1 // JSBsim.cxx -- interface to the JSBsim flight model
3 // Written by Curtis Olson, started February 1999.
5 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU Lesser General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // Lesser General Public License for more details.
17 // You should have received a copy of the GNU Lesser 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.
21 // $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
28 #include <simgear/compiler.h>
29 #include <simgear/sg_inlines.h>
31 #include <stdio.h> // size_t
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>
40 #include <FDM/flight.hxx>
42 #include <Aircraft/controls.hxx>
43 #include <Main/globals.hxx>
44 #include <Main/fg_props.hxx>
47 #include <FDM/JSBSim/FGFDMExec.h>
48 #include <FDM/JSBSim/FGJSBBase.h>
49 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
50 #include <FDM/JSBSim/initialization/FGTrim.h>
51 #include <FDM/JSBSim/models/FGModel.h>
52 #include <FDM/JSBSim/models/FGAircraft.h>
53 #include <FDM/JSBSim/models/FGFCS.h>
54 #include <FDM/JSBSim/models/FGPropagate.h>
55 #include <FDM/JSBSim/models/FGAuxiliary.h>
56 #include <FDM/JSBSim/models/FGInertial.h>
57 #include <FDM/JSBSim/models/FGAtmosphere.h>
58 #include <FDM/JSBSim/models/FGMassBalance.h>
59 #include <FDM/JSBSim/models/FGAerodynamics.h>
60 #include <FDM/JSBSim/models/FGLGear.h>
61 #include <FDM/JSBSim/models/FGGroundReactions.h>
62 #include <FDM/JSBSim/models/FGPropulsion.h>
63 #include <FDM/JSBSim/models/FGAccelerations.h>
64 #include <FDM/JSBSim/models/atmosphere/FGWinds.h>
65 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
66 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
67 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
68 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
69 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
70 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
71 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
72 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
73 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
74 #include <FDM/JSBSim/models/propulsion/FGTank.h>
75 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
76 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
78 using namespace JSBSim;
81 FMAX (double a, double b)
86 class FGFSGroundCallback : public FGGroundCallback {
88 FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
89 virtual ~FGFSGroundCallback() {}
91 /** Get the altitude above sea level dependent on the location. */
92 virtual double GetAltitude(const FGLocation& l) const {
93 double pt[3] = { SG_FEET_TO_METER*l(eX),
94 SG_FEET_TO_METER*l(eY),
95 SG_FEET_TO_METER*l(eZ) };
97 sgCartToGeod( pt, &lat, &lon, &alt);
98 return alt * SG_METER_TO_FEET;
101 /** Compute the altitude above ground. */
102 virtual double GetAGLevel(double t, const FGLocation& l,
103 FGLocation& cont, FGColumnVector3& n,
104 FGColumnVector3& v, FGColumnVector3& w) const {
105 double loc_cart[3] = { l(eX), l(eY), l(eZ) };
106 double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
107 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
108 vel, angularVel, &agl);
109 n = FGColumnVector3( normal[0], normal[1], normal[2] );
110 v = FGColumnVector3( vel[0], vel[1], vel[2] );
111 w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
112 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
116 FGJSBsim* mInterface;
119 // FG uses a squared normalized magnitude for turbulence
120 // this lookup table maps fg's severity levels
121 // none(0), light(1/3), moderate(2/3) and severe(3/3)
122 // to the POE table indexes 0, 3, 4 and 7
123 class FGTurbulenceSeverityTable : public FGTable {
125 FGTurbulenceSeverityTable() : FGTable(4) {
126 *this << (0.0/9.0) << 0.0;
127 *this << (1.0/9.0) << 3.0;
128 *this << (4.0/9.0) << 4.0;
129 *this << (9.0/9.0) << 7.0;
133 /******************************************************************************/
134 std::map<std::string,int> FGJSBsim::TURBULENCE_TYPE_NAMES;
136 static FGTurbulenceSeverityTable TurbulenceSeverityTable;
138 FGJSBsim::FGJSBsim( double dt )
139 : FGInterface(dt), got_wire(false)
142 if( TURBULENCE_TYPE_NAMES.empty() ) {
143 TURBULENCE_TYPE_NAMES["ttNone"] = FGWinds::ttNone;
144 TURBULENCE_TYPE_NAMES["ttStandard"] = FGWinds::ttStandard;
145 TURBULENCE_TYPE_NAMES["ttCulp"] = FGWinds::ttCulp;
146 TURBULENCE_TYPE_NAMES["ttMilspec"] = FGWinds::ttMilspec;
147 TURBULENCE_TYPE_NAMES["ttTustin"] = FGWinds::ttTustin;
150 // Set up the debugging level
151 // FIXME: this will not respond to
154 // if flight is excluded, don't bother
155 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
157 // do a rough-and-ready mapping to
158 // the levels documented in FGFDMExec.h
159 switch (logbuf::get_log_priority()) {
161 FGJSBBase::debug_lvl = 0x1f;
164 FGJSBBase::debug_lvl = 0x0f;
166 FGJSBBase::debug_lvl = 0x01;
170 FGJSBBase::debug_lvl = 0x00;
175 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
177 // Register ground callback.
