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 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 // General Public License for more details.
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.
28 #include <simgear/compiler.h>
30 #ifdef SG_MATH_EXCEPTION_CLASH
36 #include <simgear/constants.h>
37 #include <simgear/debug/logstream.hxx>
38 #include <simgear/math/sg_geodesy.hxx>
39 #include <simgear/misc/sg_path.hxx>
41 #include <FDM/flight.hxx>
43 #include <Aircraft/aircraft.hxx>
44 #include <Controls/controls.hxx>
45 #include <Main/globals.hxx>
46 #include <Main/fg_props.hxx>
48 #include <FDM/JSBSim/FGFDMExec.h>
49 #include <FDM/JSBSim/FGAircraft.h>
50 #include <FDM/JSBSim/FGFCS.h>
51 #include <FDM/JSBSim/FGPosition.h>
52 #include <FDM/JSBSim/FGRotation.h>
53 #include <FDM/JSBSim/FGState.h>
54 #include <FDM/JSBSim/FGTranslation.h>
55 #include <FDM/JSBSim/FGAuxiliary.h>
56 #include <FDM/JSBSim/FGInitialCondition.h>
57 #include <FDM/JSBSim/FGTrim.h>
58 #include <FDM/JSBSim/FGAtmosphere.h>
59 #include <FDM/JSBSim/FGMassBalance.h>
60 #include <FDM/JSBSim/FGAerodynamics.h>
61 #include <FDM/JSBSim/FGLGear.h>
62 #include <FDM/JSBSim/FGPropertyManager.h>
66 FMAX (double a, double b)
72 /******************************************************************************/
74 FGJSBsim::FGJSBsim( double dt )
79 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
81 State = fdmex->GetState();
82 Atmosphere = fdmex->GetAtmosphere();
83 FCS = fdmex->GetFCS();
84 MassBalance = fdmex->GetMassBalance();
85 Propulsion = fdmex->GetPropulsion();
86 Aircraft = fdmex->GetAircraft();
87 Translation = fdmex->GetTranslation();
88 Rotation = fdmex->GetRotation();
89 Position = fdmex->GetPosition();
90 Auxiliary = fdmex->GetAuxiliary();
91 Aerodynamics = fdmex->GetAerodynamics();
92 GroundReactions = fdmex->GetGroundReactions();
97 SGPath aircraft_path( globals->get_fg_root() );
98 aircraft_path.append( "Aircraft" );
100 SGPath engine_path( globals->get_fg_root() );
101 engine_path.append( "Engine" );
104 result = fdmex->LoadModel( aircraft_path.str(),
106 fgGetString("/sim/aero") );
109 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
111 SG_LOG( SG_FLIGHT, SG_INFO,
112 " aero does not exist (you may have mis-typed the name).");
116 SG_LOG( SG_FLIGHT, SG_INFO, "" );
117 SG_LOG( SG_FLIGHT, SG_INFO, "" );
118 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
120 int Neng = Propulsion->GetNumEngines();
121 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
123 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
124 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
125 << GroundReactions->GetNumGearUnits() );
126 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
127 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
128 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
135 // Set initial fuel levels if provided.
136 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
137 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
138 if (node->getChild("level-gal_us", 0, false) != 0)
139 Propulsion->GetTank(i)
140 ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
143 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
144 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
145 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
146 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
148 startup_trim = fgGetNode("/sim/presets/trim", true);
150 trimmed = fgGetNode("/fdm/trim/trimmed", true);
151 trimmed->setBoolValue(false);
153 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
154 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
155 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
156 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
158 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
159 stall_warning->setDoubleValue(0);
162 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
163 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
165 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
166 right_aileron_pos_pct
167 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
168 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
170 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
171 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
174 elevator_pos_pct->setDoubleValue(0);
175 left_aileron_pos_pct->setDoubleValue(0);
176 right_aileron_pos_pct->setDoubleValue(0);
177 rudder_pos_pct->setDoubleValue(0);
178 flap_pos_pct->setDoubleValue(0);
179 speedbrake_pos_pct->setDoubleValue(0);
180 spoilers_pos_pct->setDoubleValue(0);
182 temperature = fgGetNode("/environment/temperature-degc",true);
183 pressure = fgGetNode("/environment/pressure-inhg",true);
184 density = fgGetNode("/environment/density-slugft3",true);
185 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
186 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
188 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
189 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
190 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
194 /******************************************************************************/
195 FGJSBsim::~FGJSBsim(void) {
199 /******************************************************************************/
201 // Initialize the JSBsim flight model, dt is the time increment for
202 // each subsequent iteration through the EOM
204 void FGJSBsim::init() {
208 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
210 // Explicitly call the superclass's
211 // init method first.
