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 Lesser 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 // Lesser General Public License for more details.
17 // You should have received a copy of the GNU Lesser General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301, USA.
21 // $Id: JSBSim.cxx,v 1.64 2010/10/31 04:49:25 jberndt Exp $
28 #include <simgear/compiler.h>
29 #include <simgear/sg_inlines.h>
31 #include <stdio.h> // size_t
34 #include <simgear/constants.h>
35 #include <simgear/debug/logstream.hxx>
36 #include <simgear/math/sg_geodesy.hxx>
37 #include <simgear/misc/sg_path.hxx>
38 #include <simgear/structure/commands.hxx>
40 #include <FDM/flight.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/initialization/FGInitialCondition.h>
50 #include <FDM/JSBSim/initialization/FGTrim.h>
51 #include <FDM/JSBSim/models/FGModel.h>
52 #include <FDM/JSBSim/models/FGAircraft.h>
53 #include <FDM/JSBSim/models/FGFCS.h>
54 #include <FDM/JSBSim/models/FGPropagate.h>
55 #include <FDM/JSBSim/models/FGAuxiliary.h>
56 #include <FDM/JSBSim/models/FGInertial.h>
57 #include <FDM/JSBSim/models/FGAtmosphere.h>
58 #include <FDM/JSBSim/models/FGMassBalance.h>
59 #include <FDM/JSBSim/models/FGAerodynamics.h>
60 #include <FDM/JSBSim/models/FGLGear.h>
61 #include <FDM/JSBSim/models/FGGroundReactions.h>
62 #include <FDM/JSBSim/models/FGPropulsion.h>
63 #include <FDM/JSBSim/models/FGAccelerations.h>
64 #include <FDM/JSBSim/models/atmosphere/FGWinds.h>
65 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
66 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
67 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
68 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
69 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
70 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
71 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
72 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
73 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
74 #include <FDM/JSBSim/models/propulsion/FGTank.h>
75 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
76 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
78 using namespace JSBSim;
81 FMAX (double a, double b)
86 class FGFSGroundCallback : public FGGroundCallback {
88 FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
89 virtual ~FGFSGroundCallback() {}
91 /** Get the altitude above sea level dependent on the location. */
92 virtual double GetAltitude(const FGLocation& l) const {
93 double pt[3] = { SG_FEET_TO_METER*l(FGJSBBase::eX),
94 SG_FEET_TO_METER*l(FGJSBBase::eY),
95 SG_FEET_TO_METER*l(FGJSBBase::eZ) };
97 sgCartToGeod( pt, &lat, &lon, &alt);
98 return alt * SG_METER_TO_FEET;
101 /** Compute the altitude above ground. */
102 virtual double GetAGLevel(double t, const FGLocation& l,
103 FGLocation& cont, FGColumnVector3& n,
104 FGColumnVector3& v, FGColumnVector3& w) const {
105 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
106 double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
107 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
108 vel, angularVel, &agl);
109 n = FGColumnVector3( normal[0], normal[1], normal[2] );
110 v = FGColumnVector3( vel[0], vel[1], vel[2] );
111 w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
112 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
116 virtual double GetTerrainGeoCentRadius(double t, const FGLocation& l) const {
117 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
118 double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
119 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
120 vel, angularVel, &agl);
121 return sqrt(contact[0]*contact[0]+contact[1]*contact[1]+contact[2]*contact[2]);
124 virtual double GetSeaLevelRadius(const FGLocation& l) const {
125 double seaLevelRadius, latGeoc;
127 sgGeodToGeoc(l.GetGeodLatitudeRad(), l.GetGeodAltitude(),
128 &seaLevelRadius, &latGeoc);
130 return seaLevelRadius * SG_METER_TO_FEET;
133 virtual void SetTerrainGeoCentRadius(double radius) {}
134 virtual void SetSeaLevelRadius(double radius) {}
136 FGJSBsim* mInterface;
139 // FG uses a squared normalized magnitude for turbulence
140 // this lookup table maps fg's severity levels
141 // none(0), light(1/3), moderate(2/3) and severe(3/3)
142 // to the POE table indexes 0, 3, 4 and 7
143 class FGTurbulenceSeverityTable : public FGTable {
145 FGTurbulenceSeverityTable() : FGTable(4) {
146 *this << (0.0/9.0) << 0.0;
147 *this << (1.0/9.0) << 3.0;
148 *this << (4.0/9.0) << 4.0;
149 *this << (9.0/9.0) << 7.0;
153 /******************************************************************************/
154 std::map<std::string,int> FGJSBsim::TURBULENCE_TYPE_NAMES;
156 static FGTurbulenceSeverityTable TurbulenceSeverityTable;
158 FGJSBsim::FGJSBsim( double dt )
159 : FGInterface(dt), got_wire(false)
162 if( TURBULENCE_TYPE_NAMES.empty() ) {
163 TURBULENCE_TYPE_NAMES["ttNone"] = FGWinds::ttNone;
164 TURBULENCE_TYPE_NAMES["ttStandard"] = FGWinds::ttStandard;
165 TURBULENCE_TYPE_NAMES["ttCulp"] = FGWinds::ttCulp;
166 TURBULENCE_TYPE_NAMES["ttMilspec"] = FGWinds::ttMilspec;
167 TURBULENCE_TYPE_NAMES["ttTustin"] = FGWinds::ttTustin;
170 // Set up the debugging level
171 // FIXME: this will not respond to
174 // if flight is excluded, don't bother
175 if ((sglog().get_log_classes() & SG_FLIGHT) != 0) {
177 // do a rough-and-ready mapping to
178 // the levels documented in FGFDMExec.h
179 switch (sglog().get_log_priority()) {
181 FGJSBBase::debug_lvl = 0x1f;
184 FGJSBBase::debug_lvl = 0x0f;
186 FGJSBBase::debug_lvl = 0x01;
190 FGJSBBase::debug_lvl = 0x00;
195 PropertyManager = new FGPropertyManager( (FGPropertyNode*)globals->get_props() );
196 fdmex = new FGFDMExec( PropertyManager );
198 // Register ground callback.
199 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
201 Atmosphere = fdmex->GetAtmosphere();
202 Winds = fdmex->GetWinds();
203 FCS = fdmex->GetFCS();
204 MassBalance = fdmex->GetMassBalance();
205 Propulsion = fdmex->GetPropulsion();
206 Aircraft = fdmex->GetAircraft();
207 Propagate = fdmex->GetPropagate();
208 Auxiliary = fdmex->GetAuxiliary();
209 Inertial = fdmex->GetInertial();
210 Aerodynamics = fdmex->GetAerodynamics();
211 GroundReactions = fdmex->GetGroundReactions();
212 Accelerations = fdmex->GetAccelerations();
217 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
219 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
220 engine_path.append( "Engine" );
222 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
223 systems_path.append( "Systems" );
225 // deprecate sim-time-sec for simulation/sim-time-sec
226 // remove alias with increased configuration file version number (2.1 or later)
227 SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
228 fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
229 // end of sim-time-sec deprecation patch
233 result = fdmex->LoadModel( aircraft_path.str(),
236 fgGetString("/sim/aero"), false );
239 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
241 SG_LOG( SG_FLIGHT, SG_INFO,
242 " aero does not exist (you may have mis-typed the name).");
246 SG_LOG( SG_FLIGHT, SG_INFO, "" );
247 SG_LOG( SG_FLIGHT, SG_INFO, "" );
248 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
250 int Neng = Propulsion->GetNumEngines();
251 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
253 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
254 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
255 << GroundReactions->GetNumGearUnits() );
256 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
257 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
258 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
264 // Set initial fuel levels if provided.
265 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
267 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
268 FGTank* tank = Propulsion->GetTank(i);
270 d = node->getNode( "density-ppg", true )->getDoubleValue();
272 tank->SetDensity( d );
274 node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
277 d = node->getNode( "level-lbs", true )->getDoubleValue();
279 tank->SetContents( d );
281 node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
283 /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
284 node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
286 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
288 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
289 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
290 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
291 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
293 startup_trim = fgGetNode("/sim/presets/trim", true);
295 trimmed = fgGetNode("/fdm/trim/trimmed", true);
296 trimmed->setBoolValue(false);
298 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
299 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
300 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
301 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
303 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
304 stall_warning->setDoubleValue(0);
307 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
308 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
310 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
311 right_aileron_pos_pct
312 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
313 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
315 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
316 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
317 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
318 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
320 elevator_pos_pct->setDoubleValue(0);
321 left_aileron_pos_pct->setDoubleValue(0);
322 right_aileron_pos_pct->setDoubleValue(0);
323 rudder_pos_pct->setDoubleValue(0);
324 flap_pos_pct->setDoubleValue(0);
325 speedbrake_pos_pct->setDoubleValue(0);
326 spoilers_pos_pct->setDoubleValue(0);
328 ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
329 ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
330 ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
332 altitude = fgGetNode("/position/altitude-ft");
333 temperature = fgGetNode("/environment/temperature-degc",true);
334 pressure = fgGetNode("/environment/pressure-inhg",true);
335 pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true);
336 ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true);
337 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
338 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
339 turbulence_model = fgGetNode("/environment/params/jsbsim-turbulence-model",true);
341 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
342 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
343 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
345 slaved = fgGetNode("/sim/slaved/enabled", true);
347 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
348 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
349 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
350 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
353 hook_root_struct = FGColumnVector3(
354 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
355 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
356 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
357 last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
358 last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
363 /******************************************************************************/
364 FGJSBsim::~FGJSBsim(void)
367 delete PropertyManager;
370 /******************************************************************************/
372 // Initialize the JSBsim flight model, dt is the time increment for
373 // each subsequent iteration through the EOM
375 void FGJSBsim::init()
377 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
379 // Explicitly call the superclass's
380 // init method first.