178 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
180 Atmosphere = fdmex->GetAtmosphere();
181 Winds = fdmex->GetWinds();
182 FCS = fdmex->GetFCS();
183 MassBalance = fdmex->GetMassBalance();
184 Propulsion = fdmex->GetPropulsion();
185 Aircraft = fdmex->GetAircraft();
186 Propagate = fdmex->GetPropagate();
187 Auxiliary = fdmex->GetAuxiliary();
188 Inertial = fdmex->GetInertial();
189 Aerodynamics = fdmex->GetAerodynamics();
190 GroundReactions = fdmex->GetGroundReactions();
191 Accelerations = fdmex->GetAccelerations();
196 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
198 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
199 engine_path.append( "Engine" );
201 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
202 systems_path.append( "Systems" );
204 // deprecate sim-time-sec for simulation/sim-time-sec
205 // remove alias with increased configuration file version number (2.1 or later)
206 SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
207 fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
208 // end of sim-time-sec deprecation patch
212 result = fdmex->LoadModel( aircraft_path.str(),
215 fgGetString("/sim/aero"), false );
218 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
220 SG_LOG( SG_FLIGHT, SG_INFO,
221 " aero does not exist (you may have mis-typed the name).");
225 SG_LOG( SG_FLIGHT, SG_INFO, "" );
226 SG_LOG( SG_FLIGHT, SG_INFO, "" );
227 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
229 int Neng = Propulsion->GetNumEngines();
230 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
232 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
233 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
234 << GroundReactions->GetNumGearUnits() );
235 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
236 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
237 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
243 // Set initial fuel levels if provided.
244 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
246 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
247 FGTank* tank = Propulsion->GetTank(i);
249 d = node->getNode( "density-ppg", true )->getDoubleValue();
251 tank->SetDensity( d );
253 node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
256 d = node->getNode( "level-lbs", true )->getDoubleValue();
258 tank->SetContents( d );
260 node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
262 /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
263 node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
265 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
267 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
268 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
269 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
270 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
272 startup_trim = fgGetNode("/sim/presets/trim", true);
274 trimmed = fgGetNode("/fdm/trim/trimmed", true);
275 trimmed->setBoolValue(false);
277 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
278 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
279 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
280 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
282 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
283 stall_warning->setDoubleValue(0);
286 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
287 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
289 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
290 right_aileron_pos_pct
291 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
292 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
294 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
295 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
296 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
297 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
299 elevator_pos_pct->setDoubleValue(0);
300 left_aileron_pos_pct->setDoubleValue(0);
301 right_aileron_pos_pct->setDoubleValue(0);
302 rudder_pos_pct->setDoubleValue(0);
303 flap_pos_pct->setDoubleValue(0);
304 speedbrake_pos_pct->setDoubleValue(0);
305 spoilers_pos_pct->setDoubleValue(0);
307 ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
308 ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
309 ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
311 temperature = fgGetNode("/environment/temperature-degc",true);
312 pressure = fgGetNode("/environment/pressure-inhg",true);
313 pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true);
314 ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true);
315 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
316 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
317 turbulence_model = fgGetNode("/environment/params/jsbsim-turbulence-model",true);
319 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
320 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
321 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
323 slaved = fgGetNode("/sim/slaved/enabled", true);
325 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
326 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
327 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
328 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
331 hook_root_struct = FGColumnVector3(
332 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
333 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
334 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
335 last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
336 last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
341 /******************************************************************************/
342 FGJSBsim::~FGJSBsim(void)
347 /******************************************************************************/
349 // Initialize the JSBsim flight model, dt is the time increment for
350 // each subsequent iteration through the EOM
352 void FGJSBsim::init()
354 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
356 // Explicitly call the superclass's
357 // init method first.
