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->SetTurbGain(turbulence_gain->getDoubleValue());
 315       Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
 316
 317     } else {
 318       Atmosphere->UseInternal();
 319     }
 320
 321     fgic->SetVNorthFpsIC( wind_from_north->getDoubleValue() );
 322     fgic->SetVEastFpsIC( wind_from_east->getDoubleValue() );
 323     fgic->SetVDownFpsIC( wind_from_down->getDoubleValue() );
 324
 325     //Atmosphere->SetExTemperature(get_Static_temperature());
 326     //Atmosphere->SetExPressure(get_Static_pressure());
 327     //Atmosphere->SetExDensity(get_Density());
 328     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 329      << ", " << fdmex->GetAtmosphere()->GetPressure()
 330      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 331
 332     if (fgGetBool("/sim/presets/running")) {
 333           for (int i=0; i < Propulsion->GetNumEngines(); i++) {
 334             SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 335             node->setBoolValue("running", true);
 336             Propulsion->GetEngine(i)->SetRunning(true);
 337           }
 338     }
 339
 340     FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
 341
 342     common_init();
 343
 344     copy_to_JSBsim();
 345     fdmex->RunIC();     //loop JSBSim once w/o integrating
 346     copy_from_JSBsim(); //update the bus
 347
 348     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 349
 350     switch(fgic->GetSpeedSet()) {
 351     case setned:
 352         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 353                << Propagate->GetVel(FGJSBBase::eNorth) << ", "
 354                << Propagate->GetVel(FGJSBBase::eEast) << ", "
 355                << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
 356     break;
 357     case setuvw:
 358         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 359                << Propagate->GetUVW(1) << ", "
 360                << Propagate->GetUVW(2) << ", "
 361                << Propagate->GetUVW(3) << " ft/s");
 362     break;
 363     case setmach:
 364         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 365                << Auxiliary->GetMach() );
 366     break;
 367     case setvc:
 368     default:
 369         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 370                << Auxiliary->GetVcalibratedKTS() << " knots" );
 371     break;
 372     }
 373
 374     stall_warning->setDoubleValue(0);
 375
 376     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 377             << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
 378     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 379             << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
 380     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 381             << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
 382     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 383             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 384     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 385             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 386     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 387             << Propagate->Geth() << " feet" );
 388     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 389
 390     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 391
 392     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 393
 394     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 395                                   globals->get_controls()->get_gear_down() );
 396 }
 397
 398 /******************************************************************************/
 399
 400 // Run an iteration of the EOM (equations of motion)
 401
 402 void FGJSBsim::update( double dt )
 403 {
 404     if (is_suspended())
 405       return;
 406
 407     int multiloop = _calc_multiloop(dt);
 408
 409     int i;
 410
 411     // Compute the radius of the aircraft. That is the radius of a ball
 412     // where all gear units are in. At the moment it is at least 10ft ...
 413     double acrad = 10.0;
 414     int n_gears = GroundReactions->GetNumGearUnits();
 415     for (i=0; i<n_gears; ++i) {
 416       FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
 417       double r = bl.Magnitude();
 418       if (acrad < r)
 419         acrad = r;
 420     }
 421
 422     // Compute the potential movement of this aircraft and query for the
 423     // ground in this area.
 424     double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
 425     double alt, slr, lat, lon;
 426     FGColumnVector3 cart = Auxiliary->GetLocationVRP();
 427     if ( needTrim && startup_trim->getBoolValue() ) {
 428       alt = fgic->GetAltitudeFtIC();
 429       slr = fgic->GetSeaLevelRadiusFtIC();
 430       lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 431       lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
 432       cart = FGLocation(lon, lat, alt+slr);
 433     }
 434     double cart_pos[3] = { cart(1), cart(2), cart(3) };
 435     bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
 436                                              groundCacheRadius );
 437     if (!cache_ok) {
 438       SG_LOG(SG_FLIGHT, SG_WARN,
 439              "FGInterface is being called without scenery below the aircraft!");
 440       SG_LOG(SG_FLIGHT, SG_WARN,
 441              "altitude         = " << alt);
 442       SG_LOG(SG_FLIGHT, SG_WARN,
 443             "sea level radius = " << slr);
 444       SG_LOG(SG_FLIGHT, SG_WARN,
 445             "latitude         = " << lat);
 446       SG_LOG(SG_FLIGHT, SG_WARN,
 447             "longitude        = " << lon);
 448       //return;
 449     }
 450
 451     copy_to_JSBsim();
 452
 453     trimmed->setBoolValue(false);
 454
 455     if ( needTrim ) {
 456       if ( startup_trim->getBoolValue() ) {
 457         double contact[3], dummy[3], lc, ff, agl;
 458         int groundtype;
 459         get_agl_ft(State->Getsim_time(), cart_pos, contact,
 460                    dummy, dummy, &groundtype, &lc, &ff, &agl);
 461         double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
 462              + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
 463
 464         SG_LOG(SG_FLIGHT, SG_INFO,
 465           "Ready to trim, terrain altitude is: "
 466             << terrain_alt * SG_METER_TO_FEET );
 467
 468         fgic->SetTerrainAltitudeFtIC( terrain_alt );
 469         do_trim();
 470       } else {
 471         fdmex->RunIC();  //apply any changes made through the set_ functions
 472       }
 473       needTrim = false;
 474     }
 475
 476     for ( i=0; i < multiloop; i++ ) {
 477       fdmex->Run();
 478       update_external_forces(State->Getsim_time() + i * State->Getdt());
 479     }
 480
 481     FGJSBBase::Message* msg;
 482     while (fdmex->SomeMessages()) {
 483       msg = fdmex->ProcessMessage();
 484       switch (msg->type) {
 485       case FGJSBBase::Message::eText:
 486         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 487         break;
 488       case FGJSBBase::Message::eBool:
 489         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 490         break;
 491       case FGJSBBase::Message::eInteger:
 492         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 493         break;
 494       case FGJSBBase::Message::eDouble:
 495         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 496         break;
 497       default:
 498         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 499         break;
 500       }
 501     }
 502
 503     // translate JSBsim back to FG structure so that the
 504     // autopilot (and the rest of the sim can use the updated values
 505     copy_from_JSBsim();
 506 }
 507
 508 /******************************************************************************/
 509
 510 // Convert from the FGInterface struct to the JSBsim generic_ struct
 511
 512 bool FGJSBsim::copy_to_JSBsim()
 513 {
 514     double tmp;
 515     unsigned int i;
 516
 517     // copy control positions into the JSBsim structure
 518
 519     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 520     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 521     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 522     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 523     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 524     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 525     FCS->SetDsCmd( globals->get_controls()->get_rudder() );
 526     FCS->SetDfCmd( globals->get_controls()->get_flaps() );
 527     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 528     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 529
 530         // Parking brake sets minimum braking
 531         // level for mains.
 532     double parking_brake = globals->get_controls()->get_brake_parking();
 533     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 534     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 535     FCS->SetCBrake( 0.0 );
 536     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 537
 538     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 539     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 540       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 541
 542       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 543       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 544       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 545       FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
 546
 547       switch (Propulsion->GetEngine(i)->GetType()) {
 548       case FGEngine::etPiston:
 549         { // FGPiston code block
 550         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 551         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 552         break;
 553         } // end FGPiston code block
 554       case FGEngine::etTurbine:
 555         { // FGTurbine code block
 556         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 557         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 558         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 559         //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 560         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 561         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 562         break;
 563         } // end FGTurbine code block
 564       case FGEngine::etRocket:
 565         { // FGRocket code block
 566         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 567         break;
 568         } // end FGRocket code block
 569       case FGEngine::etTurboprop:
 570         { // FGTurboProp code block
 571         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 572         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 573         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 574         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 575
 576         eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
 577         eng->SetCondition( globals->get_controls()->get_condition(i) );
 578         break;
 579         } // end FGTurboProp code block
 580       }
 581
 582       { // FGEngine code block
 583       FGEngine* eng = Propulsion->GetEngine(i);
 584
 585       eng->SetStarter( globals->get_controls()->get_starter(i) );
 586       eng->SetRunning( node->getBoolValue("running") );
 587       } // end FGEngine code block
 588     }
 589
 590
 591     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 592
 593     Atmosphere->SetExTemperature(
 594                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 595     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 596     Atmosphere->SetExDensity(density->getDoubleValue());
 597
 598     tmp = turbulence_gain->getDoubleValue();
 599     //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 600
 601     tmp = turbulence_rate->getDoubleValue();
 602     //Atmosphere->SetTurbRate(tmp);
 603
 604     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 605                             wind_from_east->getDoubleValue(),
 606                             wind_from_down->getDoubleValue() );
 607 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 608 //                  << get_V_north_airmass() << ", "
 609 //                  << get_V_east_airmass()  << ", "
 610 //                  << get_V_down_airmass() );
 611
 612     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 613       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 614       FGTank * tank = Propulsion->GetTank(i);
 615       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 616 //       tank->SetContents(node->getDoubleValue("level-lb"));
 617     }
 618
 619     Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
 620     fdmex->SetSlave(slaved->getBoolValue());
 621
 622     return true;
 623 }
 624
 625 /******************************************************************************/
 626
 627 // Convert from the JSBsim generic_ struct to the FGInterface struct
 628
 629 bool FGJSBsim::copy_from_JSBsim()
 630 {
 631     unsigned int i, j;
 632 /*
 633     _set_Inertias( MassBalance->GetMass(),
 634                    MassBalance->GetIxx(),
 635                    MassBalance->GetIyy(),
 636                    MassBalance->GetIzz(),
 637                    MassBalance->GetIxz() );
 638 */
 639     _set_CG_Position( MassBalance->GetXYZcg(1),
 640                       MassBalance->GetXYZcg(2),
 641                       MassBalance->GetXYZcg(3) );
 642
 643     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 644                       Aircraft->GetBodyAccel(2),
 645                       Aircraft->GetBodyAccel(3) );
 646
 647     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 648                             Aircraft->GetNcg(2),
 649                             Aircraft->GetNcg(3) );
 650
 651     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 652                             Auxiliary->GetPilotAccel(2),
 653                             Auxiliary->GetPilotAccel(3) );
 654
 655     _set_Nlf( Aircraft->GetNlf() );
 656
 657     // Velocities
 658
 659     _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
 660                            Propagate->GetVel(FGJSBBase::eEast),
 661                            Propagate->GetVel(FGJSBBase::eDown) );
 662
 663     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 664                                Propagate->GetUVW(2),
 665                                Propagate->GetUVW(3) );
 666
 667     // Make the HUD work ...
