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
31 #ifdef SG_MATH_EXCEPTION_CLASH
37 #include <simgear/constants.h>
38 #include <simgear/debug/logstream.hxx>
39 #include <simgear/math/sg_geodesy.hxx>
40 #include <simgear/misc/sg_path.hxx>
42 #include <FDM/flight.hxx>
44 #include <Aircraft/aircraft.hxx>
45 #include <Controls/controls.hxx>
46 #include <Main/globals.hxx>
47 #include <Main/fg_props.hxx>
49 #include <FDM/JSBSim/FGFDMExec.h>
50 #include <FDM/JSBSim/FGAircraft.h>
51 #include <FDM/JSBSim/FGFCS.h>
52 #include <FDM/JSBSim/FGPropagate.h>
53 #include <FDM/JSBSim/FGState.h>
54 #include <FDM/JSBSim/FGAuxiliary.h>
55 #include <FDM/JSBSim/FGInitialCondition.h>
56 #include <FDM/JSBSim/FGTrim.h>
57 #include <FDM/JSBSim/FGAtmosphere.h>
58 #include <FDM/JSBSim/FGMassBalance.h>
59 #include <FDM/JSBSim/FGAerodynamics.h>
60 #include <FDM/JSBSim/FGLGear.h>
61 #include <FDM/JSBSim/FGPropertyManager.h>
62 #include <FDM/JSBSim/FGEngine.h>
63 #include <FDM/JSBSim/FGPiston.h>
64 #include <FDM/JSBSim/FGTurbine.h>
65 #include <FDM/JSBSim/FGRocket.h>
66 #include <FDM/JSBSim/FGElectric.h>
67 #include <FDM/JSBSim/FGNozzle.h>
68 #include <FDM/JSBSim/FGPropeller.h>
69 #include <FDM/JSBSim/FGRotor.h>
70 #include <FDM/JSBSim/FGTank.h>
74 FMAX (double a, double b)
80 /******************************************************************************/
82 FGJSBsim::FGJSBsim( double dt )
87 // Set up the debugging level
88 // FIXME: this will not respond to
91 // if flight is excluded, don't bother
92 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
94 // do a rough-and-ready mapping to
95 // the levels documented in FGFDMExec.h
96 switch (logbuf::get_log_priority()) {
98 FGJSBBase::debug_lvl = 0x1f;
101 FGJSBBase::debug_lvl = 0x0f;
103 FGJSBBase::debug_lvl = 0x01;
107 FGJSBBase::debug_lvl = 0x00;
112 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
114 State = fdmex->GetState();
115 Atmosphere = fdmex->GetAtmosphere();
116 FCS = fdmex->GetFCS();
117 MassBalance = fdmex->GetMassBalance();
118 Propulsion = fdmex->GetPropulsion();
119 Aircraft = fdmex->GetAircraft();
120 Propagate = fdmex->GetPropagate();
121 Auxiliary = fdmex->GetAuxiliary();
122 Aerodynamics = fdmex->GetAerodynamics();
123 GroundReactions = fdmex->GetGroundReactions();
128 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
130 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
131 engine_path.append( "Engine" );
134 result = fdmex->LoadModel( aircraft_path.str(),
136 fgGetString("/sim/aero") );
139 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
141 SG_LOG( SG_FLIGHT, SG_INFO,
142 " aero does not exist (you may have mis-typed the name).");
146 SG_LOG( SG_FLIGHT, SG_INFO, "" );
147 SG_LOG( SG_FLIGHT, SG_INFO, "" );
148 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
150 int Neng = Propulsion->GetNumEngines();
151 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
153 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
154 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
155 << GroundReactions->GetNumGearUnits() );
156 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
157 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
158 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
164 // Set initial fuel levels if provided.
165 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
166 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
167 if (node->getChild("level-gal_us", 0, false) != 0) {
168 Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
170 node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
171 node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
175 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
176 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
177 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
178 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
180 startup_trim = fgGetNode("/sim/presets/trim", true);
182 trimmed = fgGetNode("/fdm/trim/trimmed", true);
183 trimmed->setBoolValue(false);
185 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
186 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
187 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
188 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
190 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
191 stall_warning->setDoubleValue(0);
194 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
195 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
197 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
198 right_aileron_pos_pct
199 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
200 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
202 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
203 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
205 elevator_pos_pct->setDoubleValue(0);
206 left_aileron_pos_pct->setDoubleValue(0);
207 right_aileron_pos_pct->setDoubleValue(0);
208 rudder_pos_pct->setDoubleValue(0);
209 flap_pos_pct->setDoubleValue(0);
210 speedbrake_pos_pct->setDoubleValue(0);
211 spoilers_pos_pct->setDoubleValue(0);
213 temperature = fgGetNode("/environment/temperature-degc",true);
214 pressure = fgGetNode("/environment/pressure-inhg",true);
215 density = fgGetNode("/environment/density-slugft3",true);
216 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
217 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
219 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
220 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
221 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
223 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
224 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
225 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
226 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
230 /******************************************************************************/
231 FGJSBsim::~FGJSBsim(void)
236 /******************************************************************************/
238 // Initialize the JSBsim flight model, dt is the time increment for
239 // each subsequent iteration through the EOM
241 void FGJSBsim::init()
245 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
247 // Explicitly call the superclass's
248 // init method first.
251 Atmosphere->UseInternal();
253 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
254 Atmosphere->UseExternal();
255 Atmosphere->SetExTemperature(
256 9.0/5.0*(temperature->getDoubleValue()+273.15) );
257 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
258 Atmosphere->SetExDensity(density->getDoubleValue());
260 tmp = turbulence_gain->getDoubleValue();
261 Atmosphere->SetTurbGain(tmp * tmp * 100.0);
263 tmp = turbulence_rate->getDoubleValue();
264 Atmosphere->SetTurbRate(tmp);
267 Atmosphere->UseInternal();
271 fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
272 fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
273 fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
275 //Atmosphere->SetExTemperature(get_Static_temperature());
276 //Atmosphere->SetExPressure(get_Static_pressure());
277 //Atmosphere->SetExDensity(get_Density());
278 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
279 << ", " << fdmex->GetAtmosphere()->GetPressure()
280 << ", " << fdmex->GetAtmosphere()->GetDensity() );
285 fdmex->RunIC(); //loop JSBSim once w/o integrating
286 copy_from_JSBsim(); //update the bus
288 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
290 switch(fgic->GetSpeedSet()) {
292 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
293 << Propagate->GetVel(eNorth) << ", "
294 << Propagate->GetVel(eEast) << ", "
295 << Propagate->GetVel(eDown) << " ft/s");
298 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
299 << Propagate->GetUVW(1) << ", "
300 << Propagate->GetUVW(2) << ", "
301 << Propagate->GetUVW(3) << " ft/s");
304 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
305 << Auxiliary->GetMach() );
309 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
310 << Auxiliary->GetVcalibratedKTS() << " knots" );
314 stall_warning->setDoubleValue(0);
316 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
317 << Propagate->Getphi()*RADTODEG << " deg" );
318 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
319 << Propagate->Gettht()*RADTODEG << " deg" );
320 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
321 << Propagate->Getpsi()*RADTODEG << " deg" );
322 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
323 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
324 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
325 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
326 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
327 << Propagate->Geth() << " feet" );
328 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
330 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
332 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
334 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
335 globals->get_controls()->get_gear_down() );
338 /******************************************************************************/
340 // Run an iteration of the EOM (equations of motion)
342 void FGJSBsim::update( double dt )
347 int multiloop = _calc_multiloop(dt);
351 // double save_alt = 0.0;
355 trimmed->setBoolValue(false);
358 if ( startup_trim->getBoolValue() ) {
359 SG_LOG(SG_FLIGHT, SG_INFO,
360 "Ready to trim, terrain altitude is: "
361 << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
362 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
365 fdmex->RunIC(); //apply any changes made through the set_ functions
370 for ( i=0; i < multiloop; i++ ) {
374 FGJSBBase::Message* msg;
375 while (fdmex->ReadMessage()) {
376 msg = fdmex->ProcessMessage();
378 case FGJSBBase::Message::eText:
379 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
381 case FGJSBBase::Message::eBool:
382 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
384 case FGJSBBase::Message::eInteger:
385 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
387 case FGJSBBase::Message::eDouble:
388 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
391 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
396 // translate JSBsim back to FG structure so that the
397 // autopilot (and the rest of the sim can use the updated values
401 /******************************************************************************/
403 // Convert from the FGInterface struct to the JSBsim generic_ struct
405 bool FGJSBsim::copy_to_JSBsim()
410 // copy control positions into the JSBsim structure
412 FCS->SetDaCmd( globals->get_controls()->get_aileron());
413 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
414 FCS->SetDeCmd( globals->get_controls()->get_elevator());
415 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
416 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
417 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
418 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
419 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
420 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
422 // Parking brake sets minimum braking
424 double parking_brake = globals->get_controls()->get_brake_parking();
425 FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
426 FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
427 FCS->SetCBrake( 0.0 );
428 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
430 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
431 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
432 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
434 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
435 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
436 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
438 switch (Propulsion->GetEngine(i)->GetType()) {
439 case FGEngine::etPiston:
440 { // FGPiston code block
441 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
442 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
444 } // end FGPiston code block
445 case FGEngine::etTurbine:
446 { // FGTurbine code block
447 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
448 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
449 eng->SetReverse( globals->get_controls()->get_reverser(i) );
450 eng->SetInjection( globals->get_controls()->get_water_injection(i) );
451 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
452 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
454 } // end FGTurbine code block
455 case FGEngine::etRocket:
456 { // FGRocket code block
457 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
459 } // end FGRocket code block
462 { // FGEngine code block
463 FGEngine* eng = Propulsion->GetEngine(i);
465 eng->SetStarter( globals->get_controls()->get_starter(i) );
466 eng->SetRunning( node->getBoolValue("running") );
467 } // end FGEngine code block
471 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
472 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
473 Propagate->SetRunwayRadius( get_Runway_altitude()
474 + get_Sea_level_radius() );
476 Atmosphere->SetExTemperature(
477 9.0/5.0*(temperature->getDoubleValue()+273.15) );
478 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
479 Atmosphere->SetExDensity(density->getDoubleValue());
481 tmp = turbulence_gain->getDoubleValue();
482 Atmosphere->SetTurbGain(tmp * tmp * 100.0);
484 tmp = turbulence_rate->getDoubleValue();
485 Atmosphere->SetTurbRate(tmp);
487 Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
488 wind_from_east->getDoubleValue(),
489 wind_from_down->getDoubleValue() );
490 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
491 // << get_V_north_airmass() << ", "
492 // << get_V_east_airmass() << ", "
493 // << get_V_down_airmass() );
495 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
496 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
497 FGTank * tank = Propulsion->GetTank(i);
498 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
499 // tank->SetContents(node->getDoubleValue("level-lb"));
501 SGPropertyNode* node = fgGetNode("/systems/refuel", true);
502 Propulsion->SetRefuel(node->getDoubleValue("contact"));
507 /******************************************************************************/
509 // Convert from the JSBsim generic_ struct to the FGInterface struct
511 bool FGJSBsim::copy_from_JSBsim()
515 _set_Inertias( MassBalance->GetMass(),
516 MassBalance->GetIxx(),
517 MassBalance->GetIyy(),
518 MassBalance->GetIzz(),
519 MassBalance->GetIxz() );
521 _set_CG_Position( MassBalance->GetXYZcg(1),
522 MassBalance->GetXYZcg(2),
523 MassBalance->GetXYZcg(3) );
525 _set_Accels_Body( Aircraft->GetBodyAccel(1),
526 Aircraft->GetBodyAccel(2),
527 Aircraft->GetBodyAccel(3) );
529 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
531 Aircraft->GetNcg(3) );
533 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
534 Auxiliary->GetPilotAccel(2),
535 Auxiliary->GetPilotAccel(3) );
537 _set_Nlf( Aircraft->GetNlf() );
541 _set_Velocities_Local( Propagate->GetVel(eNorth),
542 Propagate->GetVel(eEast),
543 Propagate->GetVel(eDown) );
545 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
546 Propagate->GetUVW(2),
547 Propagate->GetUVW(3) );
549 // Make the HUD work ...
550 _set_Velocities_Ground( Propagate->GetVel(eNorth),
551 Propagate->GetVel(eEast),
552 -Propagate->GetVel(eDown) );
554 _set_V_rel_wind( Auxiliary->GetVt() );
556 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
558 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
560 _set_V_ground_speed( Auxiliary->GetVground() );
562 _set_Omega_Body( Propagate->GetPQR(eP),
563 Propagate->GetPQR(eQ),
564 Propagate->GetPQR(eR) );
566 _set_Euler_Rates( Auxiliary->GetEulerRates(ePhi),
567 Auxiliary->GetEulerRates(eTht),
568 Auxiliary->GetEulerRates(ePsi) );
570 _set_Mach_number( Auxiliary->GetMach() );
572 // Positions of Visual Reference Point
573 _updateGeocentricPosition( Auxiliary->GetLocationVRP().GetLatitude(),
574 Auxiliary->GetLocationVRP().GetLongitude(),
575 Auxiliary->GethVRP() );
577 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
579 _set_Euler_Angles( Propagate->Getphi(),
581 Propagate->Getpsi() );
583 _set_Alpha( Auxiliary->Getalpha() );
584 _set_Beta( Auxiliary->Getbeta() );
587 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
589 _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
591 _set_Climb_Rate( Propagate->Gethdot() );
593 const FGMatrix33& Tl2b = Propagate->GetTl2b();
594 for ( i = 1; i <= 3; i++ ) {
595 for ( j = 1; j <= 3; j++ ) {
596 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
600 // Copy the engine values from JSBSim.
601 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
602 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
604 sprintf(buf, "engines/engine[%d]/thruster", i);
605 SGPropertyNode * tnode = fgGetNode(buf, true);
606 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
608 switch (Propulsion->GetEngine(i)->GetType()) {
609 case FGEngine::etPiston:
610 { // FGPiston code block
611 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
612 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
613 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
614 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
615 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
616 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
617 node->setDoubleValue("rpm", eng->getRPM());
618 } // end FGPiston code block
620 case FGEngine::etRocket:
621 { // FGRocket code block
622 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
623 } // end FGRocket code block
625 case FGEngine::etTurbine:
626 { // FGTurbine code block
627 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
628 node->setDoubleValue("n1", eng->GetN1());
629 node->setDoubleValue("n2", eng->GetN2());
630 node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
631 node->setBoolValue("augmentation", eng->GetAugmentation());
632 node->setBoolValue("water-injection", eng->GetInjection());
633 node->setBoolValue("ignition", eng->GetIgnition());
634 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
635 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
636 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
637 node->setBoolValue("reversed", eng->GetReversed());
638 node->setBoolValue("cutoff", eng->GetCutoff());
639 node->setDoubleValue("epr", eng->GetEPR());
640 globals->get_controls()->set_reverser(i, eng->GetReversed() );
641 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
642 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
643 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
644 } // end FGTurbine code block
646 case FGEngine::etElectric:
647 { // FGElectric code block
648 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
649 node->setDoubleValue("rpm", eng->getRPM());
650 } // end FGElectric code block
654 { // FGEngine code block
655 FGEngine* eng = Propulsion->GetEngine(i);
656 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
657 node->setDoubleValue("thrust_lb", thruster->GetThrust());
658 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
659 node->setBoolValue("running", eng->GetRunning());
660 node->setBoolValue("starter", eng->GetStarter());
661 node->setBoolValue("cranking", eng->GetCranking());
662 globals->get_controls()->set_starter(i, eng->GetStarter() );
663 } // end FGEngine code block
665 switch (thruster->GetType()) {
666 case FGThruster::ttNozzle:
667 { // FGNozzle code block
668 FGNozzle* noz = (FGNozzle*)thruster;
669 } // end FGNozzle code block
671 case FGThruster::ttPropeller:
672 { // FGPropeller code block
673 FGPropeller* prop = (FGPropeller*)thruster;
674 tnode->setDoubleValue("rpm", thruster->GetRPM());
675 tnode->setDoubleValue("pitch", prop->GetPitch());
676 tnode->setDoubleValue("torque", prop->GetTorque());
677 } // end FGPropeller code block
679 case FGThruster::ttRotor:
680 { // FGRotor code block
681 FGRotor* rotor = (FGRotor*)thruster;
682 } // end FGRotor code block
684 case FGThruster::ttDirect:
685 { // Direct code block
686 } // end Direct code block
692 static const SGPropertyNode *fuel_freeze = fgGetNode("/sim/freeze/fuel");
694 // Copy the fuel levels from JSBSim if fuel
695 // freeze not enabled.
696 if ( ! fuel_freeze->getBoolValue() ) {
697 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
698 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
699 FGTank* tank = Propulsion->GetTank(i);
700 double contents = tank->GetContents();
701 double temp = tank->GetTemperature_degC();
702 node->setDoubleValue("level-gal_us", contents/6.6);
703 node->setDoubleValue("level-lb", contents);
704 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
710 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
712 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
713 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
714 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
715 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
716 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
717 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
718 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
724 bool FGJSBsim::ToggleDataLogging(void)
726 return fdmex->GetOutput()->Toggle();
730 bool FGJSBsim::ToggleDataLogging(bool state)
733 fdmex->GetOutput()->Enable();
736 fdmex->GetOutput()->Disable();
743 void FGJSBsim::set_Latitude(double lat)
745 static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
747 double sea_level_radius_meters, lat_geoc;
749 // In case we're not trimming
750 FGInterface::set_Latitude(lat);
752 if ( altitude->getDoubleValue() > -9990 ) {
753 alt = altitude->getDoubleValue();
759 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
760 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
762 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
763 &sea_level_radius_meters, &lat_geoc );
764 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
765 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
766 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
767 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
768 fgic->SetLatitudeRadIC( lat_geoc );
773 void FGJSBsim::set_Longitude(double lon)
775 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
777 // In case we're not trimming
778 FGInterface::set_Longitude(lon);
781 fgic->SetLongitudeRadIC( lon );
782 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
783 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
787 void FGJSBsim::set_Altitude(double alt)
789 static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
791 double sea_level_radius_meters,lat_geoc;
793 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
794 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
796 // In case we're not trimming
797 FGInterface::set_Altitude(alt);
800 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
801 &sea_level_radius_meters, &lat_geoc);
802 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
803 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
804 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
805 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
806 SG_LOG(SG_FLIGHT, SG_INFO,
807 "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
808 fgic->SetLatitudeRadIC( lat_geoc );
809 fgic->SetAltitudeFtIC(alt);
813 void FGJSBsim::set_V_calibrated_kts(double vc)
815 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
817 // In case we're not trimming
818 FGInterface::set_V_calibrated_kts(vc);
821 fgic->SetVcalibratedKtsIC(vc);
825 void FGJSBsim::set_Mach_number(double mach)
827 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
829 // In case we're not trimming
830 FGInterface::set_Mach_number(mach);
833 fgic->SetMachIC(mach);
837 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
839 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
840 << north << ", " << east << ", " << down );
842 // In case we're not trimming
843 FGInterface::set_Velocities_Local(north, east, down);
846 fgic->SetVnorthFpsIC(north);
847 fgic->SetVeastFpsIC(east);
848 fgic->SetVdownFpsIC(down);
852 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
854 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
855 << u << ", " << v << ", " << w );
857 // In case we're not trimming
858 FGInterface::set_Velocities_Wind_Body(u, v, w);
861 fgic->SetUBodyFpsIC(u);
862 fgic->SetVBodyFpsIC(v);
863 fgic->SetWBodyFpsIC(w);
868 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
870 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
871 << phi << ", " << theta << ", " << psi );
873 // In case we're not trimming
874 FGInterface::set_Euler_Angles(phi, theta, psi);
877 fgic->SetPitchAngleRadIC(theta);
878 fgic->SetRollAngleRadIC(phi);
879 fgic->SetTrueHeadingRadIC(psi);
884 void FGJSBsim::set_Climb_Rate( double roc)
886 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
888 // In case we're not trimming
889 FGInterface::set_Climb_Rate(roc);
892 //since both climb rate and flight path angle are set in the FG
893 //startup sequence, something is needed to keep one from cancelling
895 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
896 fgic->SetClimbRateFpsIC(roc);
901 void FGJSBsim::set_Gamma_vert_rad( double gamma)
903 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
906 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
907 fgic->SetFlightPathAngleRadIC(gamma);
912 void FGJSBsim::init_gear(void )
914 FGGroundReactions* gr=fdmex->GetGroundReactions();
915 int Ngear=GroundReactions->GetNumGearUnits();
916 for (int i=0;i<Ngear;i++) {
917 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
918 node->setDoubleValue("xoffset-in",
919 gr->GetGearUnit(i)->GetBodyLocation()(1));
920 node->setDoubleValue("yoffset-in",
921 gr->GetGearUnit(i)->GetBodyLocation()(2));
922 node->setDoubleValue("zoffset-in",
923 gr->GetGearUnit(i)->GetBodyLocation()(3));
924 node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
925 node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
926 node->setDoubleValue("position-norm", FCS->GetGearPos());
927 node->setDoubleValue("tire-pressure-norm", gr->GetGearUnit(i)->GetTirePressure());
931 void FGJSBsim::update_gear(void)
933 FGGroundReactions* gr=fdmex->GetGroundReactions();
934 int Ngear=GroundReactions->GetNumGearUnits();
935 for (int i=0;i<Ngear;i++) {
936 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
937 node->getChild("wow", 0, true)->setBoolValue(gr->GetGearUnit(i)->GetWOW());
938 node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
939 gr->GetGearUnit(i)->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
943 void FGJSBsim::do_trim(void)
947 if ( fgGetBool("/sim/presets/onground") )
949 fgic->SetVcalibratedKtsIC(0.0);
950 fgtrim = new FGTrim(fdmex,tGround);
952 fgtrim = new FGTrim(fdmex,tLongitudinal);
955 if ( !fgtrim->DoTrim() ) {
959 trimmed->setBoolValue(true);
961 if (FGJSBBase::debug_lvl > 0)
962 State->ReportState();
966 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
967 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
968 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
969 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
971 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
972 globals->get_controls()->set_elevator(FCS->GetDeCmd());
973 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
974 FCS->GetThrottleCmd(0));
976 globals->get_controls()->set_aileron(FCS->GetDaCmd());
977 globals->get_controls()->set_rudder( FCS->GetDrCmd());
979 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
982 void FGJSBsim::update_ic(void)
985 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
986 fgic->SetLongitudeRadIC( get_Longitude() );
987 fgic->SetAltitudeFtIC( get_Altitude() );
988 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
989 fgic->SetPitchAngleRadIC( get_Theta() );
990 fgic->SetRollAngleRadIC( get_Phi() );
991 fgic->SetTrueHeadingRadIC( get_Psi() );
992 fgic->SetClimbRateFpsIC( get_Climb_Rate() );