382 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
383 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
384 Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
385 // initialize to no turbulence, these values get set in the update loop
386 Winds->SetTurbType(FGWinds::ttNone);
387 Winds->SetTurbGain(0.0);
388 Winds->SetTurbRate(0.0);
389 Winds->SetWindspeed20ft(0.0);
390 Winds->SetProbabilityOfExceedence(0.0);
393 fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(),
394 -wind_from_east->getDoubleValue(),
395 -wind_from_down->getDoubleValue() );
397 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature()
398 << ", " << Atmosphere->GetPressure()
399 << ", " << Atmosphere->GetDensity() );
401 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
403 needTrim = startup_trim->getBoolValue();
407 fdmex->RunIC(); //loop JSBSim once w/o integrating
408 if (fgGetBool("/sim/presets/running")) {
409 Propulsion->InitRunning(-1);
410 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
411 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
412 globals->get_controls()->set_magnetos(i, eng->GetMagnetos());
413 globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i));
418 FGLocation cart(fgic->GetLongitudeRadIC(), fgic->GetLatitudeRadIC(),
419 get_Sea_level_radius() + fgic->GetAltitudeASLFtIC());
420 double cart_pos[3], contact[3], d[3], vel[3], agl;
421 update_ground_cache(cart, cart_pos, 0.01);
423 get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
425 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
426 + contact[2]*contact[2]) - get_Sea_level_radius();
428 SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain elevation is: "
429 << terrain_alt * SG_METER_TO_FEET );
431 if (fgGetBool("/sim/presets/onground")) {
432 FGColumnVector3 gndVelNED = cart.GetTec2l()
433 * FGColumnVector3(vel[0], vel[1], vel[2]);
434 fgic->SetVNorthFpsIC(gndVelNED(1));
435 fgic->SetVEastFpsIC(gndVelNED(2));
436 fgic->SetVDownFpsIC(gndVelNED(3));
438 fgic->SetTerrainElevationFtIC( terrain_alt );
443 copy_from_JSBsim(); //update the bus
445 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
447 switch(fgic->GetSpeedSet()) {
449 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
450 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
451 << Propagate->GetVel(FGJSBBase::eEast) << ", "
452 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
455 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
456 << Propagate->GetUVW(1) << ", "
457 << Propagate->GetUVW(2) << ", "
458 << Propagate->GetUVW(3) << " ft/s");
461 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
462 << Auxiliary->GetMach() );
466 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
467 << Auxiliary->GetVcalibratedKTS() << " knots" );
471 stall_warning->setDoubleValue(0);
473 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
474 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
475 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
476 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
477 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
478 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
479 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
480 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
481 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
482 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
483 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
484 << Propagate->GetAltitudeASL() << " feet" );
485 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
487 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
489 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
491 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
492 globals->get_controls()->get_gear_down() );
495 /******************************************************************************/
497 void FGJSBsim::unbind()
500 FGInterface::unbind();
503 /******************************************************************************/
505 // Run an iteration of the EOM (equations of motion)
507 void FGJSBsim::update( double dt )
510 if(!fgGetBool("/sim/crashed"))
511 fgSetBool("/sim/crashed", true);
518 int multiloop = _calc_multiloop(dt);
519 FGLocation cart = Auxiliary->GetLocationVRP();
522 update_ground_cache(cart, cart_pos, dt);
526 trimmed->setBoolValue(false);
528 for ( int i=0; i < multiloop; i++ ) {
530 update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
533 FGJSBBase::Message* msg;
534 while ((msg = fdmex->ProcessNextMessage()) != NULL) {
535 // msg = fdmex->ProcessNextMessage();
537 case FGJSBBase::Message::eText:
538 if (msg->text == "Crash Detected: Simulation FREEZE.")
