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 Lesser General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  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 // Lesser General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU Lesser General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
  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/controls.hxx>
  42 #include <Main/globals.hxx>
  43 #include <Main/fg_props.hxx>
  44
  45 #include "JSBSim.hxx"
  46 #include <FDM/JSBSim/FGFDMExec.h>
  47 #include <FDM/JSBSim/FGJSBBase.h>
  48 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
  49 #include <FDM/JSBSim/initialization/FGTrim.h>
  50 #include <FDM/JSBSim/models/FGModel.h>
  51 #include <FDM/JSBSim/models/FGAircraft.h>
  52 #include <FDM/JSBSim/models/FGFCS.h>
  53 #include <FDM/JSBSim/models/FGPropagate.h>
  54 #include <FDM/JSBSim/models/FGAuxiliary.h>
  55 #include <FDM/JSBSim/models/FGInertial.h>
  56 #include <FDM/JSBSim/models/FGAtmosphere.h>
  57 #include <FDM/JSBSim/models/FGMassBalance.h>
  58 #include <FDM/JSBSim/models/FGAerodynamics.h>
  59 #include <FDM/JSBSim/models/FGLGear.h>
  60 #include <FDM/JSBSim/models/FGGroundReactions.h>
  61 #include <FDM/JSBSim/models/FGPropulsion.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(FGJSBsim* ifc) : mInterface(ifc) {}
  86   virtual ~FGFSGroundCallback() {}
  87
  88   /** Get the altitude above sea level dependent 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, FGColumnVector3& n,
 101                             FGColumnVector3& v, FGColumnVector3& w) const {
 102     double loc_cart[3] = { l(eX), l(eY), l(eZ) };
 103     double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
 104     mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
 105                            vel, angularVel, &agl);
 106     n = FGColumnVector3( normal[0], normal[1], normal[2] );
 107     v = FGColumnVector3( vel[0], vel[1], vel[2] );
 108     w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
 109     cont = FGColumnVector3( contact[0], contact[1], contact[2] );
 110     return agl;
 111   }
 112 private:
 113   FGJSBsim* 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     Atmosphere      = fdmex->GetAtmosphere();
 153     FCS             = fdmex->GetFCS();
 154     MassBalance     = fdmex->GetMassBalance();
 155     Propulsion      = fdmex->GetPropulsion();
 156     Aircraft        = fdmex->GetAircraft();
 157     Propagate        = fdmex->GetPropagate();
 158     Auxiliary       = fdmex->GetAuxiliary();
 159     Inertial        = fdmex->GetInertial();
 160     Aerodynamics    = fdmex->GetAerodynamics();
 161     GroundReactions = fdmex->GetGroundReactions();
 162
 163     fgic=fdmex->GetIC();
 164     needTrim=true;
 165
 166     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
 167
 168     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
 169     engine_path.append( "Engine" );
 170
 171     SGPath systems_path( fgGetString("/sim/aircraft-dir") );
 172     systems_path.append( "Systems" );
 173
 174 // deprecate sim-time-sec for simulation/sim-time-sec
 175 // remove alias with increased configuration file version number (2.1 or later)
 176     SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
 177     fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
 178 // end of sim-time-sec deprecation patch
 179
 180     fdmex->Setdt( dt );
 181
 182     result = fdmex->LoadModel( aircraft_path.str(),
 183                                engine_path.str(),
 184                                systems_path.str(),
 185                                fgGetString("/sim/aero"), false );
 186
 187     if (result) {
 188       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 189     } else {
 190       SG_LOG( SG_FLIGHT, SG_INFO,
 191               "  aero does not exist (you may have mis-typed the name).");
 192       throw(-1);
 193     }
 194
 195     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 196     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 197     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 198
 199     int Neng = Propulsion->GetNumEngines();
 200     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 201
 202     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 203         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 204                 << GroundReactions->GetNumGearUnits() );
 205         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 206         SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 207         SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 208         exit(-1);
 209     }
 210
 211     init_gear();
 212
 213     // Set initial fuel levels if provided.
 214     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 215       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 216       if (node->getChild("level-gal_us", 0, false) != 0) {
 217         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 218       } else {
 219         node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
 220         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 221       }
 222       node->setDoubleValue("capacity-gal_us",
 223                            Propulsion->GetTank(i)->GetCapacity() / 6.6);
 224     }
 225     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 226
 227     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 228     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 229     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 230     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 231
 232     startup_trim = fgGetNode("/sim/presets/trim", true);
 233
 234     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 235     trimmed->setBoolValue(false);
 236
 237     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 238     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 239     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 240     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 241
 242     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 243     stall_warning->setDoubleValue(0);
 244
 245
 246     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 247     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 248     left_aileron_pos_pct
 249         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 250     right_aileron_pos_pct
 251         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 252     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 253     speedbrake_pos_pct
 254         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 255     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 256     tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
 257     wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
 258
 259     elevator_pos_pct->setDoubleValue(0);
 260     left_aileron_pos_pct->setDoubleValue(0);
 261     right_aileron_pos_pct->setDoubleValue(0);
 262     rudder_pos_pct->setDoubleValue(0);
 263     flap_pos_pct->setDoubleValue(0);
 264     speedbrake_pos_pct->setDoubleValue(0);
 265     spoilers_pos_pct->setDoubleValue(0);
 266
 267     ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
 268     ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
 269     ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
 270
 271     temperature = fgGetNode("/environment/temperature-degc",true);
 272     pressure = fgGetNode("/environment/pressure-inhg",true);
 273     density = fgGetNode("/environment/density-slugft3",true);
 274     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 275     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 276
 277     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 278     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 279     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 280
 281     slaved = fgGetNode("/sim/slaved/enabled", true);
 282
 283     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 284       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 285       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 286                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 287     }
 288
 289     hook_root_struct = FGColumnVector3(
 290         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
 291         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
 292         fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
 293     last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
 294     last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
 295
 296     crashed = false;
 297 }
 298
 299 /******************************************************************************/
 300 FGJSBsim::~FGJSBsim(void)
 301 {
 302   delete fdmex;
 303 }
 304
 305 /******************************************************************************/
 306
 307 // Initialize the JSBsim flight model, dt is the time increment for
 308 // each subsequent iteration through the EOM
 309
 310 void FGJSBsim::init()
 311 {
 312     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 313
 314     // Explicitly call the superclass's
 315     // init method first.
 316
 317     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 318       Atmosphere->UseExternal();
 319       Atmosphere->SetExTemperature(
 320                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 321       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 322       Atmosphere->SetExDensity(density->getDoubleValue());
 323       Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
 324       Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
 325       Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
 326
 327     } else {
 328       Atmosphere->UseInternal();
 329     }
 330
 331     fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
 332     fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
 333     fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
 334
 335     //Atmosphere->SetExTemperature(get_Static_temperature());
 336     //Atmosphere->SetExPressure(get_Static_pressure());
 337     //Atmosphere->SetExDensity(get_Density());
 338     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 339      << ", " << fdmex->GetAtmosphere()->GetPressure()
 340      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 341
 342 // deprecate egt_degf for egt-degf to have consistent naming
 343 // TODO: raise log-level to ALERT in summer 2010,
 344 // remove alias in fall 2010,
 345 // remove this code in winter 2010
 346     for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
 347       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 348       SGPropertyNode * egtn = node->getNode( "egt_degf" );
 349       if( egtn != NULL ) {
 350         SG_LOG(SG_FLIGHT,SG_WARN,
 351                "Aircraft uses deprecated node egt_degf. Please upgrade to egt-degf");
 352         node->getNode("egt-degf", true)->alias( egtn );
 353       }
 354     }
 355 // end of egt_degf deprecation patch
 356
 357     if (fgGetBool("/sim/presets/running")) {
 358           for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
 359             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 360             node->setBoolValue("running", true);
 361             Propulsion->GetEngine(i)->SetRunning(true);
 362           }
 363     }
 364
 365     FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
 366
 367     common_init();
 368
 369     copy_to_JSBsim();
 370     fdmex->RunIC();     //loop JSBSim once w/o integrating
 371     copy_from_JSBsim(); //update the bus
 372
 373     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 374
 375     switch(fgic->GetSpeedSet()) {
 376     case setned:
 377         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 378                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
 379                << Propagate->GetVel(FGJSBBase::eEast) << ", "
 380                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
 381     break;
 382     case setuvw:
 383         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 384                << Propagate->GetUVW(1) << ", "
 385                << Propagate->GetUVW(2) << ", "
 386                << Propagate->GetUVW(3) << " ft/s");
 387     break;
 388     case setmach:
 389         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 390                << Auxiliary->GetMach() );
 391     break;
 392     case setvc:
 393     default:
 394         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 395                << Auxiliary->GetVcalibratedKTS() << " knots" );
 396     break;
 397     }
 398
 399     stall_warning->setDoubleValue(0);
 400
 401     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 402             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
 403     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 404             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
 405     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 406             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
 407     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 408             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 409     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 410             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 411     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 412             << Propagate->GetAltitudeASL() << " feet" );
 413     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 414
 415     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 416
 417     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 418
 419     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 420                                   globals->get_controls()->get_gear_down() );
 421 }
 422
 423 /******************************************************************************/
 424
 425 void checkTied ( FGPropertyManager *node )
 426 {
 427   int N = node->nChildren();
 428   string name;
 429
 430   for (int i=0; i<N; i++) {
 431     if (node->getChild(i)->nChildren() ) {
 432       checkTied( (FGPropertyManager*)node->getChild(i) );
 433     }
 434     if ( node->getChild(i)->isTied() ) {
 435       name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
 436       node->Untie(name);
 437     }
 438   }
 439 }
 440
 441 /******************************************************************************/
 442
 443 void FGJSBsim::unbind()
 444 {
 445   SGPropertyNode* instance = globals->get_props()->getNode("/fdm/jsbsim");
 446   checkTied((FGPropertyManager*)instance);
 447   FGInterface::unbind();
 448 }
 449
 450 /******************************************************************************/
 451
 452 // Run an iteration of the EOM (equations of motion)
 453
 454 void FGJSBsim::update( double dt )
 455 {
 456     if(crashed) {
 457       if(!fgGetBool("/sim/crashed"))
 458         fgSetBool("/sim/crashed", true);
 459       return;
 460     }
 461
 462     if (is_suspended())
 463       return;
 464
 465     int multiloop = _calc_multiloop(dt);
 466
 467     int i;
 468
 469     // Compute the radius of the aircraft. That is the radius of a ball
 470     // where all gear units are in. At the moment it is at least 10ft ...
