1 // JSBsim.cxx -- interface to the JSBsim flight model
3 // Written by Curtis Olson, started February 1999.
5 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
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.
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.
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.
28 #include <simgear/compiler.h>
30 #include <stdio.h> // size_t
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>
39 #include <FDM/flight.hxx>
41 #include <Aircraft/aircraft.hxx>
42 #include <Aircraft/controls.hxx>
43 #include <Main/globals.hxx>
44 #include <Main/fg_props.hxx>
47 #include <FDM/JSBSim/FGFDMExec.h>
48 #include <FDM/JSBSim/FGJSBBase.h>
49 #include <FDM/JSBSim/FGState.h>
50 #include <FDM/JSBSim/initialization/FGInitialCondition.h>
51 #include <FDM/JSBSim/initialization/FGTrim.h>
52 #include <FDM/JSBSim/models/FGModel.h>
53 #include <FDM/JSBSim/models/FGAircraft.h>
54 #include <FDM/JSBSim/models/FGFCS.h>
55 #include <FDM/JSBSim/models/FGPropagate.h>
56 #include <FDM/JSBSim/models/FGAuxiliary.h>
57 #include <FDM/JSBSim/models/FGInertial.h>
58 #include <FDM/JSBSim/models/FGAtmosphere.h>
59 #include <FDM/JSBSim/models/FGMassBalance.h>
60 #include <FDM/JSBSim/models/FGAerodynamics.h>
61 #include <FDM/JSBSim/models/FGLGear.h>
62 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
63 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
64 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
65 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
66 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
67 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
68 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
69 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
70 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
71 #include <FDM/JSBSim/models/propulsion/FGTank.h>
72 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
73 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
75 using namespace JSBSim;
78 FMAX (double a, double b)
83 class FGFSGroundCallback : public FGGroundCallback {
85 FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
86 virtual ~FGFSGroundCallback() {}
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) };
94 sgCartToGeod( pt, &lat, &lon, &alt);
95 return alt * SG_METER_TO_FEET;
98 /** Compute the altitude above ground. */
99 virtual double GetAGLevel(double t, const FGLocation& l,
101 FGColumnVector3& n, FGColumnVector3& v) const {
102 double loc_cart[3] = { l(eX), l(eY), l(eZ) };
103 double contact[3], normal[3], vel[3], agl = 0;
104 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
106 n = FGColumnVector3( -normal[0], -normal[1], -normal[2] );
107 v = FGColumnVector3( vel[0], vel[1], vel[2] );
108 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
112 FGJSBsim* mInterface;
115 /******************************************************************************/
117 FGJSBsim::FGJSBsim( double dt )
118 : FGInterface(dt), got_wire(false)
121 // Set up the debugging level
122 // FIXME: this will not respond to
125 // if flight is excluded, don't bother
126 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
128 // do a rough-and-ready mapping to
129 // the levels documented in FGFDMExec.h
130 switch (logbuf::get_log_priority()) {
132 FGJSBBase::debug_lvl = 0x1f;
135 FGJSBBase::debug_lvl = 0x0f;
137 FGJSBBase::debug_lvl = 0x01;
141 FGJSBBase::debug_lvl = 0x00;
146 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
148 // Register ground callback.
149 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
151 State = fdmex->GetState();
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();
166 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
168 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
169 engine_path.append( "Engine" );
171 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
172 systems_path.append( "Systems" );
176 result = fdmex->LoadModel( aircraft_path.str(),
179 fgGetString("/sim/aero"), false );
182 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
184 SG_LOG( SG_FLIGHT, SG_INFO,
185 " aero does not exist (you may have mis-typed the name).");
189 SG_LOG( SG_FLIGHT, SG_INFO, "" );
190 SG_LOG( SG_FLIGHT, SG_INFO, "" );
191 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
193 int Neng = Propulsion->GetNumEngines();
194 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
196 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
197 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
198 << GroundReactions->GetNumGearUnits() );
199 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
200 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
201 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
207 // Set initial fuel levels if provided.