 668     _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
 669                             Propagate->GetVel(FGJSBBase::eEast),
 670                             -Propagate->GetVel(FGJSBBase::eDown) );
 671
 672     _set_V_rel_wind( Auxiliary->GetVt() );
 673
 674     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 675
 676     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 677
 678     _set_V_ground_speed( Auxiliary->GetVground() );
 679
 680     _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
 681                      Propagate->GetPQR(FGJSBBase::eQ),
 682                      Propagate->GetPQR(FGJSBBase::eR) );
 683
 684     _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
 685                       Auxiliary->GetEulerRates(FGJSBBase::eTht),
 686                       Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
 687
 688     _set_Mach_number( Auxiliary->GetMach() );
 689
 690     // Positions of Visual Reference Point
 691     FGLocation l = Auxiliary->GetLocationVRP();
 692     _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
 693                                l.GetRadius() - get_Sea_level_radius() );
 694
 695     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 696     {
 697       double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
 698       double contact[3], d[3], sd, t;
 699       int id;
 700       is_valid_m(&t, d, &sd);
 701       get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd);
 702       double rwrad
 703         = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
 704       _set_Runway_altitude( rwrad - get_Sea_level_radius() );
 705     }
 706
 707     _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
 708                        Propagate->GetEuler(FGJSBBase::eTht),
 709                        Propagate->GetEuler(FGJSBBase::ePsi) );
 710
 711     _set_Alpha( Auxiliary->Getalpha() );
 712     _set_Beta( Auxiliary->Getbeta() );
 713
 714
 715     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 716
 717     _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
 718
 719     _set_Climb_Rate( Propagate->Gethdot() );
 720
 721     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 722     for ( i = 1; i <= 3; i++ ) {
 723         for ( j = 1; j <= 3; j++ ) {
 724             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 725         }
 726     }
 727
 728     // Copy the engine values from JSBSim.
 729     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 730       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 731       char buf[30];
 732       sprintf(buf, "engines/engine[%d]/thruster", i);
 733       SGPropertyNode * tnode = fgGetNode(buf, true);
 734       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 735
 736       switch (Propulsion->GetEngine(i)->GetType()) {
 737       case FGEngine::etPiston:
 738         { // FGPiston code block
 739         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 740         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 741         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 742         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 743         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 744         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 745         node->setDoubleValue("rpm", eng->getRPM());
 746         } // end FGPiston code block
 747         break;
 748       case FGEngine::etRocket:
 749         { // FGRocket code block
 750         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 751         } // end FGRocket code block
 752         break;
 753       case FGEngine::etTurbine:
 754         { // FGTurbine code block
 755         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 756         node->setDoubleValue("n1", eng->GetN1());
 757         node->setDoubleValue("n2", eng->GetN2());
 758         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 759         node->setBoolValue("augmentation", eng->GetAugmentation());
 760         node->setBoolValue("water-injection", eng->GetInjection());
 761         node->setBoolValue("ignition", eng->GetIgnition());
 762         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 763         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 764         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 765         node->setBoolValue("reversed", eng->GetReversed());
 766         node->setBoolValue("cutoff", eng->GetCutoff());
 767         node->setDoubleValue("epr", eng->GetEPR());
 768         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 769         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 770         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 771         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 772         } // end FGTurbine code block