 471     double acrad = 10.0;
 472     int n_gears = GroundReactions->GetNumGearUnits();
 473     for (i=0; i<n_gears; ++i) {
 474       FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
 475       double r = bl.Magnitude();
 476       if (acrad < r)
 477         acrad = r;
 478     }
 479
 480     // Compute the potential movement of this aircraft and query for the
 481     // ground in this area.
 482     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
 483     double alt, slr, lat, lon;
 484     FGLocation cart = Auxiliary->GetLocationVRP();
 485     if ( needTrim && startup_trim->getBoolValue() ) {
 486       alt = fgic->GetAltitudeASLFtIC();
 487       slr = fgic->GetSeaLevelRadiusFtIC();
 488       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 489       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 490       cart = FGLocation(lon, lat, alt+slr);
 491     }
 492     double cart_pos[3] = { cart(1), cart(2), cart(3) };
 493     double t0 = fdmex->GetSimTime();
 494     bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
 495                                              groundCacheRadius );
 496     if (!cache_ok) {
 497       SG_LOG(SG_FLIGHT, SG_WARN,
 498              "FGInterface is being called without scenery below the aircraft!");
 499
 500       alt = fgic->GetAltitudeASLFtIC();
 501       SG_LOG(SG_FLIGHT, SG_WARN, "altitude         = " << alt);
 502
 503       slr = fgic->GetSeaLevelRadiusFtIC();
 504       SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
 505
 506       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 507       SG_LOG(SG_FLIGHT, SG_WARN, "latitude         = " << lat);
 508
 509       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 510       SG_LOG(SG_FLIGHT, SG_WARN, "longitude        = " << lon);
 511       //return;
 512     }
 513
 514     copy_to_JSBsim();
 515
 516     trimmed->setBoolValue(false);
 517
 518     if ( needTrim ) {
 519       if ( startup_trim->getBoolValue() ) {
 520         double contact[3], d[3], vel[3], agl;
 521         get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
 522                    d, vel, d, &agl);
 523         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
 524              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 525
 526         SG_LOG(SG_FLIGHT, SG_INFO,
 527           "Ready to trim, terrain elevation is: "
 528             << terrain_alt * SG_METER_TO_FEET );
 529
 530         if (fgGetBool("/sim/presets/onground")) {
 531           FGColumnVector3 gndVelNED = cart.GetTec2l()
 532                                     * FGColumnVector3(vel[0], vel[1], vel[2]);
 533           fgic->SetVNorthFpsIC(gndVelNED(1));
 534           fgic->SetVEastFpsIC(gndVelNED(2));
 535           fgic->SetVDownFpsIC(gndVelNED(3));
 536         }
 537         fgic->SetTerrainElevationFtIC( terrain_alt );
 538         do_trim();
 539       } else {
 540         fdmex->RunIC();  //apply any changes made through the set_ functions
 541       }
 542       needTrim = false;
 543     }
 544
 545     for ( i=0; i < multiloop; i++ ) {
 546       fdmex->Run();
 547       update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
 548     }
 549
 550     FGJSBBase::Message* msg;
 551     while (msg = fdmex->ProcessNextMessage()) {
 552 //      msg = fdmex->ProcessNextMessage();
 553       switch (msg->type) {
 554       case FGJSBBase::Message::eText:
 555         if (msg->text == "Crash Detected: Simulation FREEZE.")
 556           crashed = true;
 557         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 558         break;
 559       case FGJSBBase::Message::eBool:
 560         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 561         break;
 562       case FGJSBBase::Message::eInteger:
 563         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 564         break;
 565       case FGJSBBase::Message::eDouble:
 566         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 567         break;
 568       default:
 569         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 570         break;
 571       }
 572     }
 573
 574     // translate JSBsim back to FG structure so that the
 575     // autopilot (and the rest of the sim can use the updated values
 576     copy_from_JSBsim();
 577 }
 578
 579 /******************************************************************************/
 580
 581 // Convert from the FGInterface struct to the JSBsim generic_ struct
 582
 583 bool FGJSBsim::copy_to_JSBsim()
 584 {
 585     double tmp;
 586     unsigned int i;
 587
 588     // copy control positions into the JSBsim structure
 589
 590     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 591     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 592     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 593     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 594     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 595     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 596     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 597     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 598     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 599     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 600
 601         // Parking brake sets minimum braking
 602         // level for mains.