208 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
209 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
210 if (node->getChild("level-gal_us", 0, false) != 0) {
211 Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
213 node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
214 node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
216 node->setDoubleValue("capacity-gal_us",
217 Propulsion->GetTank(i)->GetCapacity() / 6.6);
219 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
221 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
222 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
223 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
224 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
226 startup_trim = fgGetNode("/sim/presets/trim", true);
228 trimmed = fgGetNode("/fdm/trim/trimmed", true);
229 trimmed->setBoolValue(false);
231 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
232 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
233 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
234 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
236 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
237 stall_warning->setDoubleValue(0);
240 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
241 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
243 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
244 right_aileron_pos_pct
245 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
246 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
248 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
249 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
250 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
251 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
253 elevator_pos_pct->setDoubleValue(0);
254 left_aileron_pos_pct->setDoubleValue(0);
255 right_aileron_pos_pct->setDoubleValue(0);
256 rudder_pos_pct->setDoubleValue(0);
257 flap_pos_pct->setDoubleValue(0);
258 speedbrake_pos_pct->setDoubleValue(0);
259 spoilers_pos_pct->setDoubleValue(0);
261 ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
262 ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
263 ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
265 temperature = fgGetNode("/environment/temperature-degc",true);
266 pressure = fgGetNode("/environment/pressure-inhg",true);
267 density = fgGetNode("/environment/density-slugft3",true);
268 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
269 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
271 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
272 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
273 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
275 slaved = fgGetNode("/sim/slaved/enabled", true);
277 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
278 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
279 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
280 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
283 hook_root_struct = FGColumnVector3(
284 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
285 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
286 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
291 /******************************************************************************/
292 FGJSBsim::~FGJSBsim(void)
297 /******************************************************************************/
299 // Initialize the JSBsim flight model, dt is the time increment for
300 // each subsequent iteration through the EOM
302 void FGJSBsim::init()
306 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
308 // Explicitly call the superclass's
309 // init method first.
311 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
312 Atmosphere->UseExternal();
313 Atmosphere->SetExTemperature(
314 9.0/5.0*(temperature->getDoubleValue()+273.15) );
315 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
316 Atmosphere->SetExDensity(density->getDoubleValue());
317 Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
318 Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
319 Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
322 Atmosphere->UseInternal();
325 fgic->SetVNorthFpsIC( -wind_from_north->getDoubleValue() );
326 fgic->SetVEastFpsIC( -wind_from_east->getDoubleValue() );
327 fgic->SetVDownFpsIC( -wind_from_down->getDoubleValue() );
329 //Atmosphere->SetExTemperature(get_Static_temperature());
330 //Atmosphere->SetExPressure(get_Static_pressure());
331 //Atmosphere->SetExDensity(get_Density());
332 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
333 << ", " << fdmex->GetAtmosphere()->GetPressure()
334 << ", " << fdmex->GetAtmosphere()->GetDensity() );
336 if (fgGetBool("/sim/presets/running")) {
337 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
338 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
339 node->setBoolValue("running", true);
340 Propulsion->GetEngine(i)->SetRunning(true);
344 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
349 fdmex->RunIC(); //loop JSBSim once w/o integrating
350 copy_from_JSBsim(); //update the bus
352 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
354 switch(fgic->GetSpeedSet()) {
356 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
357 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
358 << Propagate->GetVel(FGJSBBase::eEast) << ", "
359 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
362 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
363 << Propagate->GetUVW(1) << ", "
364 << Propagate->GetUVW(2) << ", "
365 << Propagate->GetUVW(3) << " ft/s");
368 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
369 << Auxiliary->GetMach() );
373 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
374 << Auxiliary->GetVcalibratedKTS() << " knots" );
378 stall_warning->setDoubleValue(0);
380 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
381 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
382 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
383 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
384 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
385 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
386 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
387 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
388 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
389 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
390 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
391 << Propagate->GetAltitudeASL() << " feet" );
392 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
394 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
396 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
398 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
399 globals->get_controls()->get_gear_down() );
402 /******************************************************************************/
404 // Run an iteration of the EOM (equations of motion)
406 void FGJSBsim::update( double dt )
409 if(!fgGetBool("/sim/crashed"))
410 fgSetBool("/sim/crashed", true);
417 int multiloop = _calc_multiloop(dt);
421 // Compute the radius of the aircraft. That is the radius of a ball
422 // where all gear units are in. At the moment it is at least 10ft ...
