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