359 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
360 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
361 Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg);
362 // initialize to no turbulence, these values get set in the update loop
363 Winds->SetTurbType(FGWinds::ttNone);
364 Winds->SetTurbGain(0.0);
365 Winds->SetTurbRate(0.0);
366 Winds->SetWindspeed20ft(0.0);
367 Winds->SetProbabilityOfExceedence(0.0);
370 fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(),
371 -wind_from_east->getDoubleValue(),
372 -wind_from_down->getDoubleValue() );
374 //Atmosphere->SetExTemperature(get_Static_temperature());
375 //Atmosphere->SetExPressure(get_Static_pressure());
376 //Atmosphere->SetExDensity(get_Density());
377 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature()
378 << ", " << Atmosphere->GetPressure()
379 << ", " << Atmosphere->GetDensity() );
381 // deprecate egt_degf for egt-degf to have consistent naming
382 // TODO: remove this for 2.6.0
383 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
384 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
385 SGPropertyNode * egtn = node->getNode( "egt_degf" );
387 SG_LOG(SG_FLIGHT,SG_ALERT,
388 "*** Aircraft uses deprecated and now unsupported node egt_degf. Please upgrade to egt-degf");
391 // end of egt_degf deprecation patch
393 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
395 needTrim = startup_trim->getBoolValue();
397 fgic->SetSeaLevelRadiusFtIC( get_Sea_level_radius() );
400 fdmex->RunIC(); //loop JSBSim once w/o integrating
401 if (fgGetBool("/sim/presets/running")) {
402 Propulsion->InitRunning(-1);
403 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
404 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
405 globals->get_controls()->set_magnetos(i, eng->GetMagnetos());
406 globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i));
411 FGLocation cart(fgic->GetLongitudeRadIC(), fgic->GetLatitudeRadIC(),
412 get_Sea_level_radius() + fgic->GetAltitudeASLFtIC());
413 double cart_pos[3], contact[3], d[3], vel[3], agl;
414 update_ground_cache(cart, cart_pos, 0.01);
416 get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
418 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
419 + contact[2]*contact[2]) - get_Sea_level_radius();
421 SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain elevation is: "
422 << terrain_alt * SG_METER_TO_FEET );
424 if (fgGetBool("/sim/presets/onground")) {
425 FGColumnVector3 gndVelNED = cart.GetTec2l()
426 * FGColumnVector3(vel[0], vel[1], vel[2]);
427 fgic->SetVNorthFpsIC(gndVelNED(1));
428 fgic->SetVEastFpsIC(gndVelNED(2));
429 fgic->SetVDownFpsIC(gndVelNED(3));
431 fgic->SetTerrainElevationFtIC( terrain_alt );
436 copy_from_JSBsim(); //update the bus
438 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
440 switch(fgic->GetSpeedSet()) {
442 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
443 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
444 << Propagate->GetVel(FGJSBBase::eEast) << ", "
445 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
448 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
449 << Propagate->GetUVW(1) << ", "
450 << Propagate->GetUVW(2) << ", "
451 << Propagate->GetUVW(3) << " ft/s");
454 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
455 << Auxiliary->GetMach() );
459 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
460 << Auxiliary->GetVcalibratedKTS() << " knots" );
464 stall_warning->setDoubleValue(0);
466 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
467 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
468 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
469 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
470 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
471 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
472 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
473 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
474 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
475 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
476 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
477 << Propagate->GetAltitudeASL() << " feet" );
478 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
480 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
482 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
484 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
485 globals->get_controls()->get_gear_down() );
488 /******************************************************************************/
490 void FGJSBsim::unbind()
493 FGInterface::unbind();
496 /******************************************************************************/
498 // Run an iteration of the EOM (equations of motion)
500 void FGJSBsim::update( double dt )
503 if(!fgGetBool("/sim/crashed"))
504 fgSetBool("/sim/crashed", true);
511 int multiloop = _calc_multiloop(dt);
512 FGLocation cart = Auxiliary->GetLocationVRP();
515 update_ground_cache(cart, cart_pos, dt);
519 trimmed->setBoolValue(false);
521 for ( int i=0; i < multiloop; i++ ) {
523 update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
526 FGJSBBase::Message* msg;
527 while ((msg = fdmex->ProcessNextMessage()) != NULL) {
528 // msg = fdmex->ProcessNextMessage();
530 case FGJSBBase::Message::eText:
531 if (msg->text == "Crash Detected: Simulation FREEZE.")
533 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
535 case FGJSBBase::Message::eBool:
536 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
538 case FGJSBBase::Message::eInteger:
539 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
541 case FGJSBBase::Message::eDouble:
542 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
545 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
550 // translate JSBsim back to FG structure so that the
551 // autopilot (and the rest of the sim can use the updated values
555 /******************************************************************************/
557 void FGJSBsim::suspend()
560 SGSubsystem::suspend();
563 /******************************************************************************/
565 void FGJSBsim::resume()
568 SGSubsystem::resume();
571 /******************************************************************************/
573 // Convert from the FGInterface struct to the JSBsim generic_ struct
575 bool FGJSBsim::copy_to_JSBsim()
579 // copy control positions into the JSBsim structure
581 FCS->SetDaCmd( globals->get_controls()->get_aileron());
582 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
583 FCS->SetDeCmd( globals->get_controls()->get_elevator());
584 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
585 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
586 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
587 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
588 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
589 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
590 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
592 // Parking brake sets minimum braking
594 double parking_brake = globals->get_controls()->get_brake_parking();