214 Atmosphere->UseInternal();
216 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
217 Atmosphere->UseExternal();
218 Atmosphere->SetExTemperature(
219 9.0/5.0*(temperature->getDoubleValue()+273.15) );
220 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
221 Atmosphere->SetExDensity(density->getDoubleValue());
223 tmp = turbulence_gain->getDoubleValue();
224 Atmosphere->SetTurbGain(tmp * tmp * 100.0);
226 tmp = turbulence_rate->getDoubleValue();
227 Atmosphere->SetTurbRate(tmp);
230 Atmosphere->UseInternal();
234 fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
235 fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
236 fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
238 //Atmosphere->SetExTemperature(get_Static_temperature());
239 //Atmosphere->SetExPressure(get_Static_pressure());
240 //Atmosphere->SetExDensity(get_Density());
241 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
242 << ", " << fdmex->GetAtmosphere()->GetPressure()
243 << ", " << fdmex->GetAtmosphere()->GetDensity() );
249 fdmex->RunIC(); //loop JSBSim once w/o integrating
250 copy_from_JSBsim(); //update the bus
252 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
254 switch(fgic->GetSpeedSet()) {
256 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
257 << Position->GetVn() << ", "
258 << Position->GetVe() << ", "
259 << Position->GetVd() << " ft/s");
262 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
263 << Translation->GetUVW(1) << ", "
264 << Translation->GetUVW(2) << ", "
265 << Translation->GetUVW(3) << " ft/s");
268 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
269 << Translation->GetMach() );
273 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
274 << Auxiliary->GetVcalibratedKTS() << " knots" );
278 stall_warning->setDoubleValue(0);
280 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
281 << Rotation->Getphi()*RADTODEG << " deg" );
282 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
283 << Rotation->Gettht()*RADTODEG << " deg" );
284 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
285 << Rotation->Getpsi()*RADTODEG << " deg" );
286 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
287 << Position->GetLatitude() << " deg" );
288 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
289 << Position->GetLongitude() << " deg" );
290 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
291 << Position->Geth() << " feet" );
292 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
294 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
296 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
298 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
299 globals->get_controls()->get_gear_down() );
305 /******************************************************************************/
307 // Run an iteration of the EOM (equations of motion)
310 FGJSBsim::update( double dt ) {
315 int multiloop = _calc_multiloop(dt);
319 // double save_alt = 0.0;
323 trimmed->setBoolValue(false);
326 if ( startup_trim->getBoolValue() ) {
327 SG_LOG(SG_FLIGHT, SG_INFO,
328 "Ready to trim, terrain altitude is: "
329 << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
330 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
333 fdmex->RunIC(); //apply any changes made through the set_ functions
338 for ( i=0; i < multiloop; i++ ) {
342 FGJSBBase::Message* msg;
343 while (fdmex->ReadMessage()) {
344 msg = fdmex->ProcessMessage();
346 case FGJSBBase::Message::eText:
347 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
349 case FGJSBBase::Message::eBool:
350 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
352 case FGJSBBase::Message::eInteger:
353 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
355 case FGJSBBase::Message::eDouble:
356 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
359 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
364 // translate JSBsim back to FG structure so that the
365 // autopilot (and the rest of the sim can use the updated values
369 /******************************************************************************/
371 // Convert from the FGInterface struct to the JSBsim generic_ struct
373 bool FGJSBsim::copy_to_JSBsim() {
377 // copy control positions into the JSBsim structure
379 FCS->SetDaCmd( globals->get_controls()->get_aileron());
380 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
381 FCS->SetDeCmd( globals->get_controls()->get_elevator());
382 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
383 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
384 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
385 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
386 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
387 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
389 // Parking brake sets minimum braking
391 double parking_brake = globals->get_controls()->get_parking_brake();
