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 depenent 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 = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
107 v = l.GetTec2l()*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() );
149 // Untie the write-state-file property to avoid creating an initfile.xml
150 // file on each FlightGear reset.
151 fgGetNode("/fdm/jsbsim/simulation/write-state-file")->untie();
152 fgGetNode("/fdm/jsbsim/simulation")->removeChild("write-state-file", false);
153 // Prevent nuking of the state on JSBSim recreation after FlightGear reset.
154 fgGetNode("/fdm/jsbsim/simulation/reset")->untie();
155 fgGetNode("/fdm/jsbsim/simulation")->removeChild("reset", false);
158 // Register ground callback.
159 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
161 State = fdmex->GetState();
162 Atmosphere = fdmex->GetAtmosphere();
163 FCS = fdmex->GetFCS();
164 MassBalance = fdmex->GetMassBalance();
165 Propulsion = fdmex->GetPropulsion();
166 Aircraft = fdmex->GetAircraft();
167 Propagate = fdmex->GetPropagate();
168 Auxiliary = fdmex->GetAuxiliary();
169 Inertial = fdmex->GetInertial();
170 Aerodynamics = fdmex->GetAerodynamics();
171 GroundReactions = fdmex->GetGroundReactions();
176 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
178 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
179 engine_path.append( "Engine" );
181 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
182 systems_path.append( "Systems" );
186 result = fdmex->LoadModel( aircraft_path.str(),
189 fgGetString("/sim/aero"), false );
192 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
194 SG_LOG( SG_FLIGHT, SG_INFO,
195 " aero does not exist (you may have mis-typed the name).");
199 SG_LOG( SG_FLIGHT, SG_INFO, "" );
200 SG_LOG( SG_FLIGHT, SG_INFO, "" );
201 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
203 int Neng = Propulsion->GetNumEngines();
204 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
206 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
207 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
208 << GroundReactions->GetNumGearUnits() );
209 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
210 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
211 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
217 // Set initial fuel levels if provided.
218 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
219 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
220 if (node->getChild("level-gal_us", 0, false) != 0) {
221 Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
223 node->setDoubleValue("level-lbs", Propulsion->GetTank(i)->GetContents());
224 node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
226 node->setDoubleValue("capacity-gal_us",
227 Propulsion->GetTank(i)->GetCapacity() / 6.6);
229 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
231 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
232 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
233 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
234 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
236 startup_trim = fgGetNode("/sim/presets/trim", true);
238 trimmed = fgGetNode("/fdm/trim/trimmed", true);
239 trimmed->setBoolValue(false);
241 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
242 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
243 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
244 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
246 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
247 stall_warning->setDoubleValue(0);
250 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
251 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
253 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
254 right_aileron_pos_pct
255 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
256 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
258 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
259 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
260 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
261 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
263 elevator_pos_pct->setDoubleValue(0);
264 left_aileron_pos_pct->setDoubleValue(0);
265 right_aileron_pos_pct->setDoubleValue(0);
266 rudder_pos_pct->setDoubleValue(0);
267 flap_pos_pct->setDoubleValue(0);
268 speedbrake_pos_pct->setDoubleValue(0);
269 spoilers_pos_pct->setDoubleValue(0);
271 temperature = fgGetNode("/environment/temperature-degc",true);
272 pressure = fgGetNode("/environment/pressure-inhg",true);
273 density = fgGetNode("/environment/density-slugft3",true);
274 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
275 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
277 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
278 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
279 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
281 slaved = fgGetNode("/sim/slaved/enabled", true);
283 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
284 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
285 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
286 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
289 hook_root_struct = FGColumnVector3(
290 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
291 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
292 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
297 /******************************************************************************/
298 FGJSBsim::~FGJSBsim(void)
303 /******************************************************************************/
305 // Initialize the JSBsim flight model, dt is the time increment for
306 // each subsequent iteration through the EOM
308 void FGJSBsim::init()
312 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
314 // Explicitly call the superclass's
315 // init method first.
317 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
318 Atmosphere->UseExternal();
319 Atmosphere->SetExTemperature(
320 9.0/5.0*(temperature->getDoubleValue()+273.15) );
321 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
322 Atmosphere->SetExDensity(density->getDoubleValue());
323 Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
324 Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
325 Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
328 Atmosphere->UseInternal();
331 fgic->SetVNorthFpsIC( wind_from_north->getDoubleValue() );
332 fgic->SetVEastFpsIC( wind_from_east->getDoubleValue() );
333 fgic->SetVDownFpsIC( wind_from_down->getDoubleValue() );
335 //Atmosphere->SetExTemperature(get_Static_temperature());
336 //Atmosphere->SetExPressure(get_Static_pressure());
337 //Atmosphere->SetExDensity(get_Density());
338 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
339 << ", " << fdmex->GetAtmosphere()->GetPressure()
340 << ", " << fdmex->GetAtmosphere()->GetDensity() );
342 if (fgGetBool("/sim/presets/running")) {
343 for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
344 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
345 node->setBoolValue("running", true);
346 Propulsion->GetEngine(i)->SetRunning(true);
350 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
355 fdmex->RunIC(); //loop JSBSim once w/o integrating
356 copy_from_JSBsim(); //update the bus
358 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
360 switch(fgic->GetSpeedSet()) {
362 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
363 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
364 << Propagate->GetVel(FGJSBBase::eEast) << ", "
365 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
368 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
369 << Propagate->GetUVW(1) << ", "
370 << Propagate->GetUVW(2) << ", "
371 << Propagate->GetUVW(3) << " ft/s");
374 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
375 << Auxiliary->GetMach() );
379 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
380 << Auxiliary->GetVcalibratedKTS() << " knots" );
384 stall_warning->setDoubleValue(0);
386 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
387 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
388 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
389 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
390 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
391 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
392 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
393 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
394 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
395 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
396 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
397 << Propagate->Geth() << " feet" );
398 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
400 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
402 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
404 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
405 globals->get_controls()->get_gear_down() );
408 /******************************************************************************/
410 // Run an iteration of the EOM (equations of motion)
412 void FGJSBsim::update( double dt )
415 if(!fgGetBool("/sim/crashed"))
416 fgSetBool("/sim/crashed", true);
423 int multiloop = _calc_multiloop(dt);
427 // Compute the radius of the aircraft. That is the radius of a ball
428 // where all gear units are in. At the moment it is at least 10ft ...
430 int n_gears = GroundReactions->GetNumGearUnits();
431 for (i=0; i<n_gears; ++i) {
432 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
433 double r = bl.Magnitude();
438 // Compute the potential movement of this aircraft and query for the
439 // ground in this area.
440 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
441 double alt, slr, lat, lon;
442 FGColumnVector3 cart = Auxiliary->GetLocationVRP();
443 if ( needTrim && startup_trim->getBoolValue() ) {
444 alt = fgic->GetAltitudeFtIC();
445 slr = fgic->GetSeaLevelRadiusFtIC();
446 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
447 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
448 cart = FGLocation(lon, lat, alt+slr);
450 double cart_pos[3] = { cart(1), cart(2), cart(3) };
451 double t0 = State->Getsim_time();
452 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
455 SG_LOG(SG_FLIGHT, SG_WARN,
456 "FGInterface is being called without scenery below the aircraft!");
458 alt = fgic->GetAltitudeFtIC();
459 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = " << alt);
461 slr = fgic->GetSeaLevelRadiusFtIC();
462 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = " << slr);
464 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
465 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = " << lat);
467 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
468 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = " << lon);
474 trimmed->setBoolValue(false);
477 if ( startup_trim->getBoolValue() ) {
478 double contact[3], d[3], agl;
479 get_agl_ft(State->Getsim_time(), cart_pos, SG_METER_TO_FEET*2, contact,
481 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
482 + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
484 SG_LOG(SG_FLIGHT, SG_INFO,
485 "Ready to trim, terrain altitude is: "
486 << terrain_alt * SG_METER_TO_FEET );
488 fgic->SetTerrainAltitudeFtIC( terrain_alt );
491 fdmex->RunIC(); //apply any changes made through the set_ functions
496 for ( i=0; i < multiloop; i++ ) {
498 update_external_forces(State->Getsim_time() + i * State->Getdt());
501 FGJSBBase::Message* msg;
502 while (fdmex->SomeMessages()) {
503 msg = fdmex->ProcessMessage();
505 case FGJSBBase::Message::eText:
506 if (msg->text == "Crash Detected: Simulation FREEZE.")
508 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
510 case FGJSBBase::Message::eBool:
511 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
513 case FGJSBBase::Message::eInteger:
514 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
516 case FGJSBBase::Message::eDouble:
517 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
520 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
525 // translate JSBsim back to FG structure so that the
526 // autopilot (and the rest of the sim can use the updated values
530 /******************************************************************************/
532 // Convert from the FGInterface struct to the JSBsim generic_ struct
534 bool FGJSBsim::copy_to_JSBsim()
539 // copy control positions into the JSBsim structure
541 FCS->SetDaCmd( globals->get_controls()->get_aileron());
542 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
543 FCS->SetDeCmd( globals->get_controls()->get_elevator());
544 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
545 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
546 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
547 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
548 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
549 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
550 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
552 // Parking brake sets minimum braking
554 double parking_brake = globals->get_controls()->get_brake_parking();
555 FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
556 FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
557 FCS->SetCBrake( 0.0 );
558 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
560 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
561 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
562 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
564 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
565 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
566 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
567 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
569 switch (Propulsion->GetEngine(i)->GetType()) {
570 case FGEngine::etPiston:
571 { // FGPiston code block
572 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
573 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
575 } // end FGPiston code block
576 case FGEngine::etTurbine:
577 { // FGTurbine code block
578 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
579 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
580 eng->SetReverse( globals->get_controls()->get_reverser(i) );
581 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
582 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
583 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
585 } // end FGTurbine code block
586 case FGEngine::etRocket:
587 { // FGRocket code block
588 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
590 } // end FGRocket code block
591 case FGEngine::etTurboprop:
592 { // FGTurboProp code block
593 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
594 eng->SetReverse( globals->get_controls()->get_reverser(i) );
595 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
596 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
598 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
599 eng->SetCondition( globals->get_controls()->get_condition(i) );
601 } // end FGTurboProp code block
606 { // FGEngine code block
607 FGEngine* eng = Propulsion->GetEngine(i);
609 eng->SetStarter( globals->get_controls()->get_starter(i) );
610 eng->SetRunning( node->getBoolValue("running") );
611 } // end FGEngine code block
615 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
617 Atmosphere->SetExTemperature(
618 9.0/5.0*(temperature->getDoubleValue()+273.15) );
619 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
620 Atmosphere->SetExDensity(density->getDoubleValue());
622 tmp = turbulence_gain->getDoubleValue();
623 //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
625 tmp = turbulence_rate->getDoubleValue();
626 //Atmosphere->SetTurbRate(tmp);
628 Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
629 wind_from_east->getDoubleValue(),
630 wind_from_down->getDoubleValue() );
631 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
632 // << get_V_north_airmass() << ", "
633 // << get_V_east_airmass() << ", "
634 // << get_V_down_airmass() );
636 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
637 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
638 FGTank * tank = Propulsion->GetTank(i);
639 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
640 // tank->SetContents(node->getDoubleValue("level-lbs"));
643 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
644 fdmex->SetSlave(slaved->getBoolValue());
649 /******************************************************************************/
651 // Convert from the JSBsim generic_ struct to the FGInterface struct
653 bool FGJSBsim::copy_from_JSBsim()
657 _set_Inertias( MassBalance->GetMass(),
658 MassBalance->GetIxx(),
659 MassBalance->GetIyy(),
660 MassBalance->GetIzz(),
661 MassBalance->GetIxz() );
663 _set_CG_Position( MassBalance->GetXYZcg(1),
664 MassBalance->GetXYZcg(2),
665 MassBalance->GetXYZcg(3) );
667 _set_Accels_Body( Aircraft->GetBodyAccel(1),
668 Aircraft->GetBodyAccel(2),
669 Aircraft->GetBodyAccel(3) );
671 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
673 Aircraft->GetNcg(3) );
675 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
676 Auxiliary->GetPilotAccel(2),
677 Auxiliary->GetPilotAccel(3) );
679 _set_Nlf( Aircraft->GetNlf() );
683 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
684 Propagate->GetVel(FGJSBBase::eEast),
685 Propagate->GetVel(FGJSBBase::eDown) );
687 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
688 Propagate->GetUVW(2),
689 Propagate->GetUVW(3) );
691 // Make the HUD work ...
692 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
693 Propagate->GetVel(FGJSBBase::eEast),
694 -Propagate->GetVel(FGJSBBase::eDown) );
696 _set_V_rel_wind( Auxiliary->GetVt() );
698 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
700 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
702 _set_V_ground_speed( Auxiliary->GetVground() );
704 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
705 Propagate->GetPQR(FGJSBBase::eQ),
706 Propagate->GetPQR(FGJSBBase::eR) );
708 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
709 Auxiliary->GetEulerRates(FGJSBBase::eTht),
710 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
712 _set_Mach_number( Auxiliary->GetMach() );
714 // Positions of Visual Reference Point
715 FGLocation l = Auxiliary->GetLocationVRP();
716 _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
717 l.GetRadius() - get_Sea_level_radius() );
719 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
721 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
722 double contact[3], d[3], sd, t;
723 is_valid_m(&t, d, &sd);
724 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, &sd);
726 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
727 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
730 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
731 Propagate->GetEuler(FGJSBBase::eTht),
732 Propagate->GetEuler(FGJSBBase::ePsi) );
734 _set_Alpha( Auxiliary->Getalpha() );
735 _set_Beta( Auxiliary->Getbeta() );
738 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
740 _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
742 _set_Climb_Rate( Propagate->Gethdot() );
744 const FGMatrix33& Tl2b = Propagate->GetTl2b();
745 for ( i = 1; i <= 3; i++ ) {
746 for ( j = 1; j <= 3; j++ ) {
747 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
751 // Copy the engine values from JSBSim.
752 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
753 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
755 sprintf(buf, "engines/engine[%d]/thruster", i);
756 SGPropertyNode * tnode = fgGetNode(buf, true);
757 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
759 switch (Propulsion->GetEngine(i)->GetType()) {
760 case FGEngine::etPiston:
761 { // FGPiston code block
762 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
763 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
764 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
765 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
766 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
767 // NOTE: mp-osi is not in ounces per square inch.
768 // This error is left for reasons of backwards compatibility with
769 // existing FlightGear sound and instrument configurations.
770 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
771 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
772 node->setDoubleValue("rpm", eng->getRPM());
773 } // end FGPiston code block
775 case FGEngine::etRocket:
776 { // FGRocket code block
777 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
778 } // end FGRocket code block
780 case FGEngine::etTurbine:
781 { // FGTurbine code block
782 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
783 node->setDoubleValue("n1", eng->GetN1());
784 node->setDoubleValue("n2", eng->GetN2());
785 node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
786 node->setBoolValue("augmentation", eng->GetAugmentation());
787 node->setBoolValue("water-injection", eng->GetInjection());
788 node->setBoolValue("ignition", eng->GetIgnition());
789 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
790 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
791 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
792 node->setBoolValue("reversed", eng->GetReversed());
793 node->setBoolValue("cutoff", eng->GetCutoff());
794 node->setDoubleValue("epr", eng->GetEPR());
795 globals->get_controls()->set_reverser(i, eng->GetReversed() );
796 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
797 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
798 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
799 } // end FGTurbine code block
801 case FGEngine::etTurboprop:
802 { // FGTurboProp code block
803 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
804 node->setDoubleValue("n1", eng->GetN1());
805 //node->setDoubleValue("n2", eng->GetN2());
806 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
807 node->setBoolValue("ignition", eng->GetIgnition());
808 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
809 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
810 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
811 node->setBoolValue("reversed", eng->GetReversed());
812 node->setBoolValue("cutoff", eng->GetCutoff());
813 node->setBoolValue("starting", eng->GetEngStarting());
814 node->setBoolValue("generator-power", eng->GetGeneratorPower());
815 node->setBoolValue("damaged", eng->GetCondition());
816 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
817 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
818 // node->setBoolValue("onfire", eng->GetFire());
819 globals->get_controls()->set_reverser(i, eng->GetReversed() );
820 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
821 } // end FGTurboProp code block
823 case FGEngine::etElectric:
824 { // FGElectric code block
825 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
826 node->setDoubleValue("rpm", eng->getRPM());
827 } // end FGElectric code block
831 { // FGEngine code block
832 FGEngine* eng = Propulsion->GetEngine(i);
833 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
834 node->setDoubleValue("thrust_lb", thruster->GetThrust());
835 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
836 node->setBoolValue("running", eng->GetRunning());
837 node->setBoolValue("starter", eng->GetStarter());
838 node->setBoolValue("cranking", eng->GetCranking());
839 globals->get_controls()->set_starter(i, eng->GetStarter() );
840 } // end FGEngine code block
842 switch (thruster->GetType()) {
843 case FGThruster::ttNozzle:
844 { // FGNozzle code block
845 FGNozzle* noz = (FGNozzle*)thruster;
846 } // end FGNozzle code block
848 case FGThruster::ttPropeller:
849 { // FGPropeller code block
850 FGPropeller* prop = (FGPropeller*)thruster;
851 tnode->setDoubleValue("rpm", thruster->GetRPM());
852 tnode->setDoubleValue("pitch", prop->GetPitch());
853 tnode->setDoubleValue("torque", prop->GetTorque());
854 tnode->setBoolValue("feathered", prop->GetFeather());
855 } // end FGPropeller code block
857 case FGThruster::ttRotor:
858 { // FGRotor code block
859 FGRotor* rotor = (FGRotor*)thruster;
860 } // end FGRotor code block
862 case FGThruster::ttDirect:
863 { // Direct code block
864 } // end Direct code block
870 // Copy the fuel levels from JSBSim if fuel
871 // freeze not enabled.
872 if ( ! Propulsion->GetFuelFreeze() ) {
873 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
874 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
875 FGTank* tank = Propulsion->GetTank(i);
876 double contents = tank->GetContents();
877 double temp = tank->GetTemperature_degC();
878 node->setDoubleValue("level-gal_us", contents/6.6);
879 node->setDoubleValue("level-lbs", contents);
880 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
886 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
888 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
889 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
890 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
891 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
892 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
893 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
894 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
895 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
896 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
898 // force a sim crashed if crashed (altitude AGL < 0)
899 if (get_Altitude_AGL() < -100.0) {
900 State->SuspendIntegration();
908 bool FGJSBsim::ToggleDataLogging(void)
910 // ToDo: handle this properly
911 fdmex->DisableOutput();
916 bool FGJSBsim::ToggleDataLogging(bool state)
919 fdmex->EnableOutput();
922 fdmex->DisableOutput();
929 void FGJSBsim::set_Latitude(double lat)
931 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
933 double sea_level_radius_meters, lat_geoc;
935 // In case we're not trimming
936 FGInterface::set_Latitude(lat);
938 if ( altitude->getDoubleValue() > -9990 ) {
939 alt = altitude->getDoubleValue();
945 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
946 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
948 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
949 &sea_level_radius_meters, &lat_geoc );
950 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
951 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
952 fgic->SetLatitudeRadIC( lat_geoc );
957 void FGJSBsim::set_Longitude(double lon)
959 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
961 // In case we're not trimming
962 FGInterface::set_Longitude(lon);
965 fgic->SetLongitudeRadIC( lon );
969 void FGJSBsim::set_Altitude(double alt)
971 static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
973 double sea_level_radius_meters,lat_geoc;
975 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
976 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
978 // In case we're not trimming
979 FGInterface::set_Altitude(alt);
982 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
983 &sea_level_radius_meters, &lat_geoc);
984 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
985 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
986 SG_LOG(SG_FLIGHT, SG_INFO,
987 "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
988 fgic->SetLatitudeRadIC( lat_geoc );
989 fgic->SetAltitudeFtIC(alt);
993 void FGJSBsim::set_V_calibrated_kts(double vc)
995 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
997 // In case we're not trimming
998 FGInterface::set_V_calibrated_kts(vc);
1001 fgic->SetVcalibratedKtsIC(vc);
1005 void FGJSBsim::set_Mach_number(double mach)
1007 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1009 // In case we're not trimming
1010 FGInterface::set_Mach_number(mach);
1013 fgic->SetMachIC(mach);
1017 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1019 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1020 << north << ", " << east << ", " << down );
1022 // In case we're not trimming
1023 FGInterface::set_Velocities_Local(north, east, down);
1026 fgic->SetVNorthFpsIC(north);
1027 fgic->SetVEastFpsIC(east);
1028 fgic->SetVDownFpsIC(down);
1032 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1034 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1035 << u << ", " << v << ", " << w );
1037 // In case we're not trimming
1038 FGInterface::set_Velocities_Wind_Body(u, v, w);
1041 fgic->SetUBodyFpsIC(u);
1042 fgic->SetVBodyFpsIC(v);
1043 fgic->SetWBodyFpsIC(w);
1048 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1050 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1051 << phi << ", " << theta << ", " << psi );
1053 // In case we're not trimming
1054 FGInterface::set_Euler_Angles(phi, theta, psi);
1057 fgic->SetThetaRadIC(theta);
1058 fgic->SetPhiRadIC(phi);
1059 fgic->SetPsiRadIC(psi);
1064 void FGJSBsim::set_Climb_Rate( double roc)
1066 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1068 // In case we're not trimming
1069 FGInterface::set_Climb_Rate(roc);
1072 //since both climb rate and flight path angle are set in the FG
1073 //startup sequence, something is needed to keep one from cancelling
1075 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1076 fgic->SetClimbRateFpsIC(roc);
1081 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1083 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1086 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1087 fgic->SetFlightPathAngleRadIC(gamma);
1092 void FGJSBsim::init_gear(void )
1094 FGGroundReactions* gr=fdmex->GetGroundReactions();
1095 int Ngear=GroundReactions->GetNumGearUnits();
1096 for (int i=0;i<Ngear;i++) {
1097 FGLGear *gear = gr->GetGearUnit(i);
1098 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1099 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1100 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1101 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1102 node->setBoolValue("wow", gear->GetWOW());
1103 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1104 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1105 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1106 node->setDoubleValue("compression-norm", gear->GetCompLen());
1107 node->setDoubleValue("compression-ft", gear->GetCompLen());
1108 if ( gear->GetSteerable() )
1109 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1113 void FGJSBsim::update_gear(void)
1115 FGGroundReactions* gr=fdmex->GetGroundReactions();
1116 int Ngear=GroundReactions->GetNumGearUnits();
1117 for (int i=0;i<Ngear;i++) {
1118 FGLGear *gear = gr->GetGearUnit(i);
1119 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1120 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1121 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1122 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1123 node->setDoubleValue("compression-norm", gear->GetCompLen());
1124 node->setDoubleValue("compression-ft", gear->GetCompLen());
1125 if ( gear->GetSteerable() )
1126 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1130 void FGJSBsim::do_trim(void)
1134 if ( fgGetBool("/sim/presets/onground") )
1136 fgtrim = new FGTrim(fdmex,tGround);
1138 fgtrim = new FGTrim(fdmex,tLongitudinal);
1141 if ( !fgtrim->DoTrim() ) {
1143 fgtrim->TrimStats();
1145 trimmed->setBoolValue(true);
1147 // if (FGJSBBase::debug_lvl > 0)
1148 // State->ReportState();
1152 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1153 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1154 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1155 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1157 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1158 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1159 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1160 FCS->GetThrottleCmd(0));
1162 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1163 globals->get_controls()->set_rudder( FCS->GetDrCmd());
1165 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1168 void FGJSBsim::update_ic(void)
1171 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1172 fgic->SetLongitudeRadIC( get_Longitude() );
1173 fgic->SetAltitudeFtIC( get_Altitude() );
1174 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1175 fgic->SetThetaRadIC( get_Theta() );
1176 fgic->SetPhiRadIC( get_Phi() );
1177 fgic->SetPsiRadIC( get_Psi() );
1178 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1183 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1184 double contact[3], double normal[3], double vel[3],
1187 double angularVel[3];
1188 const SGMaterial* material;
1189 simgear::BVHNode::Id id;
1190 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1191 angularVel, material, id))
1193 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1194 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1195 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1199 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1201 return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1204 inline static double sqr(double x)
1209 static double angle_diff(double a, double b)
1211 double diff = fabs(a - b);
1212 if (diff > 180) diff = 360 - diff;
1217 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)
1219 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1220 double dist = dot3(tip, ground_normal_body);
1221 if (fabs(dist + E) < 0.0001) {
1222 sin_fis[*points] = sin_fi_guess;
1223 cos_fis[*points] = cos_fi_guess;
1224 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1230 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)
1232 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1233 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1234 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1235 if (fabs(cos_fi_guess) > SG_EPSILON) {
1236 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1241 void FGJSBsim::update_external_forces(double t_off)
1243 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1244 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1245 const FGLocation& Location = Propagate->GetLocation();
1246 const FGMatrix33& Tec2l = Location.GetTec2l();
1248 double hook_area[4][3];
1250 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1251 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1252 hook_area[1][0] = hook_root(1);
1253 hook_area[1][1] = hook_root(2);
1254 hook_area[1][2] = hook_root(3);
1256 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1257 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1258 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1259 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1260 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1261 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1263 FGColumnVector3 hook_tip_body = hook_root_body;
1264 hook_tip_body(1) -= hook_length * cos_fi;
1265 hook_tip_body(3) += hook_length * sin_fi;
1266 bool hook_tip_valid = true;
1269 double ground_normal[3];
1270 double ground_vel[3];
1274 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &root_agl_ft);
1275 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1276 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1277 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1278 double D = -dot3(contact_body, ground_normal_body);
1280 // check hook tip agl against same ground plane
1281 double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1282 if (hook_tip_agl_ft < 0) {
1284 // hook tip: hx - l cos, hy, hz + l sin
1285 // on ground: - n0 l cos + n2 l sin + E = 0
1287 double E = D + dot3(hook_root_body, ground_normal_body);
1289 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1290 // and rearrange to get a quadratic with coeffs:
1291 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1292 double b = 2 * E * ground_normal_body(3) * hook_length;
1293 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1295 double disc = sqr(b) - 4 * a * c;
1297 double delta = sqrt(disc) / (2 * a);
1299 // allow 4 solutions for safety, should never happen
1305 double sin_fi_guess = -b / (2 * a) - delta;
1306 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1307 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1310 double diff1 = angle_diff(fi, fis[0]);
1311 double diff2 = angle_diff(fi, fis[1]);
1312 int point = diff1 < diff2 ? 0 : 1;
1314 sin_fi = sin_fis[point];
1315 cos_fi = cos_fis[point];
1316 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1317 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1323 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1324 double wire_ends_ec[2][3];
1325 double wire_vel_ec[2][3];
1326 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1327 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1328 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1329 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1330 if (rel_vel.Magnitude() < 3) {
1333 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1335 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;
1336 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;
1337 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1338 force_plane_normal.Normalize();
1339 cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1340 if (cos_fi < 0) cos_fi = -cos_fi;
1341 sin_fi = sqrt(1 - sqr(cos_fi));
1342 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1344 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1345 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1346 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1347 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1351 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1353 hook_area[0][0] = hook_tip(1);
1354 hook_area[0][1] = hook_tip(2);
1355 hook_area[0][2] = hook_tip(3);
1358 // The previous positions.
1359 hook_area[2][0] = last_hook_root[0];
1360 hook_area[2][1] = last_hook_root[1];
1361 hook_area[2][2] = last_hook_root[2];
1362 hook_area[3][0] = last_hook_tip[0];
1363 hook_area[3][1] = last_hook_tip[1];
1364 hook_area[3][2] = last_hook_tip[2];
1366 // Check if we caught a wire.
1367 // Returns true if we caught one.
1368 if (caught_wire_ft(t_off, hook_area)) {
1373 // save actual position as old position ...
1374 last_hook_tip[0] = hook_area[0][0];
1375 last_hook_tip[1] = hook_area[0][1];
1376 last_hook_tip[2] = hook_area[0][2];
1377 last_hook_root[0] = hook_area[1][0];
1378 last_hook_root[1] = hook_area[1][1];
1379 last_hook_root[2] = hook_area[1][2];
1381 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);