424 int n_gears = GroundReactions->GetNumGearUnits();
425 for (i=0; i<n_gears; ++i) {
426 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
427 double r = bl.Magnitude();
432 // Compute the potential movement of this aircraft and query for the
433 // ground in this area.
434 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
435 double alt, slr, lat, lon;
436 FGColumnVector3 cart = Auxiliary->GetLocationVRP();
437 if ( needTrim && startup_trim->getBoolValue() ) {
438 alt = fgic->GetAltitudeASLFtIC();
439 slr = fgic->GetSeaLevelRadiusFtIC();
440 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
441 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
442 cart = FGLocation(lon, lat, alt+slr);
444 double cart_pos[3] = { cart(1), cart(2), cart(3) };
445 double t0 = State->Getsim_time();
446 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
449 SG_LOG(SG_FLIGHT, SG_WARN,
450 "FGInterface is being called without scenery below the aircraft!");
452 alt = fgic->GetAltitudeASLFtIC();
453 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt);
455 slr = fgic->GetSeaLevelRadiusFtIC();
456 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
458 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
459 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat);
461 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
462 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon);
468 trimmed->setBoolValue(false);
471 if ( startup_trim->getBoolValue() ) {
472 double contact[3], d[3], agl;
473 get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact,
475 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
476 + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
478 SG_LOG(SG_FLIGHT, SG_INFO,
479 "Ready to trim, terrain elevation is: "
480 << terrain_alt * SG_METER_TO_FEET );
482 fgic->SetTerrainElevationFtIC( terrain_alt );
485 fdmex->RunIC(); //apply any changes made through the set_ functions
490 for ( i=0; i < multiloop; i++ ) {
492 update_external_forces(State->Getsim_time() + i * State->Getdt());
495 FGJSBBase::Message* msg;
496 while (msg = fdmex->ProcessNextMessage()) {
497 // msg = fdmex->ProcessNextMessage();
499 case FGJSBBase::Message::eText:
500 if (msg->text == "Crash Detected: Simulation FREEZE.")
502 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
504 case FGJSBBase::Message::eBool:
505 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
507 case FGJSBBase::Message::eInteger:
508 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
510 case FGJSBBase::Message::eDouble:
511 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
514 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
519 // translate JSBsim back to FG structure so that the
520 // autopilot (and the rest of the sim can use the updated values
524 /******************************************************************************/
526 // Convert from the FGInterface struct to the JSBsim generic_ struct
528 bool FGJSBsim::copy_to_JSBsim()
533 // copy control positions into the JSBsim structure
535 FCS->SetDaCmd( globals->get_controls()->get_aileron());
536 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
537 FCS->SetDeCmd( globals->get_controls()->get_elevator());
538 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
539 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
540 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
541 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
542 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
543 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
544 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
546 // Parking brake sets minimum braking
548 double parking_brake = globals->get_controls()->get_brake_parking();
549 double left_brake = globals->get_controls()->get_brake_left();
550 double right_brake = globals->get_controls()->get_brake_right();
552 if (ab_brake_engaged->getBoolValue()) {
553 left_brake = ab_brake_left_pct->getDoubleValue();
554 right_brake = ab_brake_right_pct->getDoubleValue();
557 FCS->SetLBrake(FMAX(left_brake, parking_brake));
558 FCS->SetRBrake(FMAX(right_brake, parking_brake));
561 FCS->SetCBrake( 0.0 );
562 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