540 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
542 case FGJSBBase::Message::eBool:
543 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
545 case FGJSBBase::Message::eInteger:
546 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
548 case FGJSBBase::Message::eDouble:
549 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
552 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
557 // translate JSBsim back to FG structure so that the
558 // autopilot (and the rest of the sim can use the updated values
562 /******************************************************************************/
564 void FGJSBsim::suspend()
567 SGSubsystem::suspend();
570 /******************************************************************************/
572 void FGJSBsim::resume()
575 SGSubsystem::resume();
578 /******************************************************************************/
580 // Convert from the FGInterface struct to the JSBsim generic_ struct
582 bool FGJSBsim::copy_to_JSBsim()
586 // copy control positions into the JSBsim structure
588 FCS->SetDaCmd( globals->get_controls()->get_aileron());
589 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
590 FCS->SetDeCmd( globals->get_controls()->get_elevator());
591 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
592 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
593 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
594 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
595 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
596 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
597 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
599 // Parking brake sets minimum braking
601 double parking_brake = globals->get_controls()->get_brake_parking();
602 double left_brake = globals->get_controls()->get_brake_left();
603 double right_brake = globals->get_controls()->get_brake_right();
605 if (ab_brake_engaged->getBoolValue()) {
606 left_brake = ab_brake_left_pct->getDoubleValue();
607 right_brake = ab_brake_right_pct->getDoubleValue();
610 FCS->SetLBrake(FMAX(left_brake, parking_brake));
611 FCS->SetRBrake(FMAX(right_brake, parking_brake));
614 FCS->SetCBrake( 0.0 );
615 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
617 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
618 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
619 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
621 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
622 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
623 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
624 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
626 switch (Propulsion->GetEngine(i)->GetType()) {
627 case FGEngine::etPiston:
628 { // FGPiston code block
629 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
630 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
632 } // end FGPiston code block
633 case FGEngine::etTurbine:
634 { // FGTurbine code block
635 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
636 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
637 eng->SetReverse( globals->get_controls()->get_reverser(i) );
638 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
639 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
640 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
642 } // end FGTurbine code block
643 case FGEngine::etRocket:
644 { // FGRocket code block
645 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
647 } // end FGRocket code block
648 case FGEngine::etTurboprop:
649 { // FGTurboProp code block
650 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
651 eng->SetReverse( globals->get_controls()->get_reverser(i) );
652 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
653 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
655 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
656 eng->SetCondition( globals->get_controls()->get_condition(i) );
658 } // end FGTurboProp code block
663 { // FGEngine code block
664 FGEngine* eng = Propulsion->GetEngine(i);
666 eng->SetStarter( globals->get_controls()->get_starter(i) );
667 eng->SetRunning( node->getBoolValue("running") );
668 } // end FGEngine code block
671 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
672 Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
674 Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]);
675 switch( Winds->GetTurbType() ) {
676 case FGWinds::ttStandard:
677 case FGWinds::ttCulp: {
678 double tmp = turbulence_gain->getDoubleValue();
679 Winds->SetTurbGain(tmp * tmp * 100.0);
680 Winds->SetTurbRate(turbulence_rate->getDoubleValue());
683 case FGWinds::ttMilspec:
684 case FGWinds::ttTustin: {
685 // milspec turbulence: 3=light, 4=moderate, 6=severe turbulence
686 // turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe
687 double tmp = turbulence_gain->getDoubleValue();
688 Winds->SetProbabilityOfExceedence(
689 SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) )
691 Winds->SetWindspeed20ft(ground_wind->getDoubleValue());
699 Winds->SetWindNED( -wind_from_north->getDoubleValue(),
700 -wind_from_east->getDoubleValue(),
701 -wind_from_down->getDoubleValue() );
702 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
703 // << get_V_north_airmass() << ", "
704 // << get_V_east_airmass() << ", "
705 // << get_V_down_airmass() );
707 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
708 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
709 FGTank * tank = Propulsion->GetTank(i);
710 double fuelDensity = node->getDoubleValue("density-ppg");
712 if (fuelDensity < 0.1)
713 fuelDensity = 6.0; // Use average fuel value
715 tank->SetDensity(fuelDensity);
716 tank->SetContents(node->getDoubleValue("level-lbs"));
719 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
720 fdmex->SetChild(slaved->getBoolValue());
725 /******************************************************************************/
727 // Convert from the JSBsim generic_ struct to the FGInterface struct
729 bool FGJSBsim::copy_from_JSBsim()
733 _set_Inertias( MassBalance->GetMass(),
734 MassBalance->GetIxx(),
735 MassBalance->GetIyy(),
736 MassBalance->GetIzz(),
737 MassBalance->GetIxz() );
739 _set_CG_Position( MassBalance->GetXYZcg(1),
740 MassBalance->GetXYZcg(2),
741 MassBalance->GetXYZcg(3) );
743 _set_Accels_Body( Accelerations->GetBodyAccel(1),
744 Accelerations->GetBodyAccel(2),
745 Accelerations->GetBodyAccel(3) );
747 _set_Accels_CG_Body_N ( Auxiliary->GetNcg(1),
748 Auxiliary->GetNcg(2),
749 Auxiliary->GetNcg(3) );
751 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
752 Auxiliary->GetPilotAccel(2),
753 Auxiliary->GetPilotAccel(3) );
755 _set_Nlf( Auxiliary->GetNlf() );
759 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
760 Propagate->GetVel(FGJSBBase::eEast),
761 Propagate->GetVel(FGJSBBase::eDown) );
763 _set_Velocities_Body( Propagate->GetUVW(1),
764 Propagate->GetUVW(2),
765 Propagate->GetUVW(3) );
767 // Make the HUD work ...