 603     double parking_brake = globals->get_controls()->get_brake_parking();
 604     double left_brake = globals->get_controls()->get_brake_left();
 605     double right_brake = globals->get_controls()->get_brake_right();
 606
 607     if (ab_brake_engaged->getBoolValue()) {
 608       left_brake = ab_brake_left_pct->getDoubleValue();
 609       right_brake = ab_brake_right_pct->getDoubleValue();
 610     }
 611
 612     FCS->SetLBrake(FMAX(left_brake, parking_brake));
 613     FCS->SetRBrake(FMAX(right_brake, parking_brake));
 614
 615
 616     FCS->SetCBrake( 0.0 );
 617     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 618
 619     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 620     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 621       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 622
 623       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 624       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 625       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 626       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
 627
 628       switch (Propulsion->GetEngine(i)->GetType()) {
 629       case FGEngine::etPiston:
 630         { // FGPiston code block
 631         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 632         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 633         break;
 634         } // end FGPiston code block
 635       case FGEngine::etTurbine:
 636         { // FGTurbine code block
 637         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 638         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 639         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 640         //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 641         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 642         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 643         break;
 644         } // end FGTurbine code block
 645       case FGEngine::etRocket:
 646         { // FGRocket code block
 647         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 648         break;
 649         } // end FGRocket code block
 650       case FGEngine::etTurboprop:
 651         { // FGTurboProp code block
 652         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 653         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 654         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 655         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 656
 657         eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
 658         eng->SetCondition( globals->get_controls()->get_condition(i) );
 659         break;
 660         } // end FGTurboProp code block
 661       default:
 662         break;
 663       }
 664
 665       { // FGEngine code block
 666       FGEngine* eng = Propulsion->GetEngine(i);
 667
 668       eng->SetStarter( globals->get_controls()->get_starter(i) );
 669       eng->SetRunning( node->getBoolValue("running") );
 670       } // end FGEngine code block
 671     }
 672
 673
 674     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 675
 676     Atmosphere->SetExTemperature(
 677                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 678     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 679     Atmosphere->SetExDensity(density->getDoubleValue());
 680
 681     tmp = turbulence_gain->getDoubleValue();
 682     //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 683
 684     tmp = turbulence_rate->getDoubleValue();
 685     //Atmosphere->SetTurbRate(tmp);
 686
 687     Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
 688                             -wind_from_east->getDoubleValue(),
 689                             -wind_from_down->getDoubleValue() );
 690 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 691 //                  << get_V_north_airmass() << ", "
 692 //                  << get_V_east_airmass()  << ", "
 693 //                  << get_V_down_airmass() );
 694
 695     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 696       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 697       FGTank * tank = Propulsion->GetTank(i);
 698       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 699 //       tank->SetContents(node->getDoubleValue("level-lbs"));
 700     }
 701
 702     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 703     fdmex->SetChild(slaved->getBoolValue());
 704
 705     return true;
 706 }
 707
 708 /******************************************************************************/
 709
 710 // Convert from the JSBsim generic_ struct to the FGInterface struct
 711
 712 bool FGJSBsim::copy_from_JSBsim()
 713 {
 714     unsigned int i, j;
 715 /*
 716     _set_Inertias( MassBalance->GetMass(),
 717                    MassBalance->GetIxx(),
 718                    MassBalance->GetIyy(),
 719                    MassBalance->GetIzz(),
 720                    MassBalance->GetIxz() );
 721 */
 722     _set_CG_Position( MassBalance->GetXYZcg(1),
 723                       MassBalance->GetXYZcg(2),
 724                       MassBalance->GetXYZcg(3) );
 725
 726     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 727                       Aircraft->GetBodyAccel(2),
 728                       Aircraft->GetBodyAccel(3) );
 729
 730     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 731                             Aircraft->GetNcg(2),
 732                             Aircraft->GetNcg(3) );
 733
 734     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 735                             Auxiliary->GetPilotAccel(2),
 736                             Auxiliary->GetPilotAccel(3) );
 737
 738     _set_Nlf( Aircraft->GetNlf() );
 739
 740     // Velocities
 741
 742     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
 743                            Propagate->GetVel(FGJSBBase::eEast),
 744                            Propagate->GetVel(FGJSBBase::eDown) );
 745
 746     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 747                                Propagate->GetUVW(2),
 748                                Propagate->GetUVW(3) );
 749
 750     // Make the HUD work ...
 751     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
 752                             Propagate->GetVel(FGJSBBase::eEast),
 753                             -Propagate->GetVel(FGJSBBase::eDown) );
 754
 755     _set_V_rel_wind( Auxiliary->GetVt() );
 756
 757     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 758
 759     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 760
 761     _set_V_ground_speed( Auxiliary->GetVground() );
 762
 763     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
 764                      Propagate->GetPQR(FGJSBBase::eQ),
 765                      Propagate->GetPQR(FGJSBBase::eR) );
 766
 767     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
 768                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
 769                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
 770
 771     _set_Mach_number( Auxiliary->GetMach() );
 772
 773     // Positions of Visual Reference Point
 774     FGLocation l = Auxiliary->GetLocationVRP();
 775     _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
 776                                l.GetRadius() - get_Sea_level_radius() );
 777
 778     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 779     {
 780       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
 781       double contact[3], d[3], sd, t;
 782       is_valid_m(&t, d, &sd);
 783       get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
 784       double rwrad
 785         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
 786       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
 787     }
 788
 789     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
 790                        Propagate->GetEuler(FGJSBBase::eTht),
 791                        Propagate->GetEuler(FGJSBBase::ePsi) );
 792
 793     _set_Alpha( Auxiliary->Getalpha() );
 794     _set_Beta( Auxiliary->Getbeta() );
 795
 796
 797     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 798
 799     _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
 800
 801     _set_Climb_Rate( Propagate->Gethdot() );
 802
 803     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 804     for ( i = 1; i <= 3; i++ ) {
 805         for ( j = 1; j <= 3; j++ ) {
 806             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 807         }
 808     }
 809
 810     // Copy the engine values from JSBSim.
 811     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 812       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 813       SGPropertyNode * tnode = node->getChild("thruster", 0, true);
 814       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 815
 816       switch (Propulsion->GetEngine(i)->GetType()) {
 817       case FGEngine::etPiston:
 818         { // FGPiston code block
 819         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 820         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 821         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 822         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 823         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 824         // NOTE: mp-osi is not in ounces per square inch.
 825         // This error is left for reasons of backwards compatibility with
 826         // existing FlightGear sound and instrument configurations.
 827         node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
 828         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 829         node->setDoubleValue("rpm", eng->getRPM());
 830         } // end FGPiston code block
 831         break;
 832       case FGEngine::etRocket:
 833         { // FGRocket code block
 834         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 835         } // end FGRocket code block
 836         break;
 837       case FGEngine::etTurbine:
 838         { // FGTurbine code block
 839         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 840         node->setDoubleValue("n1", eng->GetN1());
 841         node->setDoubleValue("n2", eng->GetN2());
 842         node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
 843         node->setBoolValue("augmentation", eng->GetAugmentation());
 844         node->setBoolValue("water-injection", eng->GetInjection());
 845         node->setBoolValue("ignition", eng->GetIgnition());
 846         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 847         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 848         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 849         node->setBoolValue("reversed", eng->GetReversed());
 850         node->setBoolValue("cutoff", eng->GetCutoff());
 851         node->setDoubleValue("epr", eng->GetEPR());
 852         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 853         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 854         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 855         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 856         } // end FGTurbine code block
 857         break;
 858       case FGEngine::etTurboprop:
 859         { // FGTurboProp code block
 860         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 861         node->setDoubleValue("n1", eng->GetN1());
 862         //node->setDoubleValue("n2", eng->GetN2());
 863         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
 864         node->setBoolValue("ignition", eng->GetIgnition());
 865         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 866         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 867         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 868         node->setBoolValue("reversed", eng->GetReversed());
 869         node->setBoolValue("cutoff", eng->GetCutoff());
 870         node->setBoolValue("starting", eng->GetEngStarting());
 871         node->setBoolValue("generator-power", eng->GetGeneratorPower());
 872         node->setBoolValue("damaged", eng->GetCondition());
 873         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
 874         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 875 //        node->setBoolValue("onfire", eng->GetFire());
 876         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 877         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 878         } // end FGTurboProp code block
 879         break;
 880       case FGEngine::etElectric:
 881         { // FGElectric code block
 882         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 883         node->setDoubleValue("rpm", eng->getRPM());
 884         } // end FGElectric code block
 885         break;
 886       case FGEngine::etUnknown:
 887         break;
 888       }
 889
 890       { // FGEngine code block
 891       FGEngine* eng = Propulsion->GetEngine(i);
 892       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 893       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 894       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 895       node->setBoolValue("running", eng->GetRunning());
 896       node->setBoolValue("starter", eng->GetStarter());
 897       node->setBoolValue("cranking", eng->GetCranking());
 898       globals->get_controls()->set_starter(i, eng->GetStarter() );
 899       } // end FGEngine code block
 900
 901       switch (thruster->GetType()) {
 902       case FGThruster::ttNozzle:
 903         { // FGNozzle code block
 904         FGNozzle* noz = (FGNozzle*)thruster;
 905         } // end FGNozzle code block
 906         break;
 907       case FGThruster::ttPropeller:
 908         { // FGPropeller code block
 909         FGPropeller* prop = (FGPropeller*)thruster;
 910         tnode->setDoubleValue("rpm", thruster->GetRPM());
 911         tnode->setDoubleValue("pitch", prop->GetPitch());
 912         tnode->setDoubleValue("torque", prop->GetTorque());
 913         tnode->setBoolValue("feathered", prop->GetFeather());
 914         } // end FGPropeller code block
 915         break;
 916       case FGThruster::ttRotor:
 917         { // FGRotor code block
 918         FGRotor* rotor = (FGRotor*)thruster;
 919         } // end FGRotor code block
 920         break;
 921       case FGThruster::ttDirect:
 922         { // Direct code block
 923         } // end Direct code block
 924         break;
 925       }
 926
 927     }
 928
 929     // Copy the fuel levels from JSBSim if fuel
 930     // freeze not enabled.
