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     speed_brake_pos_pct
 170         =fgGetNode("/surface-positions/speed-brake-pos-norm",true);
 171     spoiler_pos_pct=fgGetNode("/surface-positions/spoiler-pos-norm",true);
 172
 173
 174     elevator_pos_pct->setDoubleValue(0);
 175     left_aileron_pos_pct->setDoubleValue(0);
 176     right_aileron_pos_pct->setDoubleValue(0);
 177     rudder_pos_pct->setDoubleValue(0);
 178     flap_pos_pct->setDoubleValue(0);
 179     speed_brake_pos_pct->setDoubleValue(0);
 180     spoiler_pos_pct->setDoubleValue(0);
 181
 182     temperature = fgGetNode("/environment/temperature-degc",true);
 183     pressure = fgGetNode("/environment/pressure-inhg",true);
 184     density = fgGetNode("/environment/density-slugft3",true);
 185     turbulence = fgGetNode("environment/turbulence-norm",true);
 186
 187     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 188     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 189     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 190
 191
 192 }
 193 /******************************************************************************/
 194 FGJSBsim::~FGJSBsim(void) {
 195         delete fdmex;
 196 }
 197
 198 /******************************************************************************/
 199
 200 // Initialize the JSBsim flight model, dt is the time increment for
 201 // each subsequent iteration through the EOM
 202
 203 void FGJSBsim::init() {
 204
 205     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 206
 207     // Explicitly call the superclass's
 208     // init method first.
 209
 210 #ifdef FG_WEATHERCM
 211     Atmosphere->UseInternal();
 212 #else
 213     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 214       Atmosphere->UseExternal();
 215       Atmosphere->SetExTemperature(
 216                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 217       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 218       Atmosphere->SetExDensity(density->getDoubleValue());
 219       Atmosphere->SetTurbGain(turbulence->getDoubleValue() *
 220                               turbulence->getDoubleValue() *
 221                               100.0);
 222     } else {
 223       Atmosphere->UseInternal();
 224     }
 225 #endif
 226
 227     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 228     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 229     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 230
 231     //Atmosphere->SetExTemperature(get_Static_temperature());
 232     //Atmosphere->SetExPressure(get_Static_pressure());
 233     //Atmosphere->SetExDensity(get_Density());
 234     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 235      << ", " << fdmex->GetAtmosphere()->GetPressure()
 236      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 237
 238     common_init();
 239     copy_to_JSBsim();
 240
 241
 242     fdmex->RunIC(); //loop JSBSim once w/o integrating
 243     copy_from_JSBsim(); //update the bus
 244
 245     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 246
 247     switch(fgic->GetSpeedSet()) {
 248     case setned:
 249         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 250                << Position->GetVn() << ", "
 251                << Position->GetVe() << ", "
 252                << Position->GetVd() << " ft/s");
 253     break;
 254     case setuvw:
 255         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 256                << Translation->GetUVW(1) << ", "
 257                << Translation->GetUVW(2) << ", "
 258                << Translation->GetUVW(3) << " ft/s");
 259     break;
 260     case setmach:
 261         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 262                << Translation->GetMach() );
 263     break;
 264     case setvc:
 265     default:
 266         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 267                << Auxiliary->GetVcalibratedKTS() << " knots" );
 268     break;
 269     }
 270
 271     stall_warning->setDoubleValue(0);
 272
 273     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 274             <<  Rotation->Getphi()*RADTODEG << " deg" );
 275     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 276             << Rotation->Gettht()*RADTODEG << " deg" );
 277     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 278             << Rotation->Getpsi()*RADTODEG << " deg" );
 279     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 280             << Position->GetLatitude() << " deg" );
 281     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 282             << Position->GetLongitude() << " deg" );
 283     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 284         << Position->Geth() << " feet" );
 285     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 286
 287     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 288
 289     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 290
 291     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 292                                   globals->get_controls()->get_gear_down() );
 293
 294
 295
 296 }
 297
 298 /******************************************************************************/
 299
 300 // Run an iteration of the EOM (equations of motion)
 301
 302 void
 303 FGJSBsim::update( double dt ) {
 304
 305     if (is_suspended())
 306       return;
 307
 308     int multiloop = _calc_multiloop(dt);
 309
 310     int i;
 311
 312     // double save_alt = 0.0;
 313
 314     copy_to_JSBsim();
 315
 316     trimmed->setBoolValue(false);
 317
 318     if ( needTrim ) {
 319       if ( startup_trim->getBoolValue() ) {
 320         SG_LOG(SG_FLIGHT, SG_INFO,
 321           "Ready to trim, terrain altitude is: "
 322             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 323         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 324         do_trim();
 325       } else {
 326         fdmex->RunIC();  //apply any changes made through the set_ functions
 327       }
 328       needTrim = false;
 329     }
 330
 331     for ( i=0; i < multiloop; i++ ) {
 332         fdmex->Run();
 333     }
 334
 335     FGJSBBase::Message* msg;
 336     while (fdmex->ReadMessage()) {
 337       msg = fdmex->ProcessMessage();
 338       switch (msg->type) {
 339       case FGJSBBase::Message::eText:
 340         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 341         break;
 342       case FGJSBBase::Message::eBool:
 343         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 344         break;
 345       case FGJSBBase::Message::eInteger:
 346         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 347         break;
 348       case FGJSBBase::Message::eDouble:
 349         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 350         break;
 351       default:
 352         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 353         break;
 354       }
 355     }
 356
 357     // translate JSBsim back to FG structure so that the
 358     // autopilot (and the rest of the sim can use the updated values
 359     copy_from_JSBsim();
 360 }
 361
 362 /******************************************************************************/
 363
 364 // Convert from the FGInterface struct to the JSBsim generic_ struct
 365
 366 bool FGJSBsim::copy_to_JSBsim() {
 367     unsigned int i;
 368
 369     // copy control positions into the JSBsim structure
 370
 371     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 372     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 373     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 374     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 375     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 376     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 377     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 378     FCS->SetDsbCmd( globals->get_controls()->get_speed_brake() );
 379     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 380
 381                                 // Parking brake sets minimum braking
 382                                 // level for mains.