564 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
565 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
566 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
568 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
569 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
570 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
571 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
573 switch (Propulsion->GetEngine(i)->GetType()) {
574 case FGEngine::etPiston:
575 { // FGPiston code block
576 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
577 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
579 } // end FGPiston code block
580 case FGEngine::etTurbine:
581 { // FGTurbine code block
582 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
583 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
584 eng->SetReverse( globals->get_controls()->get_reverser(i) );
585 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
586 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
587 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
589 } // end FGTurbine code block
590 case FGEngine::etRocket:
591 { // FGRocket code block
592 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
594 } // end FGRocket code block
595 case FGEngine::etTurboprop:
596 { // FGTurboProp code block
597 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
598 eng->SetReverse( globals->get_controls()->get_reverser(i) );
599 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
600 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
602 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
603 eng->SetCondition( globals->get_controls()->get_condition(i) );
605 } // end FGTurboProp code block
610 { // FGEngine code block
611 FGEngine* eng = Propulsion->GetEngine(i);
613 eng->SetStarter( globals->get_controls()->get_starter(i) );
614 eng->SetRunning( node->getBoolValue("running") );
615 } // end FGEngine code block
619 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
621 Atmosphere->SetExTemperature(
622 9.0/5.0*(temperature->getDoubleValue()+273.15) );
623 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
624 Atmosphere->SetExDensity(density->getDoubleValue());
626 tmp = turbulence_gain->getDoubleValue();
627 //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
629 tmp = turbulence_rate->getDoubleValue();
630 //Atmosphere->SetTurbRate(tmp);
632 Atmosphere->SetWindNED( -wind_from_north->getDoubleValue(),
633 -wind_from_east->getDoubleValue(),
634 -wind_from_down->getDoubleValue() );
635 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
636 // << get_V_north_airmass() << ", "
637 // << get_V_east_airmass() << ", "
638 // << get_V_down_airmass() );
640 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
641 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
642 FGTank * tank = Propulsion->GetTank(i);
643 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
644 // tank->SetContents(node->getDoubleValue("level-lbs"));
647 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
648 fdmex->SetChild(slaved->getBoolValue());
653 /******************************************************************************/
655 // Convert from the JSBsim generic_ struct to the FGInterface struct
657 bool FGJSBsim::copy_from_JSBsim()
661 _set_Inertias( MassBalance->GetMass(),
662 MassBalance->GetIxx(),
663 MassBalance->GetIyy(),
664 MassBalance->GetIzz(),
665 MassBalance->GetIxz() );
667 _set_CG_Position( MassBalance->GetXYZcg(1),
668 MassBalance->GetXYZcg(2),
669 MassBalance->GetXYZcg(3) );
671 _set_Accels_Body( Aircraft->GetBodyAccel(1),
672 Aircraft->GetBodyAccel(2),
673 Aircraft->GetBodyAccel(3) );
675 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
677 Aircraft->GetNcg(3) );
679 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
680 Auxiliary->GetPilotAccel(2),
681 Auxiliary->GetPilotAccel(3) );
683 _set_Nlf( Aircraft->GetNlf() );
687 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
688 Propagate->GetVel(FGJSBBase::eEast),
689 Propagate->GetVel(FGJSBBase::eDown) );
691 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
692 Propagate->GetUVW(2),
693 Propagate->GetUVW(3) );
695 // Make the HUD work ...
