         { // FGPiston code block
 614         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 615         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 616         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 617         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 618         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 619         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 620         node->setDoubleValue("rpm", eng->getRPM());
 621         } // end FGPiston code block
 622         break;
 623       case FGEngine::etRocket:
 624         { // FGRocket code block
 625         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 626         } // end FGRocket code block
 627         break;
 628       case FGEngine::etTurbine:
 629         { // FGTurbine code block
 630         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 631         node->setDoubleValue("n1", eng->GetN1());
 632         node->setDoubleValue("n2", eng->GetN2());
 633         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 634         node->setBoolValue("augmentation", eng->GetAugmentation());
 635         node->setBoolValue("water-injection", eng->GetInjection());
 636         node->setBoolValue("ignition", eng->GetIgnition());
 637         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 638         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 639         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 640         node->setBoolValue("reversed", eng->GetReversed());
 641         node->setBoolValue("cutoff", eng->GetCutoff());
 642         node->setDoubleValue("epr", eng->GetEPR());
 643         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 644         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 645         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 646         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 647         } // end FGTurbine code block
 648         break;
 649       case FGEngine::etElectric:
 650         { // FGElectric code block
 651         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 652         node->setDoubleValue("rpm", eng->getRPM());
 653         } // end FGElectric code block
 654         break;
 655       }
 656
 657       { // FGEngine code block
 658       FGEngine* eng = Propulsion->GetEngine(i);
 659       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 660       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 661       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 662       node->setBoolValue("running", eng->GetRunning());
 663       node->setBoolValue("starter", eng->GetStarter());
 664       node->setBoolValue("cranking", eng->GetCranking());
 665       globals->get_controls()->set_starter(i, eng->GetStarter() );
 666       } // end FGEngine code block
 667
 668       switch (thruster->GetType()) {
 669       case FGThruster::ttNozzle:
 670         { // FGNozzle code block
 671         FGNozzle* noz = (FGNozzle*)thruster;
 672         } // end FGNozzle code block
 673         break;
 674       case FGThruster::ttPropeller:
 675         { // FGPropeller code block
 676         FGPropeller* prop = (FGPropeller*)thruster;
 677         tnode->setDoubleValue("rpm", thruster->GetRPM());
 678         tnode->setDoubleValue("pitch", prop->GetPitch());
 679         tnode->setDoubleValue("torque", prop->GetTorque());
 680         } // end FGPropeller code block
 681         break;
 682       case FGThruster::ttRotor:
 683         { // FGRotor code block
 684         FGRotor* rotor = (FGRotor*)thruster;
 685         } // end FGRotor code block
 686         break;
 687       case FGThruster::ttDirect:
 688         { // Direct code block
 689         } // end Direct code block
 690         break;
 691       }
 692
 693     }
 694
 695     static const SGPropertyNode *fuel_freeze = fgGetNode("/sim/freeze/fuel");
 696
 697     // Copy the fuel levels from JSBSim if fuel
 698     // freeze not enabled.
 699     if ( ! fuel_freeze->getBoolValue() ) {
 700       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 701         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 702         FGTank* tank = Propulsion->GetTank(i);
 703         double contents = tank->GetContents();
 704         double temp = tank->GetTemperature_degC();
 705         node->setDoubleValue("level-gal_us", contents/6.6);
 706         node->setDoubleValue("level-lb", contents);
 707         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 708       }
 709     }
 710
 711     update_gear();
 712
 713     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 714
 715     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 716     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 717     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 718     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 719     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 720     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 721     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 722
 723     return true;
 724 }
 725
 726
 727 bool FGJSBsim::ToggleDataLogging(void)
 728 {
 729     return fdmex->GetOutput()->Toggle();
 730 }
 731
 732
 733 bool FGJSBsim::ToggleDataLogging(bool state)
 734 {
 735     if (state) {
 736       fdmex->GetOutput()->Enable();
 737       return true;
 738     } else {
 739       fdmex->GetOutput()->Disable();
 740       return false;
 741     }
 742 }
 743
 744
 745 //Positions
 746 void FGJSBsim::set_Latitude(double lat)
 747 {
 748     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 749     double alt;
 750     double sea_level_radius_meters, lat_geoc;
 751
 752     // In case we're not trimming
 753     FGInterface::set_Latitude(lat);
 754
 755     if ( altitude->getDoubleValue() > -9990 ) {
 756       alt = altitude->getDoubleValue();
 757     } else {
 758       alt = 0.0;
 759     }
 760
 761     update_ic();
 762     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 763     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 764
 765     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 766                       &sea_level_radius_meters, &lat_geoc );
 767     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 768     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 769     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 770     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 771     fgic->SetLatitudeRadIC( lat_geoc );
 772     needTrim=true;
 773 }
 774
 775
 776 void FGJSBsim::set_Longitude(double lon)
 777 {
 778     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 779
 780     // In case we're not trimming
 781     FGInterface::set_Longitude(lon);
 782
 783     update_ic();
 784     fgic->SetLongitudeRadIC( lon );
 785     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 786     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 787     needTrim=true;
 788 }
 789
 790 void FGJSBsim::set_Altitude(double alt)
 791 {
 792     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 793
 794     double sea_level_radius_meters,lat_geoc;
 795
 796     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 797     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 798
 799     // In case we're not trimming
 800     FGInterface::set_Altitude(alt);
 801
 802     update_ic();
 803     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 804                   &sea_level_radius_meters, &lat_geoc);
 805     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 806     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 807     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 808     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 809     SG_LOG(SG_FLIGHT, SG_INFO,
 810           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 811     fgic->SetLatitudeRadIC( lat_geoc );
 812     fgic->SetAltitudeFtIC(alt);
 813     needTrim=true;
 814 }
 815
 816 void FGJSBsim::set_V_calibrated_kts(double vc)
 817 {
 818     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 819
 820     // In case we're not trimming
 821     FGInterface::set_V_calibrated_kts(vc);
 822
 823     update_ic();
 824     fgic->SetVcalibratedKtsIC(vc);
 825     needTrim=true;
 826 }
 827
 828 void FGJSBsim::set_Mach_number(double mach)
 829 {
 830     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 831
 832     // In case we're not trimming
 833     FGInterface::set_Mach_number(mach);
 834
 835     update_ic();
 836     fgic->SetMachIC(mach);
 837     needTrim=true;
 838 }
 839
 840 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
 841 {
 842     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 843        << north << ", " <<  east << ", " << down );
 844
 845     // In case we're not trimming
 846     FGInterface::set_Velocities_Local(north, east, down);
 847
 848     update_ic();
 849     fgic->SetVnorthFpsIC(north);
 850     fgic->SetVeastFpsIC(east);
 851     fgic->SetVdownFpsIC(down);
 852     needTrim=true;
 853 }
 854
 855 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
 856 {
 857     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 858        << u << ", " <<  v << ", " <<  w );
 859
 860     // In case we're not trimming
 861     FGInterface::set_Velocities_Wind_Body(u, v, w);
 862
 863     update_ic();
 864     fgic->SetUBodyFpsIC(u);
 865     fgic->SetVBodyFpsIC(v);
 866     fgic->SetWBodyFpsIC(w);
 867     needTrim=true;
 868 }
 869
 870 //Euler angles
 871 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
 872 {
 873     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 874        << phi << ", " << theta << ", " << psi );
 875
 876     // In case we're not trimming
 877     FGInterface::set_Euler_Angles(phi, theta, psi);
 878
 879     update_ic();
 880     fgic->SetPitchAngleRadIC(theta);
 881     fgic->SetRollAngleRadIC(phi);
 882     fgic->SetTrueHeadingRadIC(psi);
 883     needTrim=true;
 884 }
 885
 886 //Flight Path
 887 void FGJSBsim::set_Climb_Rate( double roc)
 888 {
 889     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 890
 891     // In case we're not trimming
 892     FGInterface::set_Climb_Rate(roc);
 893
 894     update_ic();
 895     //since both climb rate and flight path angle are set in the FG
 896     //startup sequence, something is needed to keep one from cancelling
 897     //out the other.
 898     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 899       fgic->SetClimbRateFpsIC(roc);
 900     }
 901     needTrim=true;
 902 }
 903
 904 void FGJSBsim::set_Gamma_vert_rad( double gamma)
 905 {
 906     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 907
 908     update_ic();
 909     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 910       fgic->SetFlightPathAngleRadIC(gamma);
 911     }
 912     needTrim=true;
 913 }
 914
 915 void FGJSBsim::init_gear(void )
 916 {
 917     FGGroundReactions* gr=fdmex->GetGroundReactions();
 918     int Ngear=GroundReactions->GetNumGearUnits();
 919     for (int i=0;i<Ngear;i++) {
 920       FGLGear *gear = gr->GetGearUnit(i);
 921       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 922       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
 923       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
 924       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
 925       node->setBoolValue("wow", gear->GetWOW());
 926       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
 927       node->setDoubleValue("position-norm", FCS->GetGearPos());
 928       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
 929       if ( gear->GetSteerable() )
 930         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
 931     }
 932 }
 933
 934 void FGJSBsim::update_gear(void)
 935 {
 936     FGGroundReactions* gr=fdmex->GetGroundReactions();
 937     int Ngear=GroundReactions->GetNumGearUnits();
 938     for (int i=0;i<Ngear;i++) {
 939       FGLGear *gear = gr->GetGearUnit(i);
 940       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 941       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
 942       node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
 943       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
 944       if ( gear->GetSteerable() )
 945         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
 946     }
 947 }
 948
 949 void FGJSBsim::do_trim(void)
 950 {
 951   FGTrim *fgtrim;
 952
 953   if ( fgGetBool("/sim/presets/onground") )
 954   {
 955     fgic->SetVcalibratedKtsIC(0.0);
 956     fgtrim = new FGTrim(fdmex,tGround);
 957   } else {
 958     fgtrim = new FGTrim(fdmex,tLongitudinal);
 959   }
 960
 961   if ( !fgtrim->DoTrim() ) {
 962     fgtrim->Report();
 963     fgtrim->TrimStats();
 964   } else {
 965     trimmed->setBoolValue(true);
 966   }
 967   if (FGJSBBase::debug_lvl > 0)
 968       State->ReportState();
 969
 970   delete fgtrim;
 971
 972   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 973   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 974   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 975   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 976
 977   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 978   globals->get_controls()->set_elevator(FCS->GetDeCmd());
 979   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 980   FCS->GetThrottleCmd(0));
 981
 982   globals->get_controls()->set_aileron(FCS->GetDaCmd());
 983   globals->get_controls()->set_rudder( FCS->GetDrCmd());
 984
 985   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 986 }
 987
 988 void FGJSBsim::update_ic(void)
 989 {
 990    if ( !needTrim ) {
 991      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 992      fgic->SetLongitudeRadIC( get_Longitude() );
 993      fgic->SetAltitudeFtIC( get_Altitude() );
 994      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 995      fgic->SetPitchAngleRadIC( get_Theta() );
 996      fgic->SetRollAngleRadIC( get_Phi() );
 997      fgic->SetTrueHeadingRadIC( get_Psi() );
 998      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 999    }
1000 }
1001