 773         break;
 774       case FGEngine::etTurboprop:
 775         { // FGTurboProp code block
 776         FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
 777         node->setDoubleValue("n1", eng->GetN1());
 778         //node->setDoubleValue("n2", eng->GetN2());
 779         node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
 780         node->setBoolValue("ignition", eng->GetIgnition());
 781         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 782         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 783         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 784         node->setBoolValue("reversed", eng->GetReversed());
 785         node->setBoolValue("cutoff", eng->GetCutoff());
 786         node->setBoolValue("starting", eng->GetEngStarting());
 787         node->setBoolValue("generator-power", eng->GetGeneratorPower());
 788         node->setBoolValue("damaged", eng->GetCondition());
 789         node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
 790         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 791 //        node->setBoolValue("onfire", eng->GetFire());
 792         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 793         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 794         } // end FGTurboProp code block
 795         break;
 796       case FGEngine::etElectric:
 797         { // FGElectric code block
 798         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 799         node->setDoubleValue("rpm", eng->getRPM());
 800         } // end FGElectric code block
 801         break;
 802       }
 803
 804       { // FGEngine code block
 805       FGEngine* eng = Propulsion->GetEngine(i);
 806       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 807       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 808       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 809       node->setBoolValue("running", eng->GetRunning());
 810       node->setBoolValue("starter", eng->GetStarter());
 811       node->setBoolValue("cranking", eng->GetCranking());
 812       globals->get_controls()->set_starter(i, eng->GetStarter() );
 813       } // end FGEngine code block
 814
 815       switch (thruster->GetType()) {
 816       case FGThruster::ttNozzle:
 817         { // FGNozzle code block
 818         FGNozzle* noz = (FGNozzle*)thruster;
 819         } // end FGNozzle code block
 820         break;
 821       case FGThruster::ttPropeller:
 822         { // FGPropeller code block
 823         FGPropeller* prop = (FGPropeller*)thruster;
 824         tnode->setDoubleValue("rpm", thruster->GetRPM());
 825         tnode->setDoubleValue("pitch", prop->GetPitch());
 826         tnode->setDoubleValue("torque", prop->GetTorque());
 827         tnode->setBoolValue("feathered", prop->GetFeather());
 828         } // end FGPropeller code block
 829         break;
 830       case FGThruster::ttRotor:
 831         { // FGRotor code block
 832         FGRotor* rotor = (FGRotor*)thruster;
 833         } // end FGRotor code block
 834         break;
 835       case FGThruster::ttDirect:
 836         { // Direct code block
 837         } // end Direct code block
 838         break;
 839       }
 840
 841     }
 842
 843     // Copy the fuel levels from JSBSim if fuel
 844     // freeze not enabled.
 845     if ( ! Propulsion->GetFuelFreeze() ) {
 846       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 847         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 848         FGTank* tank = Propulsion->GetTank(i);
 849         double contents = tank->GetContents();
 850         double temp = tank->GetTemperature_degC();
 851         node->setDoubleValue("level-gal_us", contents/6.6);
 852         node->setDoubleValue("level-lb", contents);
 853         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 854       }
 855     }
 856
 857     update_gear();
 858
 859     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 860
 861     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 862     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 863     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 864     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 865     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 866     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 867     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 868
 869     // force a sim reset if crashed (altitude AGL < 0)
 870     if (get_Altitude_AGL() < -100.0) {
 871          fgSetBool("/sim/crashed", true);
 872          SGPropertyNode* node = fgGetNode("/sim/presets", true);
 873          globals->get_commands()->execute("old-reinit-dialog", node);
 874     }
 875
 876     return true;
 877 }
 878
 879
 880 bool FGJSBsim::ToggleDataLogging(void)
 881 {
 882   // ToDo: handle this properly