392 FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
393 FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
394 FCS->SetCBrake( globals->get_controls()->get_brake(2) );
396 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
397 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
398 FGEngine * eng = Propulsion->GetEngine(i);
399 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
400 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
401 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
402 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
403 Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
404 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
405 eng->SetStarter( globals->get_controls()->get_starter(i) );
406 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
407 eng->SetReverse( globals->get_controls()->get_reverser(i) );
408 eng->SetInjection( globals->get_controls()->get_water_injection(i) );
409 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
410 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
411 eng->SetNitrous( globals->get_controls()->get_nitrous_injection(i) );
412 eng->SetRunning( node->getBoolValue("running") );
415 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
416 Position->SetSeaLevelRadius( get_Sea_level_radius() );
417 Position->SetRunwayRadius( get_Runway_altitude()
418 + get_Sea_level_radius() );
420 Atmosphere->SetExTemperature(
421 9.0/5.0*(temperature->getDoubleValue()+273.15) );
422 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
423 Atmosphere->SetExDensity(density->getDoubleValue());
425 tmp = turbulence_gain->getDoubleValue();
426 Atmosphere->SetTurbGain(tmp * tmp * 100.0);
428 tmp = turbulence_rate->getDoubleValue();
429 Atmosphere->SetTurbRate(tmp);
431 Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
432 wind_from_east->getDoubleValue(),
433 wind_from_down->getDoubleValue() );
434 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
435 // << get_V_north_airmass() << ", "
436 // << get_V_east_airmass() << ", "
437 // << get_V_down_airmass() );
439 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
440 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
441 FGTank * tank = Propulsion->GetTank(i);
442 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
443 // tank->SetContents(node->getDoubleValue("level-lb"));
449 /******************************************************************************/
451 // Convert from the JSBsim generic_ struct to the FGInterface struct
453 bool FGJSBsim::copy_from_JSBsim() {
456 _set_Inertias( MassBalance->GetMass(),
457 MassBalance->GetIxx(),
458 MassBalance->GetIyy(),
459 MassBalance->GetIzz(),
460 MassBalance->GetIxz() );
462 _set_CG_Position( MassBalance->GetXYZcg(1),
463 MassBalance->GetXYZcg(2),
464 MassBalance->GetXYZcg(3) );
466 _set_Accels_Body( Aircraft->GetBodyAccel()(1),
467 Aircraft->GetBodyAccel()(2),
468 Aircraft->GetBodyAccel()(3) );
470 //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
471 // Aircraft->GetBodyAccel()(2),
472 // Aircraft->GetBodyAccel()(3) );
474 _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
475 Aircraft->GetNcg()(2),
476 Aircraft->GetNcg()(3) );
478 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
479 Auxiliary->GetPilotAccel()(2),
480 Auxiliary->GetPilotAccel()(3) );
482 // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
483 // Auxiliary->GetNpilot(2)/32.1739,
484 // Auxiliary->GetNpilot(3)/32.1739 );
486 _set_Nlf( Aircraft->GetNlf() );
490 _set_Velocities_Local( Position->GetVn(),
494 _set_Velocities_Wind_Body( Translation->GetUVW(1),
495 Translation->GetUVW(2),
496 Translation->GetUVW(3) );
498 _set_V_rel_wind( Translation->GetVt() );
500 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
502 // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
504 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
506 _set_V_ground_speed( Position->GetVground() );
508 _set_Omega_Body( Rotation->GetPQR(1),
510 Rotation->GetPQR(3) );
512 _set_Euler_Rates( Rotation->GetEulerRates(1),
513 Rotation->GetEulerRates(2),
514 Rotation->GetEulerRates(3) );
516 _set_Geocentric_Rates(Position->GetLatitudeDot(),
517 Position->GetLongitudeDot(),
518 Position->Gethdot() );
520 _set_Mach_number( Translation->GetMach() );
523 _updateGeocentricPosition( Position->GetLatitude(),
524 Position->GetLongitude(),
527 _set_Altitude_AGL( Position->GetDistanceAGL() );
529 _set_Euler_Angles( Rotation->Getphi(),
531 Rotation->Getpsi() );
533 _set_Alpha( Translation->Getalpha() );
534 _set_Beta( Translation->Getbeta() );
537 _set_Gamma_vert_rad( Position->GetGamma() );
538 // set_Gamma_horiz_rad( Gamma_horiz_rad );
540 _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
542 _set_Climb_Rate( Position->Gethdot() );
545 for ( i = 1; i <= 3; i++ ) {
546 for ( j = 1; j <= 3; j++ ) {
547 _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
551 // Copy the engine values from JSBSim.