 383     double parking_brake = globals->get_controls()->get_parking_brake();
 384     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
 385     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
 386     FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
 387
 388     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 389     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 390       FGEngine * eng = Propulsion->GetEngine(i);
 391       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 392       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 393       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 394       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 395       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
 396       eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 397       eng->SetStarter( globals->get_controls()->get_starter(i) );
 398     }
 399
 400     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 401     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 402     Position->SetRunwayRadius( get_Runway_altitude()
 403                                + get_Sea_level_radius() );
 404
 405     Atmosphere->SetExTemperature(
 406                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 407     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 408     Atmosphere->SetExDensity(density->getDoubleValue());
 409     Atmosphere->SetTurbGain(turbulence->getDoubleValue() *
 410                             turbulence->getDoubleValue() *
 411                             100.0);
 412
 413     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 414                             wind_from_east->getDoubleValue(),
 415                             wind_from_down->getDoubleValue() );
 416 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 417 //                  << get_V_north_airmass() << ", "
 418 //                  << get_V_east_airmass()  << ", "
 419 //                  << get_V_down_airmass() );
 420
 421     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 422       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 423       FGTank * tank = Propulsion->GetTank(i);
 424       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 425 //       tank->SetContents(node->getDoubleValue("level-lb"));
 426     }
 427
 428     return true;
 429 }
 430
 431 /******************************************************************************/
 432
 433 // Convert from the JSBsim generic_ struct to the FGInterface struct
 434
 435 bool FGJSBsim::copy_from_JSBsim() {
 436     unsigned int i, j;
 437
 438     _set_Inertias( MassBalance->GetMass(),
 439                    MassBalance->GetIxx(),
 440                    MassBalance->GetIyy(),
 441                    MassBalance->GetIzz(),
 442                    MassBalance->GetIxz() );
 443
 444     _set_CG_Position( MassBalance->GetXYZcg(1),
 445                       MassBalance->GetXYZcg(2),
 446                       MassBalance->GetXYZcg(3) );
 447
 448     _set_Accels_Body( Aircraft->GetBodyAccel()(1),
 449                       Aircraft->GetBodyAccel()(2),
 450                       Aircraft->GetBodyAccel()(3) );
 451
 452     //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
 453     //                     Aircraft->GetBodyAccel()(2),
 454     //                     Aircraft->GetBodyAccel()(3) );
 455     //
 456     _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
 457                             Aircraft->GetNcg()(2),
 458                             Aircraft->GetNcg()(3) );
 459
 460     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
 461                             Auxiliary->GetPilotAccel()(2),
 462                             Auxiliary->GetPilotAccel()(3) );
 463
 464    // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
 465    //                           Auxiliary->GetNpilot(2)/32.1739,
 466    //                           Auxiliary->GetNpilot(3)/32.1739 );
 467
 468     _set_Nlf( Aircraft->GetNlf() );
 469
 470     // Velocities
 471
 472     _set_Velocities_Local( Position->GetVn(),
 473                            Position->GetVe(),
 474                            Position->GetVd() );
 475
 476     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 477                                Translation->GetUVW(2),
 478                                Translation->GetUVW(3) );
 479
 480     _set_V_rel_wind( Translation->GetVt() );
 481
 482     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 483
 484     // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
 485
 486     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 487
 488     _set_V_ground_speed( Position->GetVground() );
 489
 490     _set_Omega_Body( Rotation->GetPQR(1),
 491                      Rotation->GetPQR(2),
 492                      Rotation->GetPQR(3) );
 493
 494     _set_Euler_Rates( Rotation->GetEulerRates(1),
 495                       Rotation->GetEulerRates(2),
 496                       Rotation->GetEulerRates(3) );
 497
 498     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 499                           Position->GetLongitudeDot(),
 500                           Position->Gethdot() );
 501
 502     _set_Mach_number( Translation->GetMach() );
 503
 504     // Positions
 505     _updateGeocentricPosition( Position->GetLatitude(),
 506                                Position->GetLongitude(),
 507                                Position->Geth() );
 508
 509     _set_Altitude_AGL( Position->GetDistanceAGL() );
 510
 511     _set_Euler_Angles( Rotation->Getphi(),
 512                        Rotation->Gettht(),
 513                        Rotation->Getpsi() );
 514
 515     _set_Alpha( Translation->Getalpha() );
 516     _set_Beta( Translation->Getbeta() );
 517
 518
 519     _set_Gamma_vert_rad( Position->GetGamma() );
 520     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 521
 522     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 523
 524     _set_Climb_Rate( Position->Gethdot() );
 525
 526
 527     for ( i = 1; i <= 3; i++ ) {
 528         for ( j = 1; j <= 3; j++ ) {
 529             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 530         }
 531     }
 532
 533                                 // Copy the engine values from JSBSim.