 883   fdmex->DisableOutput();
 884   return false;
 885 }
 886
 887
 888 bool FGJSBsim::ToggleDataLogging(bool state)
 889 {
 890     if (state) {
 891       fdmex->EnableOutput();
 892       return true;
 893     } else {
 894       fdmex->DisableOutput();
 895       return false;
 896     }
 897 }
 898
 899
 900 //Positions
 901 void FGJSBsim::set_Latitude(double lat)
 902 {
 903     static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
 904     double alt;
 905     double sea_level_radius_meters, lat_geoc;
 906
 907     // In case we're not trimming
 908     FGInterface::set_Latitude(lat);
 909
 910     if ( altitude->getDoubleValue() > -9990 ) {
 911       alt = altitude->getDoubleValue();
 912     } else {
 913       alt = 0.0;
 914     }
 915
 916     update_ic();
 917     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 918     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 919
 920     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 921                       &sea_level_radius_meters, &lat_geoc );
 922     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 923     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 924     fgic->SetLatitudeRadIC( lat_geoc );
 925     needTrim=true;
 926 }
 927
 928
 929 void FGJSBsim::set_Longitude(double lon)
 930 {
 931     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 932
 933     // In case we're not trimming
 934     FGInterface::set_Longitude(lon);
 935
 936     update_ic();
 937     fgic->SetLongitudeRadIC( lon );
 938     needTrim=true;
 939 }
 940
 941 void FGJSBsim::set_Altitude(double alt)
 942 {
 943     static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
 944
 945     double sea_level_radius_meters,lat_geoc;
 946
 947     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 948     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 949
 950     // In case we're not trimming
 951     FGInterface::set_Altitude(alt);
 952
 953     update_ic();
 954     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 955                   &sea_level_radius_meters, &lat_geoc);
 956     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 957     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 958     SG_LOG(SG_FLIGHT, SG_INFO,
 959           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 960     fgic->SetLatitudeRadIC( lat_geoc );
 961     fgic->SetAltitudeFtIC(alt);
 962     needTrim=true;
 963 }
 964
 965 void FGJSBsim::set_V_calibrated_kts(double vc)
 966 {
 967     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 968
 969     // In case we're not trimming
 970     FGInterface::set_V_calibrated_kts(vc);
 971
 972     update_ic();
 973     fgic->SetVcalibratedKtsIC(vc);
 974     needTrim=true;
 975 }
 976
 977 void FGJSBsim::set_Mach_number(double mach)
 978 {
 979     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 980
 981     // In case we're not trimming
 982     FGInterface::set_Mach_number(mach);
 983
 984     update_ic();
 985     fgic->SetMachIC(mach);
 986     needTrim=true;
 987 }
 988
 989 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
 990 {
 991     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 992        << north << ", " <<  east << ", " << down );
 993
 994     // In case we're not trimming
 995     FGInterface::set_Velocities_Local(north, east, down);
 996
 997     update_ic();
 998     fgic->SetVNorthFpsIC(north);
 999     fgic->SetVEastFpsIC(east);
1000     fgic->SetVDownFpsIC(down);
1001     needTrim=true;
1002 }
1003
1004 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1005 {
1006     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1007        << u << ", " <<  v << ", " <<  w );
1008
1009     // In case we're not trimming
1010     FGInterface::set_Velocities_Wind_Body(u, v, w);
1011
1012     update_ic();
1013     fgic->SetUBodyFpsIC(u);
1014     fgic->SetVBodyFpsIC(v);
1015     fgic->SetWBodyFpsIC(w);
1016     needTrim=true;
1017 }
1018
1019 //Euler angles
1020 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1021 {
1022     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1023        << phi << ", " << theta << ", " << psi );
1024
1025     // In case we're not trimming
1026     FGInterface::set_Euler_Angles(phi, theta, psi);
1027
1028     update_ic();
1029     fgic->SetThetaRadIC(theta);
1030     fgic->SetPhiRadIC(phi);
1031     fgic->SetPsiRadIC(psi);
1032     needTrim=true;
1033 }
1034
1035 //Flight Path
1036 void FGJSBsim::set_Climb_Rate( double roc)
1037 {
1038     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1039
1040     // In case we're not trimming
1041     FGInterface::set_Climb_Rate(roc);
1042
1043     update_ic();
1044     //since both climb rate and flight path angle are set in the FG
1045     //startup sequence, something is needed to keep one from cancelling
1046     //out the other.