 931     if ( ! Propulsion->GetFuelFreeze() ) {
 932       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 933         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 934         FGTank* tank = Propulsion->GetTank(i);
 935         double contents = tank->GetContents();
 936         double temp = tank->GetTemperature_degC();
 937         node->setDoubleValue("level-gal_us", contents/6.6);
 938         node->setDoubleValue("level-lbs", contents);
 939         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 940       }
 941     }
 942
 943     update_gear();
 944
 945     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 946
 947     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 948     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 949     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 950     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 951     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 952     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 953     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 954     tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
 955     wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
 956
 957     // force a sim crashed if crashed (altitude AGL < 0)
 958     if (get_Altitude_AGL() < -100.0) {
 959          fdmex->SuspendIntegration();
 960          crashed = true;
 961     }
 962
 963     return true;
 964 }
 965
 966
 967 bool FGJSBsim::ToggleDataLogging(void)
 968 {
 969   // ToDo: handle this properly
 970   fdmex->DisableOutput();
 971   return false;
 972 }
 973
 974
 975 bool FGJSBsim::ToggleDataLogging(bool state)
 976 {
 977     if (state) {
 978       fdmex->EnableOutput();
 979       return true;
 980     } else {
 981       fdmex->DisableOutput();
 982       return false;
 983     }
 984 }
 985
 986
 987 //Positions
 988 void FGJSBsim::set_Latitude(double lat)
 989 {
 990     static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
 991     double alt;
 992     double sea_level_radius_meters, lat_geoc;
 993
 994     // In case we're not trimming
 995     FGInterface::set_Latitude(lat);
 996
 997     if ( altitude->getDoubleValue() > -9990 ) {
 998       alt = altitude->getDoubleValue();
 999     } else {
1000       alt = 0.0;
1001     }
1002
1003     update_ic();
1004     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
1005     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
1006
1007     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
1008                       &sea_level_radius_meters, &lat_geoc );
1009     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
1010     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
1011     fgic->SetLatitudeRadIC( lat_geoc );
1012     needTrim=true;
1013 }
1014
1015
1016 void FGJSBsim::set_Longitude(double lon)
1017 {
1018     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
1019
1020     // In case we're not trimming
1021     FGInterface::set_Longitude(lon);
1022
1023     update_ic();
1024     fgic->SetLongitudeRadIC( lon );
1025     needTrim=true;
1026 }
1027
1028 // Sets the altitude above sea level.
1029 void FGJSBsim::set_Altitude(double alt)
1030 {
1031     static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
1032
1033     double sea_level_radius_meters,lat_geoc;
1034
1035     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1036     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
1037
1038     // In case we're not trimming
1039     FGInterface::set_Altitude(alt);
1040
1041     update_ic();
1042     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
1043                   &sea_level_radius_meters, &lat_geoc);
1044     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
1045     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
1046     SG_LOG(SG_FLIGHT, SG_INFO,
1047           "Terrain elevation: " << FGInterface::get_Runway_altitude() * SG_METER_TO_FEET );
1048     fgic->SetLatitudeRadIC( lat_geoc );
1049     fgic->SetAltitudeASLFtIC(alt);
1050     needTrim=true;
1051 }
1052
1053 void FGJSBsim::set_V_calibrated_kts(double vc)
1054 {
1055     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
1056
1057     // In case we're not trimming
1058     FGInterface::set_V_calibrated_kts(vc);
1059
1060     update_ic();
1061     fgic->SetVcalibratedKtsIC(vc);
1062     needTrim=true;
1063 }
1064
1065 void FGJSBsim::set_Mach_number(double mach)
1066 {
1067     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
1068
1069     // In case we're not trimming
1070     FGInterface::set_Mach_number(mach);
1071
1072     update_ic();
1073     fgic->SetMachIC(mach);
1074     needTrim=true;
1075 }
1076
1077 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1078 {
1079     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1080        << north << ", " <<  east << ", " << down );
1081
1082     // In case we're not trimming
1083     FGInterface::set_Velocities_Local(north, east, down);
1084
1085     update_ic();
1086     fgic->SetVNorthFpsIC(north);
1087     fgic->SetVEastFpsIC(east);
1088     fgic->SetVDownFpsIC(down);
1089     needTrim=true;
1090 }
1091
1092 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1093 {
1094     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1095        << u << ", " <<  v << ", " <<  w );
1096
1097     // In case we're not trimming
1098     FGInterface::set_Velocities_Wind_Body(u, v, w);
1099
1100     update_ic();
1101     fgic->SetUBodyFpsIC(u);
1102     fgic->SetVBodyFpsIC(v);
1103     fgic->SetWBodyFpsIC(w);
1104     needTrim=true;
1105 }
1106
1107 //Euler angles
1108 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1109 {
1110     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1111        << phi << ", " << theta << ", " << psi );
1112
1113     // In case we're not trimming
1114     FGInterface::set_Euler_Angles(phi, theta, psi);
1115
1116     update_ic();
1117     fgic->SetThetaRadIC(theta);
1118     fgic->SetPhiRadIC(phi);
1119     fgic->SetPsiRadIC(psi);
1120     needTrim=true;
1121 }
1122
1123 //Flight Path
1124 void FGJSBsim::set_Climb_Rate( double roc)
1125 {
1126     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1127
1128     // In case we're not trimming
1129     FGInterface::set_Climb_Rate(roc);
1130
1131     update_ic();
1132     //since both climb rate and flight path angle are set in the FG
1133     //startup sequence, something is needed to keep one from cancelling
1134     //out the other.