 534     for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 535       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 536       FGEngine * eng = Propulsion->GetEngine(i);
 537       FGThruster * thrust = Propulsion->GetThruster(i);
 538
 539       node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 540       node->setDoubleValue("rpm", thrust->GetRPM());
 541       node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 542       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 543       node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 544       node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 545       node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 546       node->setBoolValue("running", eng->GetRunning());
 547       node->setBoolValue("cranking", eng->GetCranking());
 548     }
 549
 550     static const SGPropertyNode *fuel_freeze
 551         = fgGetNode("/sim/freeze/fuel");
 552
 553                                 // Copy the fuel levels from JSBSim if fuel
 554                                 // freeze not enabled.
 555     if ( ! fuel_freeze->getBoolValue() ) {
 556         for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 557             SGPropertyNode * node
 558                 = fgGetNode("/consumables/fuel/tank", i, true);
 559             double contents = Propulsion->GetTank(i)->GetContents();
 560             node->setDoubleValue("level-gal_us", contents/6.6);
 561             // node->setDoubleValue("level-lb", contents);
 562         }
 563     }
 564
 565     update_gear();
 566
 567     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 568
 569     /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
 570     left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
 571     right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
 572     rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
 573     flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
 574
 575
 576     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 577     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 578     right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
 579     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 580     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 581     speed_brake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 582     spoiler_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 583
 584
 585     return true;
 586 }
 587
 588 bool FGJSBsim::ToggleDataLogging(void) {
 589     return fdmex->GetOutput()->Toggle();
 590 }
 591
 592
 593 bool FGJSBsim::ToggleDataLogging(bool state) {
 594     if (state) {
 595       fdmex->GetOutput()->Enable();
 596       return true;
 597     } else {
 598       fdmex->GetOutput()->Disable();
 599       return false;
 600     }
 601 }
 602
 603
 604 //Positions
 605 void FGJSBsim::set_Latitude(double lat) {
 606     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 607     double alt;
 608     double sea_level_radius_meters, lat_geoc;
 609
 610     if ( altitude->getDoubleValue() > -9990 ) {
 611       alt = altitude->getDoubleValue();
 612     } else {
 613       alt = 0.0;
 614     }
 615
 616     update_ic();
 617     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 618     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 619
 620     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 621                       &sea_level_radius_meters, &lat_geoc );
 622     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 623     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 624     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 625     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 626     fgic->SetLatitudeRadIC( lat_geoc );
 627     needTrim=true;
 628 }
 629
 630 void FGJSBsim::set_Longitude(double lon) {
 631
 632     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 633     update_ic();
 634     fgic->SetLongitudeRadIC( lon );
 635     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 636     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 637     needTrim=true;
 638 }
 639
 640 void FGJSBsim::set_Altitude(double alt) {
 641     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 642
 643     double sea_level_radius_meters,lat_geoc;
 644
 645     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 646     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 647
 648     update_ic();
 649     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 650                   &sea_level_radius_meters, &lat_geoc);
 651     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 652     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 653     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 654     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 655     SG_LOG(SG_FLIGHT, SG_INFO,
 656           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 657     fgic->SetLatitudeRadIC( lat_geoc );
 658     fgic->SetAltitudeFtIC(alt);
 659     needTrim=true;
 660 }
 661
 662 void FGJSBsim::set_V_calibrated_kts(double vc) {
 663     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 664
 665     update_ic();
 666     fgic->SetVcalibratedKtsIC(vc);
 667     needTrim=true;
 668 }
 669