696 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
697 Propagate->GetVel(FGJSBBase::eEast),
698 -Propagate->GetVel(FGJSBBase::eDown) );
700 _set_V_rel_wind( Auxiliary->GetVt() );
702 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
704 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
706 _set_V_ground_speed( Auxiliary->GetVground() );
708 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
709 Propagate->GetPQR(FGJSBBase::eQ),
710 Propagate->GetPQR(FGJSBBase::eR) );
712 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
713 Auxiliary->GetEulerRates(FGJSBBase::eTht),
714 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
716 _set_Mach_number( Auxiliary->GetMach() );
718 // Positions of Visual Reference Point
719 FGLocation l = Auxiliary->GetLocationVRP();
720 _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
721 l.GetRadius() - get_Sea_level_radius() );
723 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
725 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
726 double contact[3], d[3], sd, t;
727 is_valid_m(&t, d, &sd);
728 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
730 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
731 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
734 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
735 Propagate->GetEuler(FGJSBBase::eTht),
736 Propagate->GetEuler(FGJSBBase::ePsi) );
738 _set_Alpha( Auxiliary->Getalpha() );
739 _set_Beta( Auxiliary->Getbeta() );
742 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
744 _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
746 _set_Climb_Rate( Propagate->Gethdot() );
748 const FGMatrix33& Tl2b = Propagate->GetTl2b();
749 for ( i = 1; i <= 3; i++ ) {
750 for ( j = 1; j <= 3; j++ ) {
751 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
755 // Copy the engine values from JSBSim.
756 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
757 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
759 sprintf(buf, "engines/engine[%d]/thruster", i);
760 SGPropertyNode * tnode = fgGetNode(buf, true);
761 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
763 switch (Propulsion->GetEngine(i)->GetType()) {
764 case FGEngine::etPiston:
765 { // FGPiston code block
766 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
767 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
768 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
769 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
770 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
771 // NOTE: mp-osi is not in ounces per square inch.
772 // This error is left for reasons of backwards compatibility with
773 // existing FlightGear sound and instrument configurations.
774 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
775 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
776 node->setDoubleValue("rpm", eng->getRPM());
777 } // end FGPiston code block
779 case FGEngine::etRocket:
780 { // FGRocket code block
781 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
782 } // end FGRocket code block
784 case FGEngine::etTurbine:
785 { // FGTurbine code block
786 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
787 node->setDoubleValue("n1", eng->GetN1());
788 node->setDoubleValue("n2", eng->GetN2());
789 node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
790 node->setBoolValue("augmentation", eng->GetAugmentation());
791 node->setBoolValue("water-injection", eng->GetInjection());
792 node->setBoolValue("ignition", eng->GetIgnition());
793 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
794 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
795 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
796 node->setBoolValue("reversed", eng->GetReversed());
797 node->setBoolValue("cutoff", eng->GetCutoff());
798 node->setDoubleValue("epr", eng->GetEPR());
799 globals->get_controls()->set_reverser(i, eng->GetReversed() );
800 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
801 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
802 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
803 } // end FGTurbine code block
805 case FGEngine::etTurboprop:
806 { // FGTurboProp code block
807 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
808 node->setDoubleValue("n1", eng->GetN1());
809 //node->setDoubleValue("n2", eng->GetN2());
810 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
811 node->setBoolValue("ignition", eng->GetIgnition());
812 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
813 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
814 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
815 node->setBoolValue("reversed", eng->GetReversed());
816 node->setBoolValue("cutoff", eng->GetCutoff());
817 node->setBoolValue("starting", eng->GetEngStarting());
818 node->setBoolValue("generator-power", eng->GetGeneratorPower());
819 node->setBoolValue("damaged", eng->GetCondition());
820 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
821 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
822 // node->setBoolValue("onfire", eng->GetFire());
823 globals->get_controls()->set_reverser(i, eng->GetReversed() );
824 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
825 } // end FGTurboProp code block
827 case FGEngine::etElectric:
828 { // FGElectric code block
829 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
830 node->setDoubleValue("rpm", eng->getRPM());
831 } // end FGElectric code block
835 { // FGEngine code block
836 FGEngine* eng = Propulsion->GetEngine(i);
837 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
838 node->setDoubleValue("thrust_lb", thruster->GetThrust());
839 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
840 node->setBoolValue("running", eng->GetRunning());
841 node->setBoolValue("starter", eng->GetStarter());
842 node->setBoolValue("cranking", eng->GetCranking());
843 globals->get_controls()->set_starter(i, eng->GetStarter() );
844 } // end FGEngine code block
846 switch (thruster->GetType()) {
847 case FGThruster::ttNozzle:
848 { // FGNozzle code block
849 FGNozzle* noz = (FGNozzle*)thruster;
850 } // end FGNozzle code block
852 case FGThruster::ttPropeller:
853 { // FGPropeller code block
854 FGPropeller* prop = (FGPropeller*)thruster;
855 tnode->setDoubleValue("rpm", thruster->GetRPM());
856 tnode->setDoubleValue("pitch", prop->GetPitch());
857 tnode->setDoubleValue("torque", prop->GetTorque());
858 tnode->setBoolValue("feathered", prop->GetFeather());
859 } // end FGPropeller code block
861 case FGThruster::ttRotor:
862 { // FGRotor code block
863 FGRotor* rotor = (FGRotor*)thruster;
864 } // end FGRotor code block
866 case FGThruster::ttDirect:
867 { // Direct code block
868 } // end Direct code block
874 // Copy the fuel levels from JSBSim if fuel
875 // freeze not enabled.
