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 #ifdef SG_MATH_EXCEPTION_CLASH
  31 #  include <math.h>
  32 #endif
  33
  34 #include STL_STRING
  35
  36 #include <simgear/constants.h>
  37 #include <simgear/debug/logstream.hxx>
  38 #include <simgear/math/sg_geodesy.hxx>
  39 #include <simgear/misc/sg_path.hxx>
  40
  41 #include <FDM/flight.hxx>
  42
  43 #include <Aircraft/aircraft.hxx>
  44 #include <Controls/controls.hxx>
  45 #include <Main/globals.hxx>
  46 #include <Main/fg_props.hxx>
  47
  48 #include <FDM/JSBSim/FGFDMExec.h>
  49 #include <FDM/JSBSim/FGAircraft.h>
  50 #include <FDM/JSBSim/FGFCS.h>
  51 #include <FDM/JSBSim/FGPosition.h>
  52 #include <FDM/JSBSim/FGRotation.h>
  53 #include <FDM/JSBSim/FGState.h>
  54 #include <FDM/JSBSim/FGTranslation.h>
  55 #include <FDM/JSBSim/FGAuxiliary.h>
  56 #include <FDM/JSBSim/FGInitialCondition.h>
  57 #include <FDM/JSBSim/FGTrim.h>
  58 #include <FDM/JSBSim/FGAtmosphere.h>
  59 #include <FDM/JSBSim/FGMassBalance.h>
  60 #include <FDM/JSBSim/FGAerodynamics.h>
  61 #include <FDM/JSBSim/FGLGear.h>
  62 #include <FDM/JSBSim/FGPropertyManager.h>
  63 #include "JSBSim.hxx"
  64
  65 static inline double
  66 FMAX (double a, double b)
  67 {
  68   return a > b ? a : b;
  69 }
  70
  71
  72 /******************************************************************************/
  73
  74 FGJSBsim::FGJSBsim( double dt )
  75   : FGInterface(dt)
  76 {
  77     bool result;
  78
  79     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
  80
  81     State           = fdmex->GetState();
  82     Atmosphere      = fdmex->GetAtmosphere();
  83     FCS             = fdmex->GetFCS();
  84     MassBalance     = fdmex->GetMassBalance();
  85     Propulsion      = fdmex->GetPropulsion();
  86     Aircraft        = fdmex->GetAircraft();
  87     Translation     = fdmex->GetTranslation();
  88     Rotation        = fdmex->GetRotation();
  89     Position        = fdmex->GetPosition();
  90     Auxiliary       = fdmex->GetAuxiliary();
  91     Aerodynamics    = fdmex->GetAerodynamics();
  92     GroundReactions = fdmex->GetGroundReactions();
  93
  94     fgic=fdmex->GetIC();
  95     needTrim=true;
  96
  97     SGPath aircraft_path( globals->get_fg_root() );
  98     aircraft_path.append( "Aircraft" );
  99
 100     SGPath engine_path( globals->get_fg_root() );
 101     engine_path.append( "Engine" );
 102     State->Setdt( dt );
 103
 104     result = fdmex->LoadModel( aircraft_path.str(),
 105                                engine_path.str(),
 106                                fgGetString("/sim/aero") );
 107
 108     if (result) {
 109       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 110     } else {
 111       SG_LOG( SG_FLIGHT, SG_INFO,
 112               "  aero does not exist (you may have mis-typed the name).");
 113       throw(-1);
 114     }
 115
 116     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 117     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 118     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 119
 120     int Neng = Propulsion->GetNumEngines();
 121     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 122
 123     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 124         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 125                 << GroundReactions->GetNumGearUnits() );
 126         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 127          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 128          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 129          exit(-1);
 130     }
 131
 132
 133     init_gear();
 134
 135                                 // Set initial fuel levels if provided.