552 for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
553 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
554 FGEngine * eng = Propulsion->GetEngine(i);
555 FGThruster * thrust = Propulsion->GetThruster(i);
557 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
558 node->setDoubleValue("rpm", thrust->GetRPM());
559 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
560 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
561 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
562 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
563 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
564 node->setDoubleValue("thrust_lb", eng->GetThrust());
565 node->setDoubleValue("N1", eng->GetN1());
566 node->setDoubleValue("N2", eng->GetN2());
567 node->setDoubleValue("EGT_degC", eng->GetEGT());
568 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
569 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
570 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
571 node->setBoolValue("running", eng->GetRunning());
572 node->setBoolValue("starter", eng->GetStarter());
573 node->setBoolValue("cranking", eng->GetCranking());
574 node->setBoolValue("ignition", eng->GetIgnition());
575 node->setBoolValue("augmentation", eng->GetAugmentation());
576 node->setBoolValue("water-injection", eng->GetInjection());
577 node->setBoolValue("reversed", eng->GetReversed());
578 node->setBoolValue("cutoff", eng->GetCutoff());
579 node->setBoolValue("nitrous", eng->GetNitrous());
580 globals->get_controls()->set_starter(i, eng->GetStarter() );
581 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
582 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
583 globals->get_controls()->set_reverser(i, eng->GetReversed() );
584 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
587 static const SGPropertyNode *fuel_freeze
588 = fgGetNode("/sim/freeze/fuel");
590 // Copy the fuel levels from JSBSim if fuel
591 // freeze not enabled.
592 if ( ! fuel_freeze->getBoolValue() ) {
593 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
594 SGPropertyNode * node
595 = fgGetNode("/consumables/fuel/tank", i, true);
596 double contents = Propulsion->GetTank(i)->GetContents();
597 node->setDoubleValue("level-gal_us", contents/6.6);
598 node->setDoubleValue("level-lb", contents);
599 // node->setDoubleValue("temperature_degC",
605 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
607 /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
608 left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
609 right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
610 rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
611 flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
614 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
615 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
616 right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
617 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
618 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
619 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
620 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
626 bool FGJSBsim::ToggleDataLogging(void) {
627 return fdmex->GetOutput()->Toggle();
631 bool FGJSBsim::ToggleDataLogging(bool state) {
633 fdmex->GetOutput()->Enable();
636 fdmex->GetOutput()->Disable();
643 void FGJSBsim::set_Latitude(double lat) {
644 static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
646 double sea_level_radius_meters, lat_geoc;
648 // In case we're not trimming
649 FGInterface::set_Latitude(lat);
651 if ( altitude->getDoubleValue() > -9990 ) {
652 alt = altitude->getDoubleValue();
658 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
659 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
661 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
662 &sea_level_radius_meters, &lat_geoc );
663 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
664 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
665 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
666 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
667 fgic->SetLatitudeRadIC( lat_geoc );
671 void FGJSBsim::set_Longitude(double lon) {
673 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
675 // In case we're not trimming
676 FGInterface::set_Longitude(lon);
679 fgic->SetLongitudeRadIC( lon );
680 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
681 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
685 void FGJSBsim::set_Altitude(double alt) {
686 static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
688 double sea_level_radius_meters,lat_geoc;
690 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
691 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
693 // In case we're not trimming
694 FGInterface::set_Altitude(alt);
697 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
698 &sea_level_radius_meters, &lat_geoc);
699 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