876 if ( ! Propulsion->GetFuelFreeze() ) {
877 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
878 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
879 FGTank* tank = Propulsion->GetTank(i);
880 double contents = tank->GetContents();
881 double temp = tank->GetTemperature_degC();
882 node->setDoubleValue("level-gal_us", contents/6.6);
883 node->setDoubleValue("level-lbs", contents);
884 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
890 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
892 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
893 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
894 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
895 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
896 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
897 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
898 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
899 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
900 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
902 // force a sim crashed if crashed (altitude AGL < 0)
903 if (get_Altitude_AGL() < -100.0) {
904 State->SuspendIntegration();
912 bool FGJSBsim::ToggleDataLogging(void)
914 // ToDo: handle this properly
915 fdmex->DisableOutput();
920 bool FGJSBsim::ToggleDataLogging(bool state)
923 fdmex->EnableOutput();
926 fdmex->DisableOutput();
933 void FGJSBsim::set_Latitude(double lat)
935 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
937 double sea_level_radius_meters, lat_geoc;
939 // In case we're not trimming
940 FGInterface::set_Latitude(lat);
942 if ( altitude->getDoubleValue() > -9990 ) {
943 alt = altitude->getDoubleValue();
949 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
950 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
952 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
953 &sea_level_radius_meters, &lat_geoc );
954 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
955 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
956 fgic->SetLatitudeRadIC( lat_geoc );
961 void FGJSBsim::set_Longitude(double lon)
963 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
965 // In case we're not trimming
966 FGInterface::set_Longitude(lon);
969 fgic->SetLongitudeRadIC( lon );
973 // Sets the altitude above sea level.
974 void FGJSBsim::set_Altitude(double alt)
976 static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
978 double sea_level_radius_meters,lat_geoc;
980 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
981 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
983 // In case we're not trimming
984 FGInterface::set_Altitude(alt);
987 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
988 &sea_level_radius_meters, &lat_geoc);
989 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
990 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
991 SG_LOG(SG_FLIGHT, SG_INFO,
992 "Terrain elevation: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
993 fgic->SetLatitudeRadIC( lat_geoc );
994 fgic->SetAltitudeASLFtIC(alt);
998 void FGJSBsim::set_V_calibrated_kts(double vc)
1000 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1002 // In case we're not trimming
1003 FGInterface::set_V_calibrated_kts(vc);
1006 fgic->SetVcalibratedKtsIC(vc);
1010 void FGJSBsim::set_Mach_number(double mach)
1012 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1014 // In case we're not trimming
1015 FGInterface::set_Mach_number(mach);
1018 fgic->SetMachIC(mach);
1022 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1024 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1025 << north << ", " << east << ", " << down );
1027 // In case we're not trimming
1028 FGInterface::set_Velocities_Local(north, east, down);
1031 fgic->SetVNorthFpsIC(north);
1032 fgic->SetVEastFpsIC(east);
1033 fgic->SetVDownFpsIC(down);
1037 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1039 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1040 << u << ", " << v << ", " << w );
1042 // In case we're not trimming
1043 FGInterface::set_Velocities_Wind_Body(u, v, w);
1046 fgic->SetUBodyFpsIC(u);
1047 fgic->SetVBodyFpsIC(v);
1048 fgic->SetWBodyFpsIC(w);
1053 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1055 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1056 << phi << ", " << theta << ", " << psi );
1058 // In case we're not trimming
1059 FGInterface::set_Euler_Angles(phi, theta, psi);
1062 fgic->SetThetaRadIC(theta);
1063 fgic->SetPhiRadIC(phi);
1064 fgic->SetPsiRadIC(psi);
1069 void FGJSBsim::set_Climb_Rate( double roc)
1071 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1073 // In case we're not trimming
1074 FGInterface::set_Climb_Rate(roc);
1077 //since both climb rate and flight path angle are set in the FG