1135     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1136       fgic->SetClimbRateFpsIC(roc);
1137     }
1138     needTrim=true;
1139 }
1140
1141 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1142 {
1143     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1144
1145     update_ic();
1146     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1147       fgic->SetFlightPathAngleRadIC(gamma);
1148     }
1149     needTrim=true;
1150 }
1151
1152 void FGJSBsim::init_gear(void )
1153 {
1154     FGGroundReactions* gr=fdmex->GetGroundReactions();
1155     int Ngear=GroundReactions->GetNumGearUnits();
1156     for (int i=0;i<Ngear;i++) {
1157       FGLGear *gear = gr->GetGearUnit(i);
1158       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1159       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1160       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1161       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1162       node->setBoolValue("wow", gear->GetWOW());
1163       node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1164       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1165       node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1166       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1167       node->setDoubleValue("compression-norm", gear->GetCompLen());
1168       node->setDoubleValue("compression-ft", gear->GetCompLen());
1169       if ( gear->GetSteerable() )
1170         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1171     }
1172 }
1173
1174 void FGJSBsim::update_gear(void)
1175 {
1176     FGGroundReactions* gr=fdmex->GetGroundReactions();
1177     int Ngear=GroundReactions->GetNumGearUnits();
1178     for (int i=0;i<Ngear;i++) {
1179       FGLGear *gear = gr->GetGearUnit(i);
1180       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1181       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1182       node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1183       node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1184       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1185       node->setDoubleValue("compression-norm", gear->GetCompLen());
1186       node->setDoubleValue("compression-ft", gear->GetCompLen());
1187       if ( gear->GetSteerable() )
1188         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1189     }
1190 }
1191
1192 void FGJSBsim::do_trim(void)
1193 {
1194   FGTrim *fgtrim;
1195
1196   if ( fgGetBool("/sim/presets/onground") )
1197   {
1198     fgtrim = new FGTrim(fdmex,tGround);
1199   } else {
1200     fgtrim = new FGTrim(fdmex,tLongitudinal);
1201   }
1202
1203   if ( !fgtrim->DoTrim() ) {
1204     fgtrim->Report();
1205     fgtrim->TrimStats();
1206   } else {
1207     trimmed->setBoolValue(true);
1208   }
1209   delete fgtrim;
1210
1211   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1212   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1213   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1214   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1215
1216   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1217   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1218   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1219   FCS->GetThrottleCmd(0));
1220
1221   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1222   globals->get_controls()->set_rudder( FCS->GetDrCmd());
1223
1224   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1225 }
1226
1227 void FGJSBsim::update_ic(void)
1228 {
1229    if ( !needTrim ) {
1230      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1231      fgic->SetLongitudeRadIC( get_Longitude() );
1232      fgic->SetAltitudeASLFtIC( get_Altitude() );
1233      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1234      fgic->SetThetaRadIC( get_Theta() );
1235      fgic->SetPhiRadIC( get_Phi() );
1236      fgic->SetPsiRadIC( get_Psi() );
1237      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1238    }
1239 }
1240
1241 bool
1242 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1243                      double contact[3], double normal[3], double vel[3],
1244                      double angularVel[3], double *agl)
1245 {
1246    const SGMaterial* material;
1247    simgear::BVHNode::Id id;
1248    if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1249                                 angularVel, material, id))
1250        return false;
1251    SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1252    SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1253    *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1254    return true;
1255 }
1256
1257 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1258 {
1259     return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1260 }
1261
1262 inline static double sqr(double x)
1263 {
1264     return x * x;
1265 }
1266
1267 static double angle_diff(double a, double b)
1268 {
1269     double diff = fabs(a - b);
1270     if (diff > 180) diff = 360 - diff;
1271
1272     return diff;
1273 }
1274
1275 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)
1276 {
1277     FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1278     double dist = dot3(tip, ground_normal_body);
1279     if (fabs(dist + E) < 0.0001) {
1280         sin_fis[*points] = sin_fi_guess;
1281         cos_fis[*points] = cos_fi_guess;
1282         fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1283         (*points)++;
1284     }
1285 }
1286
1287
1288 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)
1289 {
1290     if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1291         double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1292         check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1293         if (fabs(cos_fi_guess) > SG_EPSILON) {
1294             check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1295         }
1296     }
1297 }
1298
1299 void FGJSBsim::update_external_forces(double t_off)
1300 {
1301     const FGMatrix33& Tb2l = Propagate->GetTb2l();
1302     const FGMatrix33& Tl2b = Propagate->GetTl2b();
1303     const FGLocation& Location = Propagate->GetLocation();
1304     const FGMatrix33& Tec2l = Location.GetTec2l();
1305
1306     double hook_area[4][3];
1307
1308     FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1309     FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l *   hook_root_body);
1310     hook_area[1][0] = hook_root(1);
1311     hook_area[1][1] = hook_root(2);
1312     hook_area[1][2] = hook_root(3);
1313
1314     hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1315     double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1316     double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1317     double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1318     double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1319     double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1320
1321     FGColumnVector3 hook_tip_body = hook_root_body;
1322     hook_tip_body(1) -= hook_length * cos_fi;
1323     hook_tip_body(3) += hook_length * sin_fi;
1324
1325     double contact[3];
1326     double ground_normal[3];
1327     double ground_vel[3];
1328     double ground_angular_vel[3];
1329     double root_agl_ft;
1330
1331     if (!got_wire) {
1332         bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1333                               ground_vel, ground_angular_vel, &root_agl_ft);
1334         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1335             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1336             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1337             double D = -dot3(contact_body, ground_normal_body);
1338
1339             // check hook tip agl against same ground plane
1340             double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1341             if (hook_tip_agl_ft < 0) {
1342
1343                 // hook tip: hx - l cos, hy, hz + l sin
1344                 // on ground:  - n0 l cos + n2 l sin + E = 0
1345
1346                 double E = D + dot3(hook_root_body, ground_normal_body);
1347
1348                 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1349                 // and rearrange to get a quadratic with coeffs:
1350                 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1351                 double b = 2 * E * ground_normal_body(3) * hook_length;
1352                 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1353
1354                 double disc = sqr(b) - 4 * a * c;
1355                 if (disc >= 0) {
1356                     double delta = sqrt(disc) / (2 * a);
1357
1358                     // allow 4 solutions for safety, should never happen
1359                     double sin_fis[4];
1360                     double cos_fis[4];
1361                     double fis[4];
1362                     int points = 0;
1363
1364                     double sin_fi_guess = -b / (2 * a) - delta;
1365                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1366                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1367
1368                     if (points == 2) {
1369                         double diff1 = angle_diff(fi, fis[0]);
1370                         double diff2 = angle_diff(fi, fis[1]);
1371                         int point = diff1 < diff2 ? 0 : 1;
1372                         fi = fis[point];
1373                         sin_fi = sin_fis[point];
1374                         cos_fi = cos_fis[point];
1375                         hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1376                         hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1377                     }
1378                 }
1379             }
1380         }
1381     } else {
1382         FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() *  hook_root_body));
1383         double wire_ends_ec[2][3];
1384         double wire_vel_ec[2][3];
1385         get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1386         FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1387         FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1388         FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1389         if (rel_vel.Magnitude() < 3) {
1390             got_wire = false;
1391             release_wire();
1392             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1393         } else {
1394             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;
1395             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;
1396             FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1397             force_plane_normal.Normalize();
1398             cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1399             if (cos_fi < 0) cos_fi = -cos_fi;
1400             sin_fi = sqrt(1 - sqr(cos_fi));
1401             fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1402
1403             fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1404             fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1405             fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1406             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1407         }
1408     }
1409
1410     FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1411
1412     hook_area[0][0] = hook_tip(1);
1413     hook_area[0][1] = hook_tip(2);
1414     hook_area[0][2] = hook_tip(3);
1415
1416     if (!got_wire) {
1417         // The previous positions.
1418         hook_area[2][0] = last_hook_root[0];
1419         hook_area[2][1] = last_hook_root[1];
1420         hook_area[2][2] = last_hook_root[2];
1421         hook_area[3][0] = last_hook_tip[0];
1422         hook_area[3][1] = last_hook_tip[1];
1423         hook_area[3][2] = last_hook_tip[2];
1424
1425         // Check if we caught a wire.
1426         // Returns true if we caught one.
1427         if (caught_wire_ft(t_off, hook_area)) {
1428                 got_wire = true;
1429         }
1430     }
1431
1432     // save actual position as old position ...
1433     last_hook_tip[0] = hook_area[0][0];
1434     last_hook_tip[1] = hook_area[0][1];
1435     last_hook_tip[2] = hook_area[0][2];
1436     last_hook_root[0] = hook_area[1][0];
1437     last_hook_root[1] = hook_area[1][1];
1438     last_hook_root[2] = hook_area[1][2];
1439
1440     fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
1441 }
1442