 670 void FGJSBsim::set_Mach_number(double mach) {
 671     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 672
 673     update_ic();
 674     fgic->SetMachIC(mach);
 675     needTrim=true;
 676 }
 677
 678 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
 679     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 680        << north << ", " <<  east << ", " << down );
 681
 682     update_ic();
 683     fgic->SetVnorthFpsIC(north);
 684     fgic->SetVeastFpsIC(east);
 685     fgic->SetVdownFpsIC(down);
 686     needTrim=true;
 687 }
 688
 689 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
 690     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 691        << u << ", " <<  v << ", " <<  w );
 692
 693     update_ic();
 694     fgic->SetUBodyFpsIC(u);
 695     fgic->SetVBodyFpsIC(v);
 696     fgic->SetWBodyFpsIC(w);
 697     needTrim=true;
 698 }
 699
 700 //Euler angles
 701 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
 702     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 703        << phi << ", " << theta << ", " << psi );
 704
 705     update_ic();
 706     fgic->SetPitchAngleRadIC(theta);
 707     fgic->SetRollAngleRadIC(phi);
 708     fgic->SetTrueHeadingRadIC(psi);
 709     needTrim=true;
 710 }
 711
 712 //Flight Path
 713 void FGJSBsim::set_Climb_Rate( double roc) {
 714     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 715
 716     update_ic();
 717     //since both climb rate and flight path angle are set in the FG
 718     //startup sequence, something is needed to keep one from cancelling
 719     //out the other.
 720     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 721       fgic->SetClimbRateFpsIC(roc);
 722     }
 723     needTrim=true;
 724 }
 725
 726 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
 727     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 728
 729     update_ic();
 730     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 731       fgic->SetFlightPathAngleRadIC(gamma);
 732     }
 733     needTrim=true;
 734 }
 735
 736 void FGJSBsim::init_gear(void ) {
 737
 738     FGGroundReactions* gr=fdmex->GetGroundReactions();
 739     int Ngear=GroundReactions->GetNumGearUnits();
 740     for (int i=0;i<Ngear;i++) {
 741       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 742       node->setDoubleValue("xoffset-in",
 743                            gr->GetGearUnit(i)->GetBodyLocation()(1));
 744       node->setDoubleValue("yoffset-in",
 745                            gr->GetGearUnit(i)->GetBodyLocation()(2));
 746       node->setDoubleValue("zoffset-in",
 747                            gr->GetGearUnit(i)->GetBodyLocation()(3));
 748       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 749       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 750       node->setDoubleValue("position-norm", FCS->GetGearPos());
 751     }
 752 }
 753
 754 void FGJSBsim::update_gear(void) {
 755
 756     FGGroundReactions* gr=fdmex->GetGroundReactions();
 757     int Ngear=GroundReactions->GetNumGearUnits();
 758     for (int i=0;i<Ngear;i++) {
 759       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 760       node->getChild("wow", 0, true)
 761         ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 762       node->getChild("position-norm", 0, true)
 763         ->setDoubleValue(FCS->GetGearPos());
 764     }
 765 }
 766
 767 void FGJSBsim::do_trim(void) {
 768
 769         FGTrim *fgtrim;
 770         if( fgGetBool("/sim/presets/onground") ) {
 771             fgic->SetVcalibratedKtsIC(0.0);
 772             fgtrim=new FGTrim(fdmex,tGround);
 773         } else {
 774             fgtrim=new FGTrim(fdmex,tLongitudinal);
 775         }
 776         if( !fgtrim->DoTrim() ) {
 777             fgtrim->Report();
 778             fgtrim->TrimStats();
 779         } else {
 780             trimmed->setBoolValue(true);
 781         }
 782         State->ReportState();
 783         delete fgtrim;
 784         pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 785         throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 786         aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 787         rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 788
 789         globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 790         globals->get_controls()->set_elevator(FCS->GetDeCmd());
 791         globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 792                                               FCS->GetThrottleCmd(0));
 793
 794         globals->get_controls()->set_aileron(FCS->GetDaCmd());
 795         globals->get_controls()->set_rudder( FCS->GetDrCmd());
 796
 797         SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 798 }
 799
 800 void FGJSBsim::update_ic(void) {
 801    if( !needTrim ) {
 802      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 803      fgic->SetLongitudeRadIC( get_Longitude() );
 804      fgic->SetAltitudeFtIC( get_Altitude() );
 805      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 806      fgic->SetPitchAngleRadIC( get_Theta() );
 807      fgic->SetRollAngleRadIC( get_Phi() );
 808      fgic->SetTrueHeadingRadIC( get_Psi() );
 809      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 810    }
 811 }
 812