1078 //startup sequence, something is needed to keep one from cancelling
1080 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1081 fgic->SetClimbRateFpsIC(roc);
1086 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1088 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1091 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1092 fgic->SetFlightPathAngleRadIC(gamma);
1097 void FGJSBsim::init_gear(void )
1099 FGGroundReactions* gr=fdmex->GetGroundReactions();
1100 int Ngear=GroundReactions->GetNumGearUnits();
1101 for (int i=0;i<Ngear;i++) {
1102 FGLGear *gear = gr->GetGearUnit(i);
1103 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1104 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1105 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1106 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1107 node->setBoolValue("wow", gear->GetWOW());
1108 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1109 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1110 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1111 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1112 node->setDoubleValue("compression-norm", gear->GetCompLen());
1113 node->setDoubleValue("compression-ft", gear->GetCompLen());
1114 if ( gear->GetSteerable() )
1115 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1119 void FGJSBsim::update_gear(void)
1121 FGGroundReactions* gr=fdmex->GetGroundReactions();
1122 int Ngear=GroundReactions->GetNumGearUnits();
1123 for (int i=0;i<Ngear;i++) {
1124 FGLGear *gear = gr->GetGearUnit(i);
1125 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1126 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1127 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1128 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1129 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1130 node->setDoubleValue("compression-norm", gear->GetCompLen());
1131 node->setDoubleValue("compression-ft", gear->GetCompLen());
1132 if ( gear->GetSteerable() )
1133 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1137 void FGJSBsim::do_trim(void)
1141 if ( fgGetBool("/sim/presets/onground") )
1143 fgtrim = new FGTrim(fdmex,tGround);
1145 fgtrim = new FGTrim(fdmex,tLongitudinal);
1148 if ( !fgtrim->DoTrim() ) {
1150 fgtrim->TrimStats();
1152 trimmed->setBoolValue(true);
1154 // if (FGJSBBase::debug_lvl > 0)
1155 // State->ReportState();
1159 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1160 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1161 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1162 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1164 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1165 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1166 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1167 FCS->GetThrottleCmd(0));
1169 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1170 globals->get_controls()->set_rudder( FCS->GetDrCmd());
1172 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1175 void FGJSBsim::update_ic(void)
1178 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1179 fgic->SetLongitudeRadIC( get_Longitude() );
1180 fgic->SetAltitudeASLFtIC( get_Altitude() );
1181 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1182 fgic->SetThetaRadIC( get_Theta() );
1183 fgic->SetPhiRadIC( get_Phi() );
1184 fgic->SetPsiRadIC( get_Psi() );
1185 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1190 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1191 double contact[3], double normal[3], double vel[3],
1194 double angularVel[3];
1195 const SGMaterial* material;
1196 simgear::BVHNode::Id id;
1197 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1198 angularVel, material, id))
1200 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1201 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1202 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1206 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1208 return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1211 inline static double sqr(double x)
1216 static double angle_diff(double a, double b)
1218 double diff = fabs(a - b);
1219 if (diff > 180) diff = 360 - diff;
1224 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)
1226 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1227 double dist = dot3(tip, ground_normal_body);
1228 if (fabs(dist + E) < 0.0001) {
1229 sin_fis[*points] = sin_fi_guess;
1230 cos_fis[*points] = cos_fi_guess;
1231 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1237 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)
1239 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1240 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1241 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1242 if (fabs(cos_fi_guess) > SG_EPSILON) {