595 double left_brake = globals->get_controls()->get_brake_left();
596 double right_brake = globals->get_controls()->get_brake_right();
598 if (ab_brake_engaged->getBoolValue()) {
599 left_brake = ab_brake_left_pct->getDoubleValue();
600 right_brake = ab_brake_right_pct->getDoubleValue();
603 FCS->SetLBrake(FMAX(left_brake, parking_brake));
604 FCS->SetRBrake(FMAX(right_brake, parking_brake));
607 FCS->SetCBrake( 0.0 );
608 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
610 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
611 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
612 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
614 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
615 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
616 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
617 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
619 switch (Propulsion->GetEngine(i)->GetType()) {
620 case FGEngine::etPiston:
621 { // FGPiston code block
622 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
623 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
625 } // end FGPiston code block
626 case FGEngine::etTurbine:
627 { // FGTurbine code block
628 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
629 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
630 eng->SetReverse( globals->get_controls()->get_reverser(i) );
631 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
632 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
633 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
635 } // end FGTurbine code block
636 case FGEngine::etRocket:
637 { // FGRocket code block
638 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
640 } // end FGRocket code block
641 case FGEngine::etTurboprop:
642 { // FGTurboProp code block
643 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
644 eng->SetReverse( globals->get_controls()->get_reverser(i) );
645 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
646 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
648 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
649 eng->SetCondition( globals->get_controls()->get_condition(i) );
651 } // end FGTurboProp code block
656 { // FGEngine code block
657 FGEngine* eng = Propulsion->GetEngine(i);
659 eng->SetStarter( globals->get_controls()->get_starter(i) );
660 eng->SetRunning( node->getBoolValue("running") );
661 } // end FGEngine code block
665 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
667 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
668 Atmosphere->SetPressureSL(pressureSL->getDoubleValue(), FGAtmosphere::eInchesHg);
670 Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]);
671 switch( Winds->GetTurbType() ) {
672 case FGWinds::ttStandard:
673 case FGWinds::ttCulp: {
674 double tmp = turbulence_gain->getDoubleValue();
675 Winds->SetTurbGain(tmp * tmp * 100.0);
676 Winds->SetTurbRate(turbulence_rate->getDoubleValue());
679 case FGWinds::ttMilspec:
680 case FGWinds::ttTustin: {
681 // milspec turbulence: 3=light, 4=moderate, 6=severe turbulence
682 // turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe
683 double tmp = turbulence_gain->getDoubleValue();
684 Winds->SetProbabilityOfExceedence(
685 SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) )
687 Winds->SetWindspeed20ft(ground_wind->getDoubleValue());
695 Winds->SetWindNED( -wind_from_north->getDoubleValue(),
696 -wind_from_east->getDoubleValue(),
697 -wind_from_down->getDoubleValue() );
698 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
699 // << get_V_north_airmass() << ", "
700 // << get_V_east_airmass() << ", "
701 // << get_V_down_airmass() );
703 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
704 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
705 FGTank * tank = Propulsion->GetTank(i);
706 double fuelDensity = node->getDoubleValue("density-ppg");
708 if (fuelDensity < 0.1)
709 fuelDensity = 6.0; // Use average fuel value
711 tank->SetDensity(fuelDensity);
712 tank->SetContents(node->getDoubleValue("level-lbs"));
715 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
716 fdmex->SetChild(slaved->getBoolValue());
721 /******************************************************************************/
723 // Convert from the JSBsim generic_ struct to the FGInterface struct
725 bool FGJSBsim::copy_from_JSBsim()
729 _set_Inertias( MassBalance->GetMass(),
730 MassBalance->GetIxx(),
731 MassBalance->GetIyy(),
732 MassBalance->GetIzz(),
733 MassBalance->GetIxz() );
735 _set_CG_Position( MassBalance->GetXYZcg(1),
736 MassBalance->GetXYZcg(2),
737 MassBalance->GetXYZcg(3) );
739 _set_Accels_Body( Accelerations->GetBodyAccel(1),
740 Accelerations->GetBodyAccel(2),
741 Accelerations->GetBodyAccel(3) );
743 _set_Accels_CG_Body_N ( Auxiliary->GetNcg(1),
744 Auxiliary->GetNcg(2),
745 Auxiliary->GetNcg(3) );
747 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
748 Auxiliary->GetPilotAccel(2),
749 Auxiliary->GetPilotAccel(3) );
751 _set_Nlf( Auxiliary->GetNlf() );
755 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
756 Propagate->GetVel(FGJSBBase::eEast),
757 Propagate->GetVel(FGJSBBase::eDown) );
759 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
760 Propagate->GetUVW(2),
761 Propagate->GetUVW(3) );
763 // Make the HUD work ...
764 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
765 Propagate->GetVel(FGJSBBase::eEast),
766 -Propagate->GetVel(FGJSBBase::eDown) );
768 _set_V_rel_wind( Auxiliary->GetVt() );
770 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
772 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
774 _set_V_ground_speed( Auxiliary->GetVground() );
776 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
777 Propagate->GetPQR(FGJSBBase::eQ),
778 Propagate->GetPQR(FGJSBBase::eR) );
780 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
781 Auxiliary->GetEulerRates(FGJSBBase::eTht),
782 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
784 _set_Mach_number( Auxiliary->GetMach() );
786 // Positions of Visual Reference Point
787 FGLocation l = Auxiliary->GetLocationVRP();
788 _updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(),
791 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
793 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
794 double contact[3], d[3], sd, t;
795 is_valid_m(&t, d, &sd);
796 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
798 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
799 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
802 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
803 Propagate->GetEuler(FGJSBBase::eTht),
804 Propagate->GetEuler(FGJSBBase::ePsi) );
806 _set_Alpha( Auxiliary->Getalpha() );
807 _set_Beta( Auxiliary->Getbeta() );
810 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
812 _set_Earth_position_angle( Propagate->GetEarthPositionAngle() );
814 _set_Climb_Rate( Propagate->Gethdot() );
816 const FGMatrix33& Tl2b = Propagate->GetTl2b();
817 for ( i = 1; i <= 3; i++ ) {
818 for ( j = 1; j <= 3; j++ ) {
819 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
823 // Copy the engine values from JSBSim.
