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>
39 #include <simgear/bvh/BVHMaterial.hxx>
41 #include <FDM/flight.hxx>
43 #include <Aircraft/controls.hxx>
44 #include <Main/globals.hxx>
45 #include <Main/fg_props.hxx>
48 #include <FDM/JSBSim/FGFDMExec.h>
49 #include <FDM/JSBSim/FGJSBBase.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/FGGroundReactions.h>
63 #include <FDM/JSBSim/models/FGPropulsion.h>
64 #include <FDM/JSBSim/models/FGAccelerations.h>
65 #include <FDM/JSBSim/models/atmosphere/FGWinds.h>
66 #include <FDM/JSBSim/models/propulsion/FGEngine.h>
67 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
68 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
69 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
70 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
71 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
72 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
73 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
74 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
75 #include <FDM/JSBSim/models/propulsion/FGTank.h>
76 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
77 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
79 using namespace JSBSim;
82 FMAX (double a, double b)
87 class FGFSGroundCallback : public FGGroundCallback {
89 FGFSGroundCallback(FGJSBsim* ifc) : mInterface(ifc) {}
90 virtual ~FGFSGroundCallback() {}
92 /** Get the altitude above sea level dependent on the location. */
93 virtual double GetAltitude(const FGLocation& l) const {
94 double pt[3] = { SG_FEET_TO_METER*l(FGJSBBase::eX),
95 SG_FEET_TO_METER*l(FGJSBBase::eY),
96 SG_FEET_TO_METER*l(FGJSBBase::eZ) };
98 sgCartToGeod( pt, &lat, &lon, &alt);
99 return alt * SG_METER_TO_FEET;
102 /** Compute the altitude above ground. */
103 virtual double GetAGLevel(double t, const FGLocation& l,
104 FGLocation& cont, FGColumnVector3& n,
105 FGColumnVector3& v, FGColumnVector3& w) const {
106 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
107 double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
108 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
109 vel, angularVel, &agl);
110 n = FGColumnVector3( normal[0], normal[1], normal[2] );
111 v = FGColumnVector3( vel[0], vel[1], vel[2] );
112 w = FGColumnVector3( angularVel[0], angularVel[1], angularVel[2] );
113 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
117 virtual double GetTerrainGeoCentRadius(double t, const FGLocation& l) const {
118 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
119 double contact[3], normal[3], vel[3], angularVel[3], agl = 0;
120 mInterface->get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, normal,
121 vel, angularVel, &agl);
122 return sqrt(contact[0]*contact[0]+contact[1]*contact[1]+contact[2]*contact[2]);
125 virtual double GetSeaLevelRadius(const FGLocation& l) const {
126 double seaLevelRadius, latGeoc;
128 sgGeodToGeoc(l.GetGeodLatitudeRad(), l.GetGeodAltitude(),
129 &seaLevelRadius, &latGeoc);
131 return seaLevelRadius * SG_METER_TO_FEET;
134 virtual void SetTerrainGeoCentRadius(double radius) {}
135 virtual void SetSeaLevelRadius(double radius) {}
137 FGJSBsim* mInterface;
140 // FG uses a squared normalized magnitude for turbulence
141 // this lookup table maps fg's severity levels
142 // none(0), light(1/3), moderate(2/3) and severe(3/3)
143 // to the POE table indexes 0, 3, 4 and 7
144 class FGTurbulenceSeverityTable : public FGTable {
146 FGTurbulenceSeverityTable() : FGTable(4) {
147 *this << (0.0/9.0) << 0.0;
148 *this << (1.0/9.0) << 3.0;
149 *this << (4.0/9.0) << 4.0;
150 *this << (9.0/9.0) << 7.0;
154 /******************************************************************************/
155 std::map<std::string,int> FGJSBsim::TURBULENCE_TYPE_NAMES;
157 static FGTurbulenceSeverityTable TurbulenceSeverityTable;
159 FGJSBsim::FGJSBsim( double dt )
160 : FGInterface(dt), got_wire(false)
163 if( TURBULENCE_TYPE_NAMES.empty() ) {
164 TURBULENCE_TYPE_NAMES["ttNone"] = FGWinds::ttNone;
165 TURBULENCE_TYPE_NAMES["ttStandard"] = FGWinds::ttStandard;
166 TURBULENCE_TYPE_NAMES["ttCulp"] = FGWinds::ttCulp;
167 TURBULENCE_TYPE_NAMES["ttMilspec"] = FGWinds::ttMilspec;
168 TURBULENCE_TYPE_NAMES["ttTustin"] = FGWinds::ttTustin;
171 // Set up the debugging level
172 // FIXME: this will not respond to
175 // if flight is excluded, don't bother
176 if ((sglog().get_log_classes() & SG_FLIGHT) != 0) {
178 // do a rough-and-ready mapping to
179 // the levels documented in FGFDMExec.h
180 switch (sglog().get_log_priority()) {
182 FGJSBBase::debug_lvl = 0x1f;
185 FGJSBBase::debug_lvl = 0x1f;
189 FGJSBBase::debug_lvl = 0x00;
194 PropertyManager = new FGPropertyManager( (FGPropertyNode*)globals->get_props() );
195 fdmex = new FGFDMExec( PropertyManager );
197 // Register ground callback.
198 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
200 Atmosphere = fdmex->GetAtmosphere();
201 Winds = fdmex->GetWinds();
202 FCS = fdmex->GetFCS();
203 MassBalance = fdmex->GetMassBalance();
204 Propulsion = fdmex->GetPropulsion();
205 Aircraft = fdmex->GetAircraft();
206 Propagate = fdmex->GetPropagate();
207 Auxiliary = fdmex->GetAuxiliary();
208 Inertial = fdmex->GetInertial();
209 Aerodynamics = fdmex->GetAerodynamics();
210 GroundReactions = fdmex->GetGroundReactions();
211 Accelerations = fdmex->GetAccelerations();
216 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
218 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
219 engine_path.append( "Engine" );
221 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
222 systems_path.append( "Systems" );
224 // deprecate sim-time-sec for simulation/sim-time-sec
225 // remove alias with increased configuration file version number (2.1 or later)
226 SGPropertyNode * node = fgGetNode("/fdm/jsbsim/simulation/sim-time-sec");
227 fgGetNode("/fdm/jsbsim/sim-time-sec", true)->alias( node );
228 // end of sim-time-sec deprecation patch
232 result = fdmex->LoadModel( aircraft_path.str(),
235 fgGetString("/sim/aero"), false );
238 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
240 SG_LOG( SG_FLIGHT, SG_INFO,
241 " aero does not exist (you may have mis-typed the name).");
245 SG_LOG( SG_FLIGHT, SG_INFO, "" );
246 SG_LOG( SG_FLIGHT, SG_INFO, "" );
247 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
249 int Neng = Propulsion->GetNumEngines();
250 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
252 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
253 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
254 << GroundReactions->GetNumGearUnits() );
255 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
256 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
257 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
263 // Set initial fuel levels if provided.
264 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
266 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
267 FGTank* tank = Propulsion->GetTank(i);
269 d = node->getNode( "density-ppg", true )->getDoubleValue();
271 tank->SetDensity( d );
273 node->getNode( "density-ppg", true )->setDoubleValue( SG_MAX2<double>(tank->GetDensity(), 0.1) );
276 d = node->getNode( "level-lbs", true )->getDoubleValue();
278 tank->SetContents( d );
280 node->getNode( "level-lbs", true )->setDoubleValue( tank->GetContents() );
282 /* Capacity is read-only in FGTank and can't be overwritten from FlightGear */
283 node->getNode("capacity-gal_us", true )->setDoubleValue( tank->GetCapacityGallons() );
285 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
287 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
288 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
289 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
290 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
292 startup_trim = fgGetNode("/sim/presets/trim", true);
294 trimmed = fgGetNode("/fdm/trim/trimmed", true);
295 trimmed->setBoolValue(false);
297 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
298 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
299 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
300 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
302 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
303 stall_warning->setDoubleValue(0);
306 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
307 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
309 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
310 right_aileron_pos_pct
311 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
312 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
314 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
315 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
316 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
317 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
319 elevator_pos_pct->setDoubleValue(0);
320 left_aileron_pos_pct->setDoubleValue(0);
321 right_aileron_pos_pct->setDoubleValue(0);
322 rudder_pos_pct->setDoubleValue(0);
323 flap_pos_pct->setDoubleValue(0);
324 speedbrake_pos_pct->setDoubleValue(0);
325 spoilers_pos_pct->setDoubleValue(0);
327 ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
328 ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
329 ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
331 altitude = fgGetNode("/position/altitude-ft");
332 temperature = fgGetNode("/environment/temperature-degc",true);
333 pressure = fgGetNode("/environment/pressure-inhg",true);
334 pressureSL = fgGetNode("/environment/pressure-sea-level-inhg",true);
335 ground_wind = fgGetNode("/environment/config/boundary/entry[0]/wind-speed-kt",true);
336 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
337 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
338 turbulence_model = fgGetNode("/environment/params/jsbsim-turbulence-model",true);
340 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
341 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
342 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
344 slaved = fgGetNode("/sim/slaved/enabled", true);
346 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
347 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
348 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
349 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
352 hook_root_struct = FGColumnVector3(
353 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
354 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
355 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
356 last_hook_tip[0] = 0; last_hook_tip[1] = 0; last_hook_tip[2] = 0;
357 last_hook_root[0] = 0; last_hook_root[1] = 0; last_hook_root[2] = 0;
362 /******************************************************************************/
363 FGJSBsim::~FGJSBsim(void)
366 delete PropertyManager;
369 /******************************************************************************/
371 // Initialize the JSBsim flight model, dt is the time increment for
372 // each subsequent iteration through the EOM
374 void FGJSBsim::init()
376 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
378 // Explicitly call the superclass's
379 // init method first.
381 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
382 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
383 Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
384 // initialize to no turbulence, these values get set in the update loop
385 Winds->SetTurbType(FGWinds::ttNone);
386 Winds->SetTurbGain(0.0);
387 Winds->SetTurbRate(0.0);
388 Winds->SetWindspeed20ft(0.0);
389 Winds->SetProbabilityOfExceedence(0.0);
392 fgic->SetWindNEDFpsIC( -wind_from_north->getDoubleValue(),
393 -wind_from_east->getDoubleValue(),
394 -wind_from_down->getDoubleValue() );
396 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << Atmosphere->GetTemperature()
397 << ", " << Atmosphere->GetPressure()
398 << ", " << Atmosphere->GetDensity() );
400 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
402 needTrim = startup_trim->getBoolValue();
406 fdmex->RunIC(); //loop JSBSim once w/o integrating
407 if (fgGetBool("/sim/presets/running")) {
408 Propulsion->InitRunning(-1);
409 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
410 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
411 globals->get_controls()->set_magnetos(i, eng->GetMagnetos());
412 globals->get_controls()->set_mixture(i, FCS->GetMixtureCmd(i));
417 FGLocation cart(fgic->GetLongitudeRadIC(), fgic->GetLatitudeRadIC(),
418 get_Sea_level_radius() + fgic->GetAltitudeASLFtIC());
419 double cart_pos[3], contact[3], d[3], vel[3], agl;
420 update_ground_cache(cart, cart_pos, 0.01);
422 get_agl_ft(fdmex->GetSimTime(), cart_pos, SG_METER_TO_FEET*2, contact,
424 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
425 + contact[2]*contact[2]) - get_Sea_level_radius();
427 SG_LOG(SG_FLIGHT, SG_INFO, "Ready to trim, terrain elevation is: "
428 << terrain_alt * SG_METER_TO_FEET );
430 if (fgGetBool("/sim/presets/onground")) {
431 FGColumnVector3 gndVelNED = cart.GetTec2l()
432 * FGColumnVector3(vel[0], vel[1], vel[2]);
433 fgic->SetVNorthFpsIC(gndVelNED(1));
434 fgic->SetVEastFpsIC(gndVelNED(2));
435 fgic->SetVDownFpsIC(gndVelNED(3));
437 fgic->SetTerrainElevationFtIC( terrain_alt );
442 copy_from_JSBsim(); //update the bus
444 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
446 switch(fgic->GetSpeedSet()) {
448 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
449 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
450 << Propagate->GetVel(FGJSBBase::eEast) << ", "
451 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
454 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
455 << Propagate->GetUVW(1) << ", "
456 << Propagate->GetUVW(2) << ", "
457 << Propagate->GetUVW(3) << " ft/s");
460 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
461 << Auxiliary->GetMach() );
465 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
466 << Auxiliary->GetVcalibratedKTS() << " knots" );
470 stall_warning->setDoubleValue(0);
472 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
473 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
474 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
475 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
476 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
477 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
478 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
479 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
480 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
481 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
482 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
483 << Propagate->GetAltitudeASL() << " feet" );
484 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
486 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
488 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
490 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
491 globals->get_controls()->get_gear_down() );
494 /******************************************************************************/
496 void FGJSBsim::unbind()
499 FGInterface::unbind();
502 /******************************************************************************/
504 // Run an iteration of the EOM (equations of motion)
506 void FGJSBsim::update( double dt )
509 if(!fgGetBool("/sim/crashed"))
510 fgSetBool("/sim/crashed", true);
517 int multiloop = _calc_multiloop(dt);
518 FGLocation cart = Auxiliary->GetLocationVRP();
521 update_ground_cache(cart, cart_pos, dt);
525 trimmed->setBoolValue(false);
527 for ( int i=0; i < multiloop; i++ ) {
529 update_external_forces(fdmex->GetSimTime() + i * fdmex->GetDeltaT());
532 FGJSBBase::Message* msg;
533 while ((msg = fdmex->ProcessNextMessage()) != NULL) {
534 // msg = fdmex->ProcessNextMessage();
536 case FGJSBBase::Message::eText:
537 if (msg->text == "Crash Detected: Simulation FREEZE.")
539 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
541 case FGJSBBase::Message::eBool:
542 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
544 case FGJSBBase::Message::eInteger:
545 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
547 case FGJSBBase::Message::eDouble:
548 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
551 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
556 // translate JSBsim back to FG structure so that the
557 // autopilot (and the rest of the sim can use the updated values
561 /******************************************************************************/
563 void FGJSBsim::suspend()
566 SGSubsystem::suspend();
569 /******************************************************************************/
571 void FGJSBsim::resume()
574 SGSubsystem::resume();
577 /******************************************************************************/
579 // Convert from the FGInterface struct to the JSBsim generic_ struct
581 bool FGJSBsim::copy_to_JSBsim()
585 // copy control positions into the JSBsim structure
587 FCS->SetDaCmd( globals->get_controls()->get_aileron());
588 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
589 FCS->SetDeCmd( globals->get_controls()->get_elevator());
590 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
591 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
592 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
593 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
594 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
595 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
596 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
598 // Parking brake sets minimum braking
600 double parking_brake = globals->get_controls()->get_brake_parking();
601 double left_brake = globals->get_controls()->get_brake_left();
602 double right_brake = globals->get_controls()->get_brake_right();
604 if (ab_brake_engaged->getBoolValue()) {
605 left_brake = ab_brake_left_pct->getDoubleValue();
606 right_brake = ab_brake_right_pct->getDoubleValue();
609 FCS->SetLBrake(FMAX(left_brake, parking_brake));
610 FCS->SetRBrake(FMAX(right_brake, parking_brake));
613 FCS->SetCBrake( 0.0 );
614 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
616 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
617 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
618 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
620 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
621 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
622 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
623 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
625 switch (Propulsion->GetEngine(i)->GetType()) {
626 case FGEngine::etPiston:
627 { // FGPiston code block
628 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
629 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
631 } // end FGPiston code block
632 case FGEngine::etTurbine:
633 { // FGTurbine code block
634 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
635 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
636 eng->SetReverse( globals->get_controls()->get_reverser(i) );
637 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
638 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
639 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
641 } // end FGTurbine code block
642 case FGEngine::etRocket:
643 { // FGRocket code block
644 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
646 } // end FGRocket code block
647 case FGEngine::etTurboprop:
648 { // FGTurboProp code block
649 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
650 eng->SetReverse( globals->get_controls()->get_reverser(i) );
651 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
652 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
654 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
655 eng->SetCondition( globals->get_controls()->get_condition(i) );
657 } // end FGTurboProp code block
662 { // FGEngine code block
663 FGEngine* eng = Propulsion->GetEngine(i);
665 eng->SetStarter( globals->get_controls()->get_starter(i) );
666 eng->SetRunning( node->getBoolValue("running") );
667 } // end FGEngine code block
670 Atmosphere->SetTemperature(temperature->getDoubleValue(), get_Altitude(), FGAtmosphere::eCelsius);
671 Atmosphere->SetPressureSL(FGAtmosphere::eInchesHg, pressureSL->getDoubleValue());
673 Winds->SetTurbType((FGWinds::tType)TURBULENCE_TYPE_NAMES[turbulence_model->getStringValue()]);
674 switch( Winds->GetTurbType() ) {
675 case FGWinds::ttStandard:
676 case FGWinds::ttCulp: {
677 double tmp = turbulence_gain->getDoubleValue();
678 Winds->SetTurbGain(tmp * tmp * 100.0);
679 Winds->SetTurbRate(turbulence_rate->getDoubleValue());
682 case FGWinds::ttMilspec:
683 case FGWinds::ttTustin: {
684 // milspec turbulence: 3=light, 4=moderate, 6=severe turbulence
685 // turbulence_gain normalized: 0: none, 1/3: light, 2/3: moderate, 3/3: severe
686 double tmp = turbulence_gain->getDoubleValue();
687 Winds->SetProbabilityOfExceedence(
688 SGMiscd::roundToInt(TurbulenceSeverityTable.GetValue( tmp ) )
690 Winds->SetWindspeed20ft(ground_wind->getDoubleValue());
698 Winds->SetWindNED( -wind_from_north->getDoubleValue(),
699 -wind_from_east->getDoubleValue(),
700 -wind_from_down->getDoubleValue() );
701 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
702 // << get_V_north_airmass() << ", "
703 // << get_V_east_airmass() << ", "
704 // << get_V_down_airmass() );
706 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
707 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
708 FGTank * tank = Propulsion->GetTank(i);
709 double fuelDensity = node->getDoubleValue("density-ppg");
711 if (fuelDensity < 0.1)
712 fuelDensity = 6.0; // Use average fuel value
714 tank->SetDensity(fuelDensity);
715 tank->SetContents(node->getDoubleValue("level-lbs"));
718 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
719 fdmex->SetChild(slaved->getBoolValue());
724 /******************************************************************************/
726 // Convert from the JSBsim generic_ struct to the FGInterface struct
728 bool FGJSBsim::copy_from_JSBsim()
732 _set_Inertias( MassBalance->GetMass(),
733 MassBalance->GetIxx(),
734 MassBalance->GetIyy(),
735 MassBalance->GetIzz(),
736 MassBalance->GetIxz() );
738 _set_CG_Position( MassBalance->GetXYZcg(1),
739 MassBalance->GetXYZcg(2),
740 MassBalance->GetXYZcg(3) );
742 _set_Accels_Body( Accelerations->GetBodyAccel(1),
743 Accelