src/FDM/JSBSim/JSBSim.cxx

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