824 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
825 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
826 SGPropertyNode * tnode = node->getChild("thruster", 0, true);
827 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
829 switch (Propulsion->GetEngine(i)->GetType()) {
830 case FGEngine::etPiston:
831 { // FGPiston code block
832 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
833 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
834 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
835 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
836 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
837 // NOTE: mp-osi is not in ounces per square inch.
838 // This error is left for reasons of backwards compatibility with
839 // existing FlightGear sound and instrument configurations.
840 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
841 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
842 node->setDoubleValue("rpm", eng->getRPM());
843 } // end FGPiston code block
845 case FGEngine::etRocket:
846 { // FGRocket code block
847 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
848 } // end FGRocket code block
850 case FGEngine::etTurbine:
851 { // FGTurbine code block
852 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
853 node->setDoubleValue("n1", eng->GetN1());
854 node->setDoubleValue("n2", eng->GetN2());
855 node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
856 node->setBoolValue("augmentation", eng->GetAugmentation());
857 node->setBoolValue("water-injection", eng->GetInjection());
858 node->setBoolValue("ignition", eng->GetIgnition() != 0);
859 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
860 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
861 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
862 node->setBoolValue("reversed", eng->GetReversed());
863 node->setBoolValue("cutoff", eng->GetCutoff());
864 node->setDoubleValue("epr", eng->GetEPR());
865 globals->get_controls()->set_reverser(i, eng->GetReversed() );
866 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
867 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
868 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
869 } // end FGTurbine code block
871 case FGEngine::etTurboprop:
872 { // FGTurboProp code block
873 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
874 node->setDoubleValue("n1", eng->GetN1());
875 //node->setDoubleValue("n2", eng->GetN2());
876 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
877 node->setBoolValue("ignition", eng->GetIgnition() != 0);
878 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
879 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
880 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
881 node->setBoolValue("reversed", eng->GetReversed());
882 node->setBoolValue("cutoff", eng->GetCutoff());
883 node->setBoolValue("starting", eng->GetEngStarting());
884 node->setBoolValue("generator-power", eng->GetGeneratorPower());
885 node->setBoolValue("damaged", eng->GetCondition() != 0);
886 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
887 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
888 // node->setBoolValue("onfire", eng->GetFire());
889 globals->get_controls()->set_reverser(i, eng->GetReversed() );
890 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
891 } // end FGTurboProp code block
893 case FGEngine::etElectric:
894 { // FGElectric code block
895 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
896 node->setDoubleValue("rpm", eng->getRPM());
897 } // end FGElectric code block
899 case FGEngine::etUnknown:
903 { // FGEngine code block
904 FGEngine* eng = Propulsion->GetEngine(i);
905 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
906 node->setDoubleValue("thrust_lb", thruster->GetThrust());
907 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
908 node->setBoolValue("running", eng->GetRunning());
909 node->setBoolValue("starter", eng->GetStarter());
910 node->setBoolValue("cranking", eng->GetCranking());
911 globals->get_controls()->set_starter(i, eng->GetStarter() );
912 } // end FGEngine code block
914 switch (thruster->GetType()) {
915 case FGThruster::ttNozzle:
916 { // FGNozzle code block
917 // FGNozzle* noz = (FGNozzle*)thruster;
918 } // end FGNozzle code block
920 case FGThruster::ttPropeller:
921 { // FGPropeller code block
922 FGPropeller* prop = (FGPropeller*)thruster;
923 tnode->setDoubleValue("rpm", thruster->GetRPM());
924 tnode->setDoubleValue("pitch", prop->GetPitch());
925 tnode->setDoubleValue("torque", prop->GetTorque());
926 tnode->setBoolValue("feathered", prop->GetFeather());
927 } // end FGPropeller code block
929 case FGThruster::ttRotor:
930 { // FGRotor code block
931 // FGRotor* rotor = (FGRotor*)thruster;
932 } // end FGRotor code block
934 case FGThruster::ttDirect:
935 { // Direct code block
936 } // end Direct code block
942 // Copy the fuel levels from JSBSim if fuel
943 // freeze not enabled.