 136     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 137       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 138       if (node->getChild("level-gal_us", 0, false) != 0)
 139         Propulsion->GetTank(i)
 140           ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 141     }
 142
 143     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 144     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 145     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 146     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 147
 148     startup_trim = fgGetNode("/sim/presets/trim", true);
 149
 150     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 151     trimmed->setBoolValue(false);
 152
 153     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 154     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 155     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 156     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 157
 158     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 159     stall_warning->setDoubleValue(0);
 160
 161
 162     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 163     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 164     left_aileron_pos_pct
 165         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 166     right_aileron_pos_pct
 167         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 168     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 169
 170
 171
 172     elevator_pos_pct->setDoubleValue(0);
 173     left_aileron_pos_pct->setDoubleValue(0);
 174     right_aileron_pos_pct->setDoubleValue(0);
 175     rudder_pos_pct->setDoubleValue(0);
 176     flap_pos_pct->setDoubleValue(0);
 177
 178     temperature = fgGetNode("/environment/temperature-degc",true);
 179     pressure = fgGetNode("/environment/pressure-inhg",true);
 180     density = fgGetNode("/environment/density-slugft3",true);
 181     turbulence = fgGetNode("environment/turbulence-norm",true);
 182
 183     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 184     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 185     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 186
 187
 188 }
 189 /******************************************************************************/
 190 FGJSBsim::~FGJSBsim(void) {
 191         delete fdmex;
 192 }
 193
 194 /******************************************************************************/
 195
 196 // Initialize the JSBsim flight model, dt is the time increment for
 197 // each subsequent iteration through the EOM
 198
 199 void FGJSBsim::init() {
 200
 201     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 202
 203     // Explicitly call the superclass's
 204     // init method first.
 205
 206 #ifdef FG_WEATHERCM
 207     Atmosphere->UseInternal();
 208 #else
 209     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 210       Atmosphere->UseExternal();
 211       Atmosphere->SetExTemperature(
 212                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 213       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 214       Atmosphere->SetExDensity(density->getDoubleValue());
 215       Atmosphere->SetTurbGain(turbulence->getDoubleValue() *
 216                               turbulence->getDoubleValue() *
 217                               100.0);
 218     } else {
 219       Atmosphere->UseInternal();
 220     }
 221 #endif
 222
 223     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 224     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 225     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 226
 227     //Atmosphere->SetExTemperature(get_Static_temperature());
 228     //Atmosphere->SetExPressure(get_Static_pressure());
 229     //Atmosphere->SetExDensity(get_Density());
 230     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 231      << ", " << fdmex->GetAtmosphere()->GetPressure()
 232      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 233
 234     common_init();
 235     copy_to_JSBsim();
 236
 237
 238     fdmex->RunIC(); //loop JSBSim once w/o integrating
 239     copy_from_JSBsim(); //update the bus
 240
 241     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 242
 243     switch(fgic->GetSpeedSet()) {
 244     case setned:
 245         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 246                << Position->GetVn() << ", "
 247                << Position->GetVe() << ", "
 248                << Position->GetVd() << " ft/s");
 249     break;
 250     case setuvw:
 251         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 252                << Translation->GetUVW(1) << ", "
 253                << Translation->GetUVW(2) << ", "
 254                << Translation->GetUVW(3) << " ft/s");
 255     break;
 256     case setmach:
 257         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 258                << Translation->GetMach() );
 259     break;
 260     case setvc:
 261     default:
 262         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 263                << Auxiliary->GetVcalibratedKTS() << " knots" );
 264     break;
 265     }
 266
 267     stall_warning->setDoubleValue(0);
 268
 269     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 270             <<  Rotation->Getphi()*RADTODEG << " deg" );
 271     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 272             << Rotation->Gettht()*RADTODEG << " deg" );
 273     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 274             << Rotation->Getpsi()*RADTODEG << " deg" );
 275     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 276             << Position->GetLatitude() << " deg" );
 277     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 278             << Position->GetLongitude() << " deg" );
 279     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 280         << Position->Geth() << " feet" );
 281     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 282
 283     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 284
 285     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 286
 287     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 288                                   globals->get_controls()->get_gear_down() );
 289
 290
 291
 292 }
 293
 294 /******************************************************************************/
 295
 296 // Run an iteration of the EOM (equations of motion)
 297
 298 void
 299 FGJSBsim::update( double dt ) {
 300
 301     if (is_suspended())
 302       return;
 303
 304     int multiloop = _calc_multiloop(dt);
 305
 306     int i;
 307
 308     // double save_alt = 0.0;
 309
 310     copy_to_JSBsim();
 311
 312     trimmed->setBoolValue(false);
 313
 314     if ( needTrim ) {
 315       if ( startup_trim->getBoolValue() ) {
 316         SG_LOG(SG_FLIGHT, SG_INFO,
 317           "Ready to trim, terrain altitude is: "
 318             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 319         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 320         do_trim();
 321       } else {
 322         fdmex->RunIC();  //apply any changes made through the set_ functions
 323       }
 324       needTrim = false;
 325     }
 326
 327     for ( i=0; i < multiloop; i++ ) {
 328         fdmex->Run();
 329     }
 330
 331     FGJSBBase::Message* msg;
 332     while (fdmex->ReadMessage()) {
 333       msg = fdmex->ProcessMessage();
 334       switch (msg->type) {
 335       case FGJSBBase::Message::eText:
 336         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 337         break;
 338       case FGJSBBase::Message::eBool:
 339         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 340         break;
 341       case FGJSBBase::Message::eInteger:
 342         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 343         break;
 344       case FGJSBBase::Message::eDouble:
 345         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 346         break;
 347       default:
 348         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 349         break;
 350       }
 351     }
 352
 353     // translate JSBsim back to FG structure so that the
 354     // autopilot (and the rest of the sim can use the updated values
 355     copy_from_JSBsim();
 356 }
 357
 358 /******************************************************************************/
 359
 360 // Convert from the FGInterface struct to the JSBsim generic_ struct
 361
 362 bool FGJSBsim::copy_to_JSBsim() {
 363     unsigned int i;
 364
 365     // copy control positions into the JSBsim structure
 366
 367     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 368     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 369     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 370     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 371     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 372     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 373     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 374     FCS->SetDsbCmd( 0.0 ); //speedbrakes
 375     FCS->SetDspCmd( 0.0 ); //spoilers
 376
 377                                 // Parking brake sets minimum braking
 378                                 // level for mains.