700 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
701 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
702 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
703 SG_LOG(SG_FLIGHT, SG_INFO,
704 "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
705 fgic->SetLatitudeRadIC( lat_geoc );
706 fgic->SetAltitudeFtIC(alt);
710 void FGJSBsim::set_V_calibrated_kts(double vc) {
711 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
713 // In case we're not trimming
714 FGInterface::set_V_calibrated_kts(vc);
717 fgic->SetVcalibratedKtsIC(vc);
721 void FGJSBsim::set_Mach_number(double mach) {
722 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
724 // In case we're not trimming
725 FGInterface::set_Mach_number(mach);
728 fgic->SetMachIC(mach);
732 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
733 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
734 << north << ", " << east << ", " << down );
736 // In case we're not trimming
737 FGInterface::set_Velocities_Local(north, east, down);
740 fgic->SetVnorthFpsIC(north);
741 fgic->SetVeastFpsIC(east);
742 fgic->SetVdownFpsIC(down);
746 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
747 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
748 << u << ", " << v << ", " << w );
750 // In case we're not trimming
751 FGInterface::set_Velocities_Wind_Body(u, v, w);
754 fgic->SetUBodyFpsIC(u);
755 fgic->SetVBodyFpsIC(v);
756 fgic->SetWBodyFpsIC(w);
761 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
762 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
763 << phi << ", " << theta << ", " << psi );
765 // In case we're not trimming
766 FGInterface::set_Euler_Angles(phi, theta, psi);
769 fgic->SetPitchAngleRadIC(theta);
770 fgic->SetRollAngleRadIC(phi);
771 fgic->SetTrueHeadingRadIC(psi);
776 void FGJSBsim::set_Climb_Rate( double roc) {
777 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
779 // In case we're not trimming
780 FGInterface::set_Climb_Rate(roc);
783 //since both climb rate and flight path angle are set in the FG
784 //startup sequence, something is needed to keep one from cancelling
786 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
787 fgic->SetClimbRateFpsIC(roc);
792 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
793 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
796 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
797 fgic->SetFlightPathAngleRadIC(gamma);
802 void FGJSBsim::init_gear(void ) {
804 FGGroundReactions* gr=fdmex->GetGroundReactions();
805 int Ngear=GroundReactions->GetNumGearUnits();
806 for (int i=0;i<Ngear;i++) {
807 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
808 node->setDoubleValue("xoffset-in",
809 gr->GetGearUnit(i)->GetBodyLocation()(1));
810 node->setDoubleValue("yoffset-in",
811 gr->GetGearUnit(i)->GetBodyLocation()(2));
812 node->setDoubleValue("zoffset-in",
813 gr->GetGearUnit(i)->GetBodyLocation()(3));
814 node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
815 node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
816 node->setDoubleValue("position-norm", FCS->GetGearPos());
817 node->setDoubleValue("tire-pressure-norm", gr->GetGearUnit(i)->GetTirePressure());
821 void FGJSBsim::update_gear(void) {
823 FGGroundReactions* gr=fdmex->GetGroundReactions();
824 int Ngear=GroundReactions->GetNumGearUnits();
825 for (int i=0;i<Ngear;i++) {
826 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
827 node->getChild("wow", 0, true)
828 ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
829 node->getChild("position-norm", 0, true)
830 ->setDoubleValue(FCS->GetGearPos());
831 gr->GetGearUnit(i)->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
835 void FGJSBsim::do_trim(void) {
838 if( fgGetBool("/sim/presets/onground") ) {
839 fgic->SetVcalibratedKtsIC(0.0);
840 fgtrim=new FGTrim(fdmex,tGround);
842 fgtrim=new FGTrim(fdmex,tLongitudinal);
844 if( !fgtrim->DoTrim() ) {
848 trimmed->setBoolValue(true);
850 State->ReportState();
852 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
853 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
854 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
855 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
857 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
858 globals->get_controls()->set_elevator(FCS->GetDeCmd());
859 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
860 FCS->GetThrottleCmd(0));
862 globals->get_controls()->set_aileron(FCS->GetDaCmd());
863 globals->get_controls()->set_rudder( FCS->GetDrCmd());
865 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
868 void FGJSBsim::update_ic(void) {
870 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
871 fgic->SetLongitudeRadIC( get_Longitude() );
872 fgic->SetAltitudeFtIC( get_Altitude() );
873 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
874 fgic->SetPitchAngleRadIC( get_Theta() );
875 fgic->SetRollAngleRadIC( get_Phi() );
876 fgic->SetTrueHeadingRadIC( get_Psi() );
877 fgic->SetClimbRateFpsIC( get_Climb_Rate() );