944 if ( ! Propulsion->GetFuelFreeze() ) {
945 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
946 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
947 FGTank* tank = Propulsion->GetTank(i);
948 double contents = tank->GetContents();
949 double temp = tank->GetTemperature_degC();
950 double fuelDensity = tank->GetDensity();
952 if (fuelDensity < 0.1)
953 fuelDensity = 6.0; // Use average fuel value
955 node->setDoubleValue("density-ppg" , fuelDensity);
956 node->setDoubleValue("level-lbs", contents);
957 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
963 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
965 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
966 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
967 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
968 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
969 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
970 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
971 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
972 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
973 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
975 // force a sim crashed if crashed (altitude AGL < 0)
976 if (get_Altitude_AGL() < -100.0) {
977 fdmex->SuspendIntegration();
985 bool FGJSBsim::ToggleDataLogging(void)
987 // ToDo: handle this properly
988 fdmex->DisableOutput();
993 bool FGJSBsim::ToggleDataLogging(bool state)
996 fdmex->EnableOutput();
999 fdmex->DisableOutput();
1006 void FGJSBsim::set_Latitude(double lat)
1008 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
1009 double alt = altitude->getDoubleValue();
1010 double sea_level_radius_meters, lat_geoc;
1012 if ( alt < -9990 ) alt = 0.0;
1014 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
1015 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
1017 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
1018 &sea_level_radius_meters, &lat_geoc );
1020 double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET;
1021 _set_Sea_level_radius( sea_level_radius_ft );
1024 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_ft );
1025 fgic->SetLatitudeRadIC( lat_geoc );
1028 Propagate->SetSeaLevelRadius( sea_level_radius_ft );
1029 Propagate->SetLatitude(lat_geoc);
1030 FGInterface::set_Latitude(lat);
1035 void FGJSBsim::set_Longitude(double lon)
1037 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
1040 fgic->SetLongitudeRadIC(lon);
1042 Propagate->SetLongitude(lon);
1043 FGInterface::set_Longitude(lon);
1047 // Sets the altitude above sea level.
1048 void FGJSBsim::set_Altitude(double alt)
1050 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1053 fgic->SetAltitudeASLFtIC(alt);
1055 Propagate->SetAltitudeASL(alt);
1056 FGInterface::set_Altitude(alt);
1060 void FGJSBsim::set_V_calibrated_kts(double vc)
1062 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1065 fgic->SetVcalibratedKtsIC(vc);
1067 double mach = getMachFromVcas(vc);
1068 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1069 double soundSpeed = sqrt(1.4*1716.0*temp);
1070 FGColumnVector3 vUVW = Propagate->GetUVW();
1072 vUVW *= mach * soundSpeed;
1073 Propagate->SetUVW(1, vUVW(1));
1074 Propagate->SetUVW(2, vUVW(2));
1075 Propagate->SetUVW(3, vUVW(3));
1077 FGInterface::set_V_calibrated_kts(vc);
1081 void FGJSBsim::set_Mach_number(double mach)
1083 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1086 fgic->SetMachIC(mach);
1088 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1089 double soundSpeed = sqrt(1.4*1716.0*temp);
1090 FGColumnVector3 vUVW = Propagate->GetUVW();
1092 vUVW *= mach * soundSpeed;
1093 Propagate->SetUVW(1, vUVW(1));
1094 Propagate->SetUVW(2, vUVW(2));
1095 Propagate->SetUVW(3, vUVW(3));
1097 FGInterface::set_Mach_number(mach);
1101 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1103 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1104 << north << ", " << east << ", " << down );
1107 fgic->SetVNorthFpsIC(north);
1108 fgic->SetVEastFpsIC(east);
1109 fgic->SetVDownFpsIC(down);
1112 FGColumnVector3 vNED(north, east, down);
1113 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1114 Propagate->SetUVW(1, vUVW(1));
1115 Propagate->SetUVW(2, vUVW(2));
1116 Propagate->SetUVW(3, vUVW(3));
1118 FGInterface::set_Velocities_Local(north, east, down);
1122 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1124 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1125 << u << ", " << v << ", " << w );
1128 fgic->SetUBodyFpsIC(u);
1129 fgic->SetVBodyFpsIC(v);
1130 fgic->SetWBodyFpsIC(w);
1133 Propagate->SetUVW(1, u);
1134 Propagate->SetUVW(2, v);
1135 Propagate->SetUVW(3, w);
1137 FGInterface::set_Velocities_Wind_Body(u, v, w);
1142 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1144 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1145 << phi << ", " << theta << ", " << psi );
1148 fgic->SetThetaRadIC(theta);
1149 fgic->SetPhiRadIC(phi);
1150 fgic->SetPsiRadIC(psi);
1153 FGQuaternion quat(phi, theta, psi);
1154 FGMatrix33 Tl2b = quat.GetT();
1155 FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l();
1156 FGQuaternion Qi = Ti2b.GetQuaternion();
1157 Propagate->SetInertialOrientation(Qi);
1159 FGInterface::set_Euler_Angles(phi, theta, psi);
1164 void FGJSBsim::set_Climb_Rate( double roc)
1166 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1168 //since both climb rate and flight path angle are set in the FG
1169 //startup sequence, something is needed to keep one from cancelling
1171 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1173 fgic->SetClimbRateFpsIC(roc);
1175 FGColumnVector3 vNED = Propagate->GetVel();
1176 vNED(FGJSBBase::eDown) = -roc;
1177 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1178 Propagate->SetUVW(1, vUVW(1));
1179 Propagate->SetUVW(2, vUVW(2));
1180 Propagate->SetUVW(3, vUVW(3));
1182 FGInterface::set_Climb_Rate(roc);
1187 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1189 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1191 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1193 fgic->SetFlightPathAngleRadIC(gamma);
1195 FGColumnVector3 vNED = Propagate->GetVel();
1196 double vt = vNED.Magnitude();
1197 vNED(FGJSBBase::eDown) = -vt * sin(gamma);
1198 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1199 Propagate->SetUVW(1, vUVW(1));
1200 Propagate->SetUVW(2, vUVW(2));
1201 Propagate->SetUVW(3, vUVW(3));
1203 FGInterface::set_Gamma_vert_rad(gamma);
1207 // Reverse the VCAS formula to obtain the corresponding Mach number. For subsonic
1208 // speeds, the reversed formula has a closed form. For supersonic speeds, the
1209 // formula is reversed by the Newton-Raphson algorithm.