 379     double parking_brake = globals->get_controls()->get_parking_brake();
 380     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
 381     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
 382     FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
 383
 384     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 385     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 386       FGEngine * eng = Propulsion->GetEngine(i);
 387       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 388       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 389       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 390       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 391       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
 392       eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 393       eng->SetStarter( globals->get_controls()->get_starter(i) );
 394     }
 395
 396     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 397     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 398     Position->SetRunwayRadius( get_Runway_altitude()
 399                                + get_Sea_level_radius() );
 400
 401     Atmosphere->SetExTemperature(
 402                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 403     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 404     Atmosphere->SetExDensity(density->getDoubleValue());
 405     Atmosphere->SetTurbGain(turbulence->getDoubleValue() *
 406                             turbulence->getDoubleValue() *
 407                             100.0);
 408
 409     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 410                             wind_from_east->getDoubleValue(),
 411                             wind_from_down->getDoubleValue() );
 412 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 413 //                  << get_V_north_airmass() << ", "
 414 //                  << get_V_east_airmass()  << ", "
 415 //                  << get_V_down_airmass() );
 416
 417     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 418       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 419       FGTank * tank = Propulsion->GetTank(i);
 420       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 421 //       tank->SetContents(node->getDoubleValue("level-lb"));
 422     }
 423
 424     return true;
 425 }
 426
 427 /******************************************************************************/
 428
 429 // Convert from the JSBsim generic_ struct to the FGInterface struct
 430
 431 bool FGJSBsim::copy_from_JSBsim() {
 432     unsigned int i, j;
 433
 434     _set_Inertias( MassBalance->GetMass(),
 435                    MassBalance->GetIxx(),
 436                    MassBalance->GetIyy(),
 437                    MassBalance->GetIzz(),
 438                    MassBalance->GetIxz() );
 439
 440     _set_CG_Position( MassBalance->GetXYZcg(1),
 441                       MassBalance->GetXYZcg(2),
 442                       MassBalance->GetXYZcg(3) );
 443
 444     _set_Accels_Body( Aircraft->GetBodyAccel()(1),
 445                       Aircraft->GetBodyAccel()(2),
 446                       Aircraft->GetBodyAccel()(3) );
 447
 448     //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
 449     //                     Aircraft->GetBodyAccel()(2),
 450     //                     Aircraft->GetBodyAccel()(3) );
 451     //
 452     _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
 453                             Aircraft->GetNcg()(2),
 454                             Aircraft->GetNcg()(3) );
 455
 456     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
 457                             Auxiliary->GetPilotAccel()(2),
 458                             Auxiliary->GetPilotAccel()(3) );
 459
 460    // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
 461    //                           Auxiliary->GetNpilot(2)/32.1739,
 462    //                           Auxiliary->GetNpilot(3)/32.1739 );
 463
 464     _set_Nlf( Aircraft->GetNlf() );
 465
 466     // Velocities
 467
 468     _set_Velocities_Local( Position->GetVn(),
 469                            Position->GetVe(),
 470                            Position->GetVd() );
 471
 472     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 473                                Translation->GetUVW(2),
 474                                Translation->GetUVW(3) );
 475
 476     _set_V_rel_wind( Translation->GetVt() );
 477
 478     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 479
 480     // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
 481
 482     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 483
 484     _set_V_ground_speed( Position->GetVground() );
 485
 486     _set_Omega_Body( Rotation->GetPQR(1),
 487                      Rotation->GetPQR(2),
 488                      Rotation->GetPQR(3) );
 489
 490     _set_Euler_Rates( Rotation->GetEulerRates(1),
 491                       Rotation->GetEulerRates(2),
 492                       Rotation->GetEulerRates(3) );
 493
 494     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 495                           Position->GetLongitudeDot(),
 496                           Position->Gethdot() );
 497
 498     _set_Mach_number( Translation->GetMach() );
 499
 500     // Positions
 501     _updateGeocentricPosition( Position->GetLatitude(),
 502                                Position->GetLongitude(),
 503                                Position->Geth() );
 504
 505     _set_Altitude_AGL( Position->GetDistanceAGL() );
 506
 507     _set_Euler_Angles( Rotation->Getphi(),
 508                        Rotation->Gettht(),
 509                        Rotation->Getpsi() );
 510
 511     _set_Alpha( Translation->Getalpha() );
 512     _set_Beta( Translation->Getbeta() );
 513
 514
 515     _set_Gamma_vert_rad( Position->GetGamma() );
 516     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 517
 518     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 519
 520     _set_Climb_Rate( Position->Gethdot() );
 521
 522
 523     for ( i = 1; i <= 3; i++ ) {
 524         for ( j = 1; j <= 3; j++ ) {
 525             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 526         }
 527     }
 528
 529                                 // Copy the engine values from JSBSim.