1243 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1248 void FGJSBsim::update_external_forces(double t_off)
1250 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1251 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1252 const FGLocation& Location = Propagate->GetLocation();
1253 const FGMatrix33& Tec2l = Location.GetTec2l();
1255 double hook_area[4][3];
1257 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1258 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1259 hook_area[1][0] = hook_root(1);
1260 hook_area[1][1] = hook_root(2);
1261 hook_area[1][2] = hook_root(3);
1263 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1264 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1265 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1266 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1267 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1268 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1270 FGColumnVector3 hook_tip_body = hook_root_body;
1271 hook_tip_body(1) -= hook_length * cos_fi;
1272 hook_tip_body(3) += hook_length * sin_fi;
1273 bool hook_tip_valid = true;
1276 double ground_normal[3];
1277 double ground_vel[3];
1281 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
1282 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1283 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1284 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1285 double D = -dot3(contact_body, ground_normal_body);
1287 // check hook tip agl against same ground plane
1288 double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1289 if (hook_tip_agl_ft < 0) {
1291 // hook tip: hx - l cos, hy, hz + l sin
1292 // on ground: - n0 l cos + n2 l sin + E = 0
1294 double E = D + dot3(hook_root_body, ground_normal_body);
1296 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1297 // and rearrange to get a quadratic with coeffs:
1298 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1299 double b = 2 * E * ground_normal_body(3) * hook_length;
1300 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1302 double disc = sqr(b) - 4 * a * c;
1304 double delta = sqrt(disc) / (2 * a);
1306 // allow 4 solutions for safety, should never happen
1312 double sin_fi_guess = -b / (2 * a) - delta;
1313 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1314 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1317 double diff1 = angle_diff(fi, fis[0]);
1318 double diff2 = angle_diff(fi, fis[1]);
1319 int point = diff1 < diff2 ? 0 : 1;
1321 sin_fi = sin_fis[point];
1322 cos_fi = cos_fis[point];
1323 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1324 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1330 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1331 double wire_ends_ec[2][3];
1332 double wire_vel_ec[2][3];
1333 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1334 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1335 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1336 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1337 if (rel_vel.Magnitude() < 3) {
1340 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1342 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;
1343 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;
1344 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1345 force_plane_normal.Normalize();
1346 cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1347 if (cos_fi < 0) cos_fi = -cos_fi;
1348 sin_fi = sqrt(1 - sqr(cos_fi));
1349 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1351 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1352 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1353 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1354 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1358 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1360 hook_area[0][0] = hook_tip(1);
1361 hook_area[0][1] = hook_tip(2);
1362 hook_area[0][2] = hook_tip(3);
1365 // The previous positions.
1366 hook_area[2][0] = last_hook_root[0];
1367 hook_area[2][1] = last_hook_root[1];
1368 hook_area[2][2] = last_hook_root[2];
1369 hook_area[3][0] = last_hook_tip[0];
1370 hook_area[3][1] = last_hook_tip[1];
1371 hook_area[3][2] = last_hook_tip[2];
1373 // Check if we caught a wire.
1374 // Returns true if we caught one.
1375 if (caught_wire_ft(t_off, hook_area)) {
1380 // save actual position as old position ...
1381 last_hook_tip[0] = hook_area[0][0];
1382 last_hook_tip[1] = hook_area[0][1];
1383 last_hook_tip[2] = hook_area[0][2];
1384 last_hook_root[0] = hook_area[1][0];
1385 last_hook_root[1] = hook_area[1][1];
1386 last_hook_root[2] = hook_area[1][2];
1388 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);