1211 double FGJSBsim::getMachFromVcas(double vcas)
1213 double p=pressure->getDoubleValue();
1214 double psl=fdmex->GetAtmosphere()->GetPressureSL();
1215 double rhosl=fdmex->GetAtmosphere()->GetDensitySL();
1217 double pt = p + psl*(pow(1+vcas*vcas*rhosl/(7.0*psl),3.5)-1);
1220 return sqrt(5.0*(pow(pt/p, 0.2857143) -1)); // Mach < 1
1223 double mach = sqrt(0.77666*pt/p); // Initial guess is based on a quadratic approximation of the Rayleigh formula
1225 double target = pt/(166.92158*p);
1228 // Find the root with Newton-Raphson. Since the differential is never zero,
1229 // the function is monotonic and has only one root with a multiplicity of one.
1230 // Convergence is certain.
1231 while (delta > 1E-5 && iter < 10) {
1232 double m2 = mach*mach; // Mach^2
1233 double m6 = m2*m2*m2; // Mach^6
1234 delta = mach*m6/pow(7.0*m2-1.0,2.5) - target;
1235 double diff = 7.0*m6*(2.0*m2-1)/pow(7.0*m2-1.0,3.5); // Never zero when Mach >= 1
1244 void FGJSBsim::init_gear(void )
1246 FGGroundReactions* gr=fdmex->GetGroundReactions();
1247 int Ngear=GroundReactions->GetNumGearUnits();
1248 for (int i=0;i<Ngear;i++) {
1249 FGLGear *gear = gr->GetGearUnit(i);
1250 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1251 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1252 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1253 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1254 node->setBoolValue("wow", gear->GetWOW());
1255 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1256 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1257 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1258 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1259 node->setDoubleValue("compression-norm", gear->GetCompLen());
1260 node->setDoubleValue("compression-ft", gear->GetCompLen());
1261 if ( gear->GetSteerable() )
1262 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1266 void FGJSBsim::update_gear(void)
1268 FGGroundReactions* gr=fdmex->GetGroundReactions();
1269 int Ngear=GroundReactions->GetNumGearUnits();
1270 for (int i=0;i<Ngear;i++) {
1271 FGLGear *gear = gr->GetGearUnit(i);
1272 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1273 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1274 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1275 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1276 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1277 node->setDoubleValue("compression-norm", gear->GetCompLen());
1278 node->setDoubleValue("compression-ft", gear->GetCompLen());
1279 if ( gear->GetSteerable() )
1280 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1284 void FGJSBsim::do_trim(void)
1288 if ( fgGetBool("/sim/presets/onground") )
1290 fgtrim = new FGTrim(fdmex,tGround);
1292 fgtrim = new FGTrim(fdmex,tFull);
1295 if ( !fgtrim->DoTrim() ) {
1297 fgtrim->TrimStats();
1299 trimmed->setBoolValue(true);
1303 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1304 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1305 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1306 rudder_trim->setDoubleValue( -FCS->GetDrCmd() );
1308 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1309 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1310 for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
1311 globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
1313 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1314 globals->get_controls()->set_rudder( -FCS->GetDrCmd());
1316 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1319 bool FGJSBsim::update_ground_cache(FGLocation cart, double* cart_pos, double dt)
1321 // Compute the radius of the aircraft. That is the radius of a ball
1322 // where all gear units are in. At the moment it is at least 10ft ...
1323 double acrad = 10.0;
1324 int n_gears = GroundReactions->GetNumGearUnits();
1325 for (int i=0; i<n_gears; ++i) {
1326 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
1327 double r = bl.Magnitude();
1332 // Compute the potential movement of this aircraft and query for the
1333 // ground in this area.
1334 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
1335 cart_pos[0] = cart(1);
1336 cart_pos[1] = cart(2);
1337 cart_pos[2] = cart(3);
1338 double t0 = fdmex->GetSimTime();
1339 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
1340 groundCacheRadius );
1342 SG_LOG(SG_FLIGHT, SG_WARN,
1343 "FGInterface is being called without scenery below the aircraft!");
1345 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = "
1346 << fgic->GetAltitudeASLFtIC());
1348 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = "
1349 << get_Sea_level_radius());
1351 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = "
1352 << fgic->GetLatitudeRadIC());
1354 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = "
1355 << fgic->GetLongitudeRadIC());
1362 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1363 double contact[3], double normal[3], double vel[3],
1364 double angularVel[3], double *agl)
1366 const SGMaterial* material;
1367 simgear::BVHNode::Id id;
1368 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1369 angularVel, material, id))
1371 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1372 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1373 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1377 inline static double sqr(double x)
1382 static double angle_diff(double a, double b)
1384 double diff = fabs(a - b);
1385 if (diff > 180) diff = 360 - diff;
1390 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)
1392 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1393 double dist = DotProduct(tip, ground_normal_body);
1394 if (fabs(dist + E) < 0.0001) {
1395 sin_fis[*points] = sin_fi_guess;
1396 cos_fis[*points] = cos_fi_guess;
1397 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1403 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)
1405 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1406 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1407 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1408 if (fabs(cos_fi_guess) > SG_EPSILON) {
1409 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1414 void FGJSBsim::update_external_forces(double t_off)
1416 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1417 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1418 const FGLocation& Location = Propagate->GetLocation();
1419 const FGMatrix33& Tec2l = Location.GetTec2l();
1421 double hook_area[4][3];
1423 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1424 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1425 hook_area[1][0] = hook_root(1);
1426 hook_area[1][1] = hook_root(2);
1427 hook_area[1][2] = hook_root(3);
1429 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1430 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1431 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1432 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1433 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1434 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1436 FGColumnVector3 hook_tip_body = hook_root_body;
1437 hook_tip_body(1) -= hook_length * cos_fi;
1438 hook_tip_body(3) += hook_length * sin_fi;
1441 double ground_normal[3];
1442 double ground_vel[3];
1443 double ground_angular_vel[3];
1447 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1448 ground_vel, ground_angular_vel, &root_agl_ft);
1449 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1450 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1451 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1452 double D = -DotProduct(contact_body, ground_normal_body);
1454 // check hook tip agl against same ground plane
1455 double hook_tip_agl_ft = DotProduct(hook_tip_body, ground_normal_body) + D;
1456 if (hook_tip_agl_ft < 0) {
1458 // hook tip: hx - l cos, hy, hz + l sin
1459 // on ground: - n0 l cos + n2 l sin + E = 0
1461 double E = D + DotProduct(hook_root_body, ground_normal_body);
1463 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1464 // and rearrange to get a quadratic with coeffs:
1465 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1466 double b = 2 * E * ground_normal_body(3) * hook_length;
1467 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1469 double disc = sqr(b) - 4 * a * c;
1471 double delta = sqrt(disc) / (2 * a);
1473 // allow 4 solutions for safety, should never happen
1479 double sin_fi_guess = -b / (2 * a) - delta;
1480 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1481 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1484 double diff1 = angle_diff(fi, fis[0]);
1485 double diff2 = angle_diff(fi, fis[1]);
1486 int point = diff1 < diff2 ? 0 : 1;
1488 sin_fi = sin_fis[point];
1489 cos_fi = cos_fis[point];
1490 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1491 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1497 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1498 double wire_ends_ec[2][3];
1499 double wire_vel_ec[2][3];
1500 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1501 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1502 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1503 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1504 if (rel_vel.Magnitude() < 3) {
1507 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1509 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;
1510 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;
1511 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1512 force_plane_normal.Normalize();
1513 cos_fi = DotProduct(force_plane_normal, FGColumnVector3(0, 0, 1));
1514 if (cos_fi < 0) cos_fi = -cos_fi;
1515 sin_fi = sqrt(1 - sqr(cos_fi));
1516 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1518 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1519 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1520 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1521 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1525 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1527 hook_area[0][0] = hook_tip(1);
1528 hook_area[0][1] = hook_tip(2);
1529 hook_area[0][2] = hook_tip(3);
1532 // The previous positions.
1533 hook_area[2][0] = last_hook_root[0];
1534 hook_area[2][1] = last_hook_root[1];
1535 hook_area[2][2] = last_hook_root[2];
1536 hook_area[3][0] = last_hook_tip[0];
1537 hook_area[3][1] = last_hook_tip[1];
1538 hook_area[3][2] = last_hook_tip[2];
1540 // Check if we caught a wire.
1541 // Returns true if we caught one.
1542 if (caught_wire_ft(t_off, hook_area)) {
1547 // save actual position as old position ...
1548 last_hook_tip[0] = hook_area[0][0];
1549 last_hook_tip[1] = hook_area[0][1];
1550 last_hook_tip[2] = hook_area[0][2];
1551 last_hook_root[0] = hook_area[1][0];
1552 last_hook_root[1] = hook_area[1][1];
1553 last_hook_root[2] = hook_area[1][2];
1555 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);