1047     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1048       fgic->SetClimbRateFpsIC(roc);
1049     }
1050     needTrim=true;
1051 }
1052
1053 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1054 {
1055     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1056
1057     update_ic();
1058     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1059       fgic->SetFlightPathAngleRadIC(gamma);
1060     }
1061     needTrim=true;
1062 }
1063
1064 void FGJSBsim::init_gear(void )
1065 {
1066     FGGroundReactions* gr=fdmex->GetGroundReactions();
1067     int Ngear=GroundReactions->GetNumGearUnits();
1068     for (int i=0;i<Ngear;i++) {
1069       FGLGear *gear = gr->GetGearUnit(i);
1070       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1071       node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1072       node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1073       node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1074       node->setBoolValue("wow", gear->GetWOW());
1075       node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1076       node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1077       node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1078       node->setDoubleValue("compression-norm", gear->GetCompLen());
1079       if ( gear->GetSteerable() )
1080         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1081     }
1082 }
1083
1084 void FGJSBsim::update_gear(void)
1085 {
1086     FGGroundReactions* gr=fdmex->GetGroundReactions();
1087     int Ngear=GroundReactions->GetNumGearUnits();
1088     for (int i=0;i<Ngear;i++) {
1089       FGLGear *gear = gr->GetGearUnit(i);
1090       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1091       node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1092       node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1093       gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1094       node->setDoubleValue("compression-norm", gear->GetCompLen());
1095       if ( gear->GetSteerable() )
1096         node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1097     }
1098 }
1099
1100 void FGJSBsim::do_trim(void)
1101 {
1102   FGTrim *fgtrim;
1103
1104   if ( fgGetBool("/sim/presets/onground") )
1105   {
1106     fgtrim = new FGTrim(fdmex,tGround);
1107   } else {
1108     fgtrim = new FGTrim(fdmex,tLongitudinal);
1109   }
1110
1111   if ( !fgtrim->DoTrim() ) {
1112     fgtrim->Report();
1113     fgtrim->TrimStats();
1114   } else {
1115     trimmed->setBoolValue(true);
1116   }
1117 //  if (FGJSBBase::debug_lvl > 0)
1118 //      State->ReportState();
1119
1120   delete fgtrim;
1121
1122   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1123   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1124   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1125   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1126
1127   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1128   globals->get_controls()->set_elevator(FCS->GetDeCmd());
1129   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1130   FCS->GetThrottleCmd(0));
1131
1132   globals->get_controls()->set_aileron(FCS->GetDaCmd());
1133   globals->get_controls()->set_rudder( FCS->GetDrCmd());
1134
1135   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
1136 }
1137
1138 void FGJSBsim::update_ic(void)
1139 {
1140    if ( !needTrim ) {
1141      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1142      fgic->SetLongitudeRadIC( get_Longitude() );
1143      fgic->SetAltitudeFtIC( get_Altitude() );
1144      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1145      fgic->SetThetaRadIC( get_Theta() );
1146      fgic->SetPhiRadIC( get_Phi() );
1147      fgic->SetPsiRadIC( get_Psi() );
1148      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1149    }
1150 }
1151
1152 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1153 {
1154     return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1155 }
1156
1157 inline static double sqr(double x)
1158 {
1159     return x * x;
1160 }
1161
1162 static double angle_diff(double a, double b)
1163 {
1164     double diff = fabs(a - b);
1165     if (diff > 180) diff = 360 - diff;
1166
1167     return diff;
1168 }
1169
1170 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)
1171 {
1172     FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1173     double dist = dot3(tip, ground_normal_body);
1174     if (fabs(dist + E) < 0.0001) {
1175         sin_fis[*points] = sin_fi_guess;
1176         cos_fis[*points] = cos_fi_guess;
1177         fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1178         (*points)++;
1179     }
1180 }
1181
1182
1183 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)
1184 {
1185     if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1186         double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1187         check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1188         if (fabs(cos_fi_guess) > SG_EPSILON) {
1189             check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1190         }
1191     }
1192 }
1193
1194 void FGJSBsim::update_external_forces(double t_off)
1195 {
1196     const FGMatrix33& Tb2l = Propagate->GetTb2l();
1197     const FGMatrix33& Tl2b = Propagate->GetTl2b();
1198     const FGLocation& Location = Propagate->GetLocation();
1199     const FGMatrix33& Tec2l = Location.GetTec2l();
1200
1201     double hook_area[4][3];
1202
1203     FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1204     FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l *   hook_root_body);
1205     hook_area[1][0] = hook_root(1);
1206     hook_area[1][1] = hook_root(2);
1207     hook_area[1][2] = hook_root(3);
1208
1209     hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1210     double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1211     double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1212     double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1213     double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1214     double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1215
1216     FGColumnVector3 hook_tip_body = hook_root_body;
1217     hook_tip_body(1) -= hook_length * cos_fi;
1218     hook_tip_body(3) += hook_length * sin_fi;
1219     bool hook_tip_valid = true;
1220
1221     double contact[3];
1222     double ground_normal[3];
1223     double ground_vel[3];
1224     int ground_type;
1225     const SGMaterial* ground_material;
1226     double root_agl_ft;
1227
1228     if (!got_wire) {
1229         bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &ground_type, &ground_material, &root_agl_ft);
1230         if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1231             FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1232             FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1233             double D = -dot3(contact_body, ground_normal_body);
1234
1235             // check hook tip agl against same ground plane
1236             double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1237             if (hook_tip_agl_ft < 0) {
1238
1239                 // hook tip: hx - l cos, hy, hz + l sin
1240                 // on ground:  - n0 l cos + n2 l sin + E = 0
1241
1242                 double E = D + dot3(hook_root_body, ground_normal_body);
1243
1244                 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1245                 // and rearrange to get a quadratic with coeffs:
1246                 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1247                 double b = 2 * E * ground_normal_body(3) * hook_length;
1248                 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1249
1250                 double disc = sqr(b) - 4 * a * c;
1251                 if (disc >= 0) {
1252                     double delta = sqrt(disc) / (2 * a);
1253
1254                     // allow 4 solutions for safety, should never happen
1255                     double sin_fis[4];
1256                     double cos_fis[4];
1257                     double fis[4];
1258                     int points = 0;
1259
1260                     double sin_fi_guess = -b / (2 * a) - delta;
1261                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1262                     check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1263
1264                     if (points == 2) {
1265                         double diff1 = angle_diff(fi, fis[0]);
1266                         double diff2 = angle_diff(fi, fis[1]);
1267                         int point = diff1 < diff2 ? 0 : 1;
1268                         fi = fis[point];
1269                         sin_fi = sin_fis[point];
1270                         cos_fi = cos_fis[point];
1271                         hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1272                         hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1273                     }
1274                 }
1275             }
1276         }
1277     } else {
1278         FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() *  hook_root_body));
1279         double wire_ends_ec[2][3];
1280         double wire_vel_ec[2][3];
1281         get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1282         FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1283         FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1284         FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1285         if (rel_vel.Magnitude() < 3) {
1286             got_wire = false;
1287             release_wire();
1288             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1289         } else {
1290             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;
1291             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;
1292             FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1293             force_plane_normal.Normalize();
1294             cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1295             if (cos_fi < 0) cos_fi = -cos_fi;
1296             sin_fi = sqrt(1 - sqr(cos_fi));
1297             fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1298
1299             fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1300             fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1301             fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1302             fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1303         }
1304     }
1305
1306     FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1307
1308     hook_area[0][0] = hook_tip(1);
1309     hook_area[0][1] = hook_tip(2);
1310     hook_area[0][2] = hook_tip(3);
1311
1312     if (!got_wire) {
1313         // The previous positions.
1314         hook_area[2][0] = last_hook_root[0];
1315         hook_area[2][1] = last_hook_root[1];
1316         hook_area[2][2] = last_hook_root[2];
1317         hook_area[3][0] = last_hook_tip[0];
1318         hook_area[3][1] = last_hook_tip[1];
1319         hook_area[3][2] = last_hook_tip[2];
1320
1321         // Check if we caught a wire.
1322         // Returns true if we caught one.
1323         if (caught_wire_ft(t_off, hook_area)) {
1324                 got_wire = true;
1325         }
1326     }
1327
1328     // save actual position as old position ...
1329     last_hook_tip[0] = hook_area[0][0];
1330     last_hook_tip[1] = hook_area[0][1];
1331     last_hook_tip[2] = hook_area[0][2];
1332     last_hook_root[0] = hook_area[1][0];
1333     last_hook_root[1] = hook_area[1][1];
1334     last_hook_root[2] = hook_area[1][2];
1335
1336     fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);
1337 }
1338