768 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
769 Propagate->GetVel(FGJSBBase::eEast),
770 -Propagate->GetVel(FGJSBBase::eDown) );
772 _set_V_rel_wind( Auxiliary->GetVt() );
774 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
776 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
778 _set_V_ground_speed( Auxiliary->GetVground() );
780 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
781 Propagate->GetPQR(FGJSBBase::eQ),
782 Propagate->GetPQR(FGJSBBase::eR) );
784 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
785 Auxiliary->GetEulerRates(FGJSBBase::eTht),
786 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
788 _set_Mach_number( Auxiliary->GetMach() );
790 // Positions of Visual Reference Point
791 FGLocation l = Auxiliary->GetLocationVRP();
792 _updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(),
795 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
797 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
798 double contact[3], d[3], sd, t;
799 is_valid_m(&t, d, &sd);
800 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
802 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
803 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
806 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
807 Propagate->GetEuler(FGJSBBase::eTht),
808 Propagate->GetEuler(FGJSBBase::ePsi) );
810 _set_Alpha( Auxiliary->Getalpha() );
811 _set_Beta( Auxiliary->Getbeta() );
814 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
816 _set_Earth_position_angle( Propagate->GetEarthPositionAngle() );
818 _set_Climb_Rate( Propagate->Gethdot() );
820 const FGMatrix33& Tl2b = Propagate->GetTl2b();
821 for ( i = 1; i <= 3; i++ ) {
822 for ( j = 1; j <= 3; j++ ) {
823 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
827 // Copy the engine values from JSBSim.
828 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
829 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
830 SGPropertyNode * tnode = node->getChild("thruster", 0, true);
831 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
833 switch (Propulsion->GetEngine(i)->GetType()) {
834 case FGEngine::etPiston:
835 { // FGPiston code block
836 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
837 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
838 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
839 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
840 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
841 // NOTE: mp-osi is not in ounces per square inch.
842 // This error is left for reasons of backwards compatibility with
843 // existing FlightGear sound and instrument configurations.
844 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
845 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
846 node->setDoubleValue("rpm", eng->getRPM());
847 } // end FGPiston code block
849 case FGEngine::etRocket:
850 { // FGRocket code block
851 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
852 } // end FGRocket code block
854 case FGEngine::etTurbine:
855 { // FGTurbine code block
856 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
857 node->setDoubleValue("n1", eng->GetN1());
858 node->setDoubleValue("n2", eng->GetN2());
859 node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
860 node->setBoolValue("augmentation", eng->GetAugmentation());
861 node->setBoolValue("water-injection", eng->GetInjection());
862 node->setBoolValue("ignition", eng->GetIgnition() != 0);
863 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
864 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
865 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
866 node->setBoolValue("reversed", eng->GetReversed());
867 node->setBoolValue("cutoff", eng->GetCutoff());
868 node->setDoubleValue("epr", eng->GetEPR());
869 globals->get_controls()->set_reverser(i, eng->GetReversed() );
870 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
871 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
872 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
873 } // end FGTurbine code block
875 case FGEngine::etTurboprop:
876 { // FGTurboProp code block
877 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
878 node->setDoubleValue("n1", eng->GetN1());
879 //node->setDoubleValue("n2", eng->GetN2());
880 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
881 node->setBoolValue("ignition", eng->GetIgnition() != 0);
882 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
883 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
884 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
885 node->setBoolValue("reversed", eng->GetReversed());
886 node->setBoolValue("cutoff", eng->GetCutoff());
887 node->setBoolValue("starting", eng->GetEngStarting());
888 node->setBoolValue("generator-power", eng->GetGeneratorPower());
889 node->setBoolValue("damaged", eng->GetCondition() != 0);
890 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
891 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
892 // node->setBoolValue("onfire", eng->GetFire());
893 globals->get_controls()->set_reverser(i, eng->GetReversed() );
894 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
895 } // end FGTurboProp code block
897 case FGEngine::etElectric:
898 { // FGElectric code block
899 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
900 node->setDoubleValue("rpm", eng->getRPM());
901 } // end FGElectric code block
903 case FGEngine::etUnknown:
907 { // FGEngine code block
908 FGEngine* eng = Propulsion->GetEngine(i);
909 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
910 node->setDoubleValue("thrust_lb", thruster->GetThrust());
911 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
912 node->setBoolValue("running", eng->GetRunning());
913 node->setBoolValue("starter", eng->GetStarter());
914 node->setBoolValue("cranking", eng->GetCranking());
915 globals->get_controls()->set_starter(i, eng->GetStarter() );
916 } // end FGEngine code block
918 switch (thruster->GetType()) {
919 case FGThruster::ttNozzle:
920 { // FGNozzle code block
921 // FGNozzle* noz = (FGNozzle*)thruster;
922 } // end FGNozzle code block
924 case FGThruster::ttPropeller:
925 { // FGPropeller code block
926 FGPropeller* prop = (FGPropeller*)thruster;
927 tnode->setDoubleValue("rpm", thruster->GetRPM());
928 tnode->setDoubleValue("pitch", prop->GetPitch());
929 tnode->setDoubleValue("torque", prop->GetTorque());
930 tnode->setBoolValue("feathered", prop->GetFeather());
931 } // end FGPropeller code block
933 case FGThruster::ttRotor:
934 { // FGRotor code block
935 // FGRotor* rotor = (FGRotor*)thruster;
936 } // end FGRotor code block
938 case FGThruster::ttDirect:
939 { // Direct code block
940 } // end Direct code block
946 // Copy the fuel levels from JSBSim if fuel
947 // freeze not enabled.