 530     for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 531       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 532       FGEngine * eng = Propulsion->GetEngine(i);
 533       FGThruster * thrust = Propulsion->GetThruster(i);
 534
 535       node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 536       node->setDoubleValue("rpm", thrust->GetRPM());
 537       node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 538       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 539       node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 540       node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 541       node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 542       node->setBoolValue("running", eng->GetRunning());
 543       node->setBoolValue("cranking", eng->GetCranking());
 544     }
 545
 546     static const SGPropertyNode *fuel_freeze
 547         = fgGetNode("/sim/freeze/fuel");
 548
 549                                 // Copy the fuel levels from JSBSim if fuel
 550                                 // freeze not enabled.
 551     if ( ! fuel_freeze->getBoolValue() ) {
 552         for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 553             SGPropertyNode * node
 554                 = fgGetNode("/consumables/fuel/tank", i, true);
 555             double contents = Propulsion->GetTank(i)->GetContents();
 556             node->setDoubleValue("level-gal_us", contents/6.6);
 557             // node->setDoubleValue("level-lb", contents);
 558         }
 559     }
 560
 561     update_gear();
 562
 563     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 564
 565     /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
 566     left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
 567     right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
 568     rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
 569     flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
 570
 571
 572     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 573     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 574     right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
 575     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 576     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 577
 578
 579     return true;
 580 }
 581
 582 bool FGJSBsim::ToggleDataLogging(void) {
 583     return fdmex->GetOutput()->Toggle();
 584 }
 585
 586
 587 bool FGJSBsim::ToggleDataLogging(bool state) {
 588     if (state) {
 589       fdmex->GetOutput()->Enable();
 590       return true;
 591     } else {
 592       fdmex->GetOutput()->Disable();
 593       return false;
 594     }
 595 }
 596
 597
 598 //Positions
 599 void FGJSBsim::set_Latitude(double lat) {
 600     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 601     double alt;
 602     double sea_level_radius_meters, lat_geoc;
 603
 604     if ( altitude->getDoubleValue() > -9990 ) {
 605       alt = altitude->getDoubleValue();
 606     } else {
 607       alt = 0.0;
 608     }
 609
 610     update_ic();
 611     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 612     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 613
 614     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 615                       &sea_level_radius_meters, &lat_geoc );
 616     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 617     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 618     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 619     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 620     fgic->SetLatitudeRadIC( lat_geoc );
 621     needTrim=true;
 622 }
 623
 624 void FGJSBsim::set_Longitude(double lon) {
 625
 626     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 627     update_ic();
 628     fgic->SetLongitudeRadIC( lon );
 629     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 630     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 631     needTrim=true;
 632 }
 633
 634 void FGJSBsim::set_Altitude(double alt) {
 635     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 636
 637     double sea_level_radius_meters,lat_geoc;
 638
 639     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 640     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 641
 642     update_ic();
 643     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 644                   &sea_level_radius_meters, &lat_geoc);
 645     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 646     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 647     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 648     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 649     SG_LOG(SG_FLIGHT, SG_INFO,
 650           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 651     fgic->SetLatitudeRadIC( lat_geoc );
 652     fgic->SetAltitudeFtIC(alt);
 653     needTrim=true;
 654 }
 655
 656 void FGJSBsim::set_V_calibrated_kts(double vc) {
 657     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 658
 659     update_ic();
 660     fgic->SetVcalibratedKtsIC(vc);
 661     needTrim=true;
 662 }
 663
 664 void FGJSBsim::set_Mach_number(double mach) {
 665     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 666
 667     update_ic();
 668     fgic->SetMachIC(mach);
 669     needTrim=true;
 670 }
 671
 672 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
 673     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 674        << north << ", " <<  east << ", " << down );
 675
 676     update_ic();
 677     fgic->SetVnorthFpsIC(north);
 678     fgic->SetVeastFpsIC(east);
 679     fgic->SetVdownFpsIC(down);
 680     needTrim=true;
 681 }
 682
 683 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
 684     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 685        << u << ", " <<  v << ", " <<  w );
 686
 687     update_ic();
 688     fgic->SetUBodyFpsIC(u);
 689     fgic->SetVBodyFpsIC(v);
 690     fgic->SetWBodyFpsIC(w);
 691     needTrim=true;
 692 }
 693
 694 //Euler angles
 695 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
 696     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 697        << phi << ", " << theta << ", " << psi );
 698
 699     update_ic();
 700     fgic->SetPitchAngleRadIC(theta);
 701     fgic->SetRollAngleRadIC(phi);
 702     fgic->SetTrueHeadingRadIC(psi);
 703     needTrim=true;
 704 }
 705
 706 //Flight Path
 707 void FGJSBsim::set_Climb_Rate( double roc) {
 708     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 709
 710     update_ic();
 711     //since both climb rate and flight path angle are set in the FG
 712     //startup sequence, something is needed to keep one from cancelling
 713     //out the other.
 714     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 715       fgic->SetClimbRateFpsIC(roc);
 716     }
 717     needTrim=true;
 718 }
 719
 720 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
 721     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 722
 723     update_ic();
 724     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 725       fgic->SetFlightPathAngleRadIC(gamma);
 726     }
 727     needTrim=true;
 728 }
 729
 730 void FGJSBsim::init_gear(void ) {
 731
 732     FGGroundReactions* gr=fdmex->GetGroundReactions();
 733     int Ngear=GroundReactions->GetNumGearUnits();
 734     for (int i=0;i<Ngear;i++) {
 735       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 736       node->setDoubleValue("xoffset-in",
 737                            gr->GetGearUnit(i)->GetBodyLocation()(1));
 738       node->setDoubleValue("yoffset-in",
 739                            gr->GetGearUnit(i)->GetBodyLocation()(2));
 740       node->setDoubleValue("zoffset-in",
 741                            gr->GetGearUnit(i)->GetBodyLocation()(3));
 742       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 743       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 744       node->setDoubleValue("position-norm", FCS->GetGearPos());
 745     }
 746 }
 747
 748 void FGJSBsim::update_gear(void) {
 749
 750     FGGroundReactions* gr=fdmex->GetGroundReactions();
 751     int Ngear=GroundReactions->GetNumGearUnits();
 752     for (int i=0;i<Ngear;i++) {
 753       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 754       node->getChild("wow", 0, true)
 755         ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 756       node->getChild("position-norm", 0, true)
 757         ->setDoubleValue(FCS->GetGearPos());
 758     }
 759 }
 760
 761 void FGJSBsim::do_trim(void) {
 762
 763         FGTrim *fgtrim;
 764         if( fgGetBool("/sim/presets/onground") ) {
 765             fgic->SetVcalibratedKtsIC(0.0);
 766             fgtrim=new FGTrim(fdmex,tGround);
 767         } else {
 768             fgtrim=new FGTrim(fdmex,tLongitudinal);
 769         }
 770         if( !fgtrim->DoTrim() ) {
 771             fgtrim->Report();
 772             fgtrim->TrimStats();
 773         } else {
 774             trimmed->setBoolValue(true);
 775         }
 776         State->ReportState();
 777         delete fgtrim;
 778         pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 779         throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 780         aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 781         rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 782
 783         globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 784         globals->get_controls()->set_elevator(FCS->GetDeCmd());
 785         globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 786                                               FCS->GetThrottleCmd(0));
 787
 788         globals->get_controls()->set_aileron(FCS->GetDaCmd());
 789         globals->get_controls()->set_rudder( FCS->GetDrCmd());
 790
 791         SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 792 }
 793
 794 void FGJSBsim::update_ic(void) {
 795    if( !needTrim ) {
 796      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 797      fgic->SetLongitudeRadIC( get_Longitude() );
 798      fgic->SetAltitudeFtIC( get_Altitude() );
 799      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 800      fgic->SetPitchAngleRadIC( get_Theta() );
 801      fgic->SetRollAngleRadIC( get_Phi() );
 802      fgic->SetTrueHeadingRadIC( get_Psi() );
 803      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 804    }
 805 }
 806