948 if ( ! Propulsion->GetFuelFreeze() ) {
949 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
950 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
951 FGTank* tank = Propulsion->GetTank(i);
952 double contents = tank->GetContents();
953 double temp = tank->GetTemperature_degC();
954 double fuelDensity = tank->GetDensity();
956 if (fuelDensity < 0.1)
957 fuelDensity = 6.0; // Use average fuel value
959 node->setDoubleValue("density-ppg" , fuelDensity);
960 node->setDoubleValue("level-lbs", contents);
961 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
967 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
969 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
970 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
971 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
972 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
973 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
974 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
975 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
976 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
977 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
979 // force a sim crashed if crashed (altitude AGL < 0)
980 if (get_Altitude_AGL() < -100.0) {
981 fdmex->SuspendIntegration();
989 bool FGJSBsim::ToggleDataLogging(void)
991 // ToDo: handle this properly
992 fdmex->DisableOutput();
997 bool FGJSBsim::ToggleDataLogging(bool state)
1000 fdmex->EnableOutput();
1003 fdmex->DisableOutput();
1010 void FGJSBsim::set_Latitude(double lat)
1012 double alt = altitude->getDoubleValue();
1013 double sea_level_radius_meters, lat_geoc;
1015 if ( alt < -9990 ) alt = 0.0;
1017 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
1018 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
1020 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
1021 &sea_level_radius_meters, &lat_geoc );
1023 double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET;
1024 _set_Sea_level_radius( sea_level_radius_ft );
1027 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_ft );
1028 fgic->SetLatitudeRadIC( lat_geoc );
1031 Propagate->SetLatitude(lat_geoc);
1033 FGInterface::set_Latitude(lat);
1037 void FGJSBsim::set_Longitude(double lon)
1039 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
1042 fgic->SetLongitudeRadIC(lon);
1044 Propagate->SetLongitude(lon);
1046 FGInterface::set_Longitude(lon);
1049 // Sets the altitude above sea level.
1050 void FGJSBsim::set_Altitude(double alt)
1052 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1055 fgic->SetAltitudeASLFtIC(alt);
1057 Propagate->SetAltitudeASL(alt);
1059 FGInterface::set_Altitude(alt);
1062 void FGJSBsim::set_V_calibrated_kts(double vc)
1064 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1067 fgic->SetVcalibratedKtsIC(vc);
1069 double p=pressure->getDoubleValue();
1070 double psl=fdmex->GetAtmosphere()->GetPressureSL();
1071 double rhosl=fdmex->GetAtmosphere()->GetDensitySL();
1072 double mach = FGJSBBase::MachFromVcalibrated(vc, p, psl, rhosl);
1073 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1074 double soundSpeed = sqrt(1.4*1716.0*temp);
1075 FGColumnVector3 vUVW = Propagate->GetUVW();
1077 vUVW *= mach * soundSpeed;
1078 Propagate->SetUVW(1, vUVW(1));
1079 Propagate->SetUVW(2, vUVW(2));
1080 Propagate->SetUVW(3, vUVW(3));
1083 FGInterface::set_V_calibrated_kts(vc);
1086 void FGJSBsim::set_Mach_number(double mach)
1088 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1091 fgic->SetMachIC(mach);
1093 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1094 double soundSpeed = sqrt(1.4*1716.0*temp);
1095 FGColumnVector3 vUVW = Propagate->GetUVW();
1097 vUVW *= mach * soundSpeed;
1098 Propagate->SetUVW(1, vUVW(1));
1099 Propagate->SetUVW(2, vUVW(2));
1100 Propagate->SetUVW(3, vUVW(3));
1103 FGInterface::set_Mach_number(mach);
1106 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1108 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1109 << north << ", " << east << ", " << down );
1112 fgic->SetVNorthFpsIC(north);
1113 fgic->SetVEastFpsIC(east);
1114 fgic->SetVDownFpsIC(down);
1117 FGColumnVector3 vNED(north, east, down);
1118 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1119 Propagate->SetUVW(1, vUVW(1));
1120 Propagate->SetUVW(2, vUVW(2));
1121 Propagate->SetUVW(3, vUVW(3));
1124 FGInterface::set_Velocities_Local(north, east, down);
1127 void FGJSBsim::set_Velocities_Body( double u, double v, double w)
1129 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Body: "
1130 << u << ", " << v << ", " << w );
1133 fgic->SetUBodyFpsIC(u);
1134 fgic->SetVBodyFpsIC(v);
1135 fgic->SetWBodyFpsIC(w);
1138 Propagate->SetUVW(1, u);
1139 Propagate->SetUVW(2, v);
1140 Propagate->SetUVW(3, w);
1143 FGInterface::set_Velocities_Body(u, v, w);
1147 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1149 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1150 << phi << ", " << theta << ", " << psi );
1153 fgic->SetThetaRadIC(theta);
1154 fgic->SetPhiRadIC(phi);
1155 fgic->SetPsiRadIC(psi);
1158 FGQuaternion quat(phi, theta, psi);
1159 FGMatrix33 Tl2b = quat.GetT();
1160 FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l();
1161 FGQuaternion Qi = Ti2b.GetQuaternion();
1162 Propagate->SetInertialOrientation(Qi);
1165 FGInterface::set_Euler_Angles(phi, theta, psi);
1169 void FGJSBsim::set_Climb_Rate( double roc)
1171 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1173 //since both climb rate and flight path angle are set in the FG
1174 //startup sequence, something is needed to keep one from cancelling
1176 if( fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01 ) {
1178 fgic->SetClimbRateFpsIC(roc);
1180 FGColumnVector3 vNED = Propagate->GetVel();
1181 vNED(FGJSBBase::eDown) = -roc;
1182 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1183 Propagate->SetUVW(1, vUVW(1));
1184 Propagate->SetUVW(2, vUVW(2));
1185 Propagate->SetUVW(3, vUVW(3));
1188 FGInterface::set_Climb_Rate(roc);
1192 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1194 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1196 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1198 fgic->SetFlightPathAngleRadIC(gamma);
1200 FGColumnVector3 vNED = Propagate->GetVel();
1201 double vt = vNED.Magnitude();
1202 vNED(FGJSBBase::eDown) = -vt * sin(gamma);
1203 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1204 Propagate->SetUVW(1, vUVW(1));
1205 Propagate->SetUVW(2, vUVW(2));
1206 Propagate->SetUVW(3, vUVW(3));
1209 FGInterface::set_Gamma_vert_rad(gamma);
1213 void FGJSBsim::init_gear(void )
1215 FGGroundReactions* gr=fdmex->GetGroundReactions();
1216 int Ngear=GroundReactions->GetNumGearUnits();
1217 for (int i=0;i<Ngear;i++) {
1218 FGLGear *gear = gr->GetGearUnit(i);
1219 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1220 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1) * 12);
1221 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2) * 12);
1222 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3) * 12);
1223 node->setBoolValue("wow", gear->GetWOW());
1224 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1225 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1226 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1227 // node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1228 node->setDoubleValue("compression-norm", gear->GetCompLen());
1229 node->setDoubleValue("compression-ft", gear->GetCompLen());
1230 if ( gear->GetSteerable() )
1231 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1235 void FGJSBsim::update_gear(void)
1237 FGGroundReactions* gr=fdmex->GetGroundReactions();
1238 int Ngear=GroundReactions->GetNumGearUnits();
1239 for (int i=0;i<Ngear;i++) {
1240 FGLGear *gear = gr->GetGearUnit(i);
1241 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1242 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1243 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1244 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1245 // gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1246 node->setDoubleValue("compression-norm", gear->GetCompLen());
1247 node->setDoubleValue("compression-ft", gear->GetCompLen());
1248 if ( gear->GetSteerable() )
1249 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1253 void FGJSBsim::do_trim(void)
1257 if ( fgGetBool("/sim/presets/onground") )
1259 fgtrim = new FGTrim(fdmex,tGround);
1261 fgtrim = new FGTrim(fdmex,tFull);
1264 if ( !fgtrim->DoTrim() ) {
1266 fgtrim->TrimStats();
1268 trimmed->setBoolValue(true);
1272 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1273 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1274 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1275 rudder_trim->setDoubleValue( -FCS->GetDrCmd() );
1277 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1278 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1279 for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
1280 globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
1282 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1283 globals->get_controls()->set_rudder( -FCS->GetDrCmd());
1285 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1288 bool FGJSBsim::update_ground_cache(FGLocation cart, double* cart_pos, double dt)
1290 // Compute the radius of the aircraft. That is the radius of a ball
1291 // where all gear units are in. At the moment it is at least 10ft ...
1292 double acrad = 10.0;
1293 int n_gears = GroundReactions->GetNumGearUnits();
1294 for (int i=0; i<n_gears; ++i) {
1295 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
1296 double r = bl.Magnitude();
1301 // Compute the potential movement of this aircraft and query for the
1302 // ground in this area.
1303 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
1304 cart_pos[0] = cart(1);
1305 cart_pos[1] = cart(2);
1306 cart_pos[2] = cart(3);
1307 double t0 = fdmex->GetSimTime();
1308 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
1309 groundCacheRadius );
1311 SG_LOG(SG_FLIGHT, SG_WARN,
1312 "FGInterface is being called without scenery below the aircraft!");
1314 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = "
1315 << fgic->GetAltitudeASLFtIC());
1317 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = "
1318 << get_Sea_level_radius());
1320 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = "
1321 << fgic->GetLatitudeRadIC());
1323 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = "
1324 << fgic->GetLongitudeRadIC());
1331 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1332 double contact[3], double normal[3], double vel[3],
1333 double angularVel[3], double *agl)
1335 const simgear::BVHMaterial* material;
1336 simgear::BVHNode::Id id;
1337 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1338 angularVel, material, id))
1340 SGGeod geodPt = SGGeod::fromCart(SG_FEET_TO_METER*SGVec3d(pt));
1341 SGQuatd hlToEc = SGQuatd::fromLonLat(geodPt);
1342 *agl = dot(hlToEc.rotate(SGVec3d(0, 0, 1)), SGVec3d(contact) - SGVec3d(pt));
1346 inline static double sqr(double x)
1351 static double angle_diff(double a, double b)
1353 double diff = fabs(a - b);
1354 if (diff > 180) diff = 360 - diff;
1359 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)
1361 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1362 double dist = DotProduct(tip, ground_normal_body);
1363 if (fabs(dist + E) < 0.0001) {
1364 sin_fis[*points] = sin_fi_guess;
1365 cos_fis[*points] = cos_fi_guess;
1366 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1372 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)
1374 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1375 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1376 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1377 if (fabs(cos_fi_guess) > SG_EPSILON) {
1378 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1383 void FGJSBsim::update_external_forces(double t_off)
1385 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1386 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1387 const FGLocation& Location = Propagate->GetLocation();
1388 const FGMatrix33& Tec2l = Location.GetTec2l();
1390 double hook_area[4][3];
1392 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1393 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1394 hook_area[1][0] = hook_root(1);
1395 hook_area[1][1] = hook_root(2);
1396 hook_area[1][2] = hook_root(3);
1398 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1399 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1400 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1401 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1402 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1403 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1405 FGColumnVector3 hook_tip_body = hook_root_body;
1406 hook_tip_body(1) -= hook_length * cos_fi;
1407 hook_tip_body(3) += hook_length * sin_fi;
1410 double ground_normal[3];
1411 double ground_vel[3];
1412 double ground_angular_vel[3];
1416 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1417 ground_vel, ground_angular_vel, &root_agl_ft);
1418 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1419 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1420 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1421 double D = -DotProduct(contact_body, ground_normal_body);
1423 // check hook tip agl against same ground plane
1424 double hook_tip_agl_ft = DotProduct(hook_tip_body, ground_normal_body) + D;
1425 if (hook_tip_agl_ft < 0) {
1427 // hook tip: hx - l cos, hy, hz + l sin
1428 // on ground: - n0 l cos + n2 l sin + E = 0
1430 double E = D + DotProduct(hook_root_body, ground_normal_body);
1432 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1433 // and rearrange to get a quadratic with coeffs:
1434 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1435 double b = 2 * E * ground_normal_body(3) * hook_length;
1436 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1438 double disc = sqr(b) - 4 * a * c;
1440 double delta = sqrt(disc) / (2 * a);
1442 // allow 4 solutions for safety, should never happen
1448 double sin_fi_guess = -b / (2 * a) - delta;
1449 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1450 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1453 double diff1 = angle_diff(fi, fis[0]);
1454 double diff2 = angle_diff(fi, fis[1]);
1455 int point = diff1 < diff2 ? 0 : 1;
1457 sin_fi = sin_fis[point];
1458 cos_fi = cos_fis[point];
1459 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1460 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1466 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1467 double wire_ends_ec[2][3];
1468 double wire_vel_ec[2][3];
1469 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1470 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1471 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1472 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1473 if (rel_vel.Magnitude() < 3) {
1476 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1478 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;
1479 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;
1480 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1481 force_plane_normal.Normalize();
1482 cos_fi = DotProduct(force_plane_normal, FGColumnVector3(0, 0, 1));
1483 if (cos_fi < 0) cos_fi = -cos_fi;
1484 sin_fi = sqrt(1 - sqr(cos_fi));
1485 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1487 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1488 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1489 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1490 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1494 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1496 hook_area[0][0] = hook_tip(1);
1497 hook_area[0][1] = hook_tip(2);
1498 hook_area[0][2] = hook_tip(3);
1501 // The previous positions.
1502 hook_area[2][0] = last_hook_root[0];
1503 hook_area[2][1] = last_hook_root[1];
1504 hook_area[2][2] = last_hook_root[2];
1505 hook_area[3][0] = last_hook_tip[0];
1506 hook_area[3][1] = last_hook_tip[1];
1507 hook_area[3][2] = last_hook_tip[2];
1509 // Check if we caught a wire.
1510 // Returns true if we caught one.
1511 if (caught_wire_ft(t_off, hook_area)) {
1516 // save actual position as old position ...
1517 last_hook_tip[0] = hook_area[0][0];
1518 last_hook_tip[1] = hook_area[0][1];
1519 last_hook_tip[2] = hook_area[0][2];
1520 last_hook_root[0] = hook_area[1][0];
1521 last_hook_root[1] = hook_area[1][1];
1522 last_hook_root[2] = hook_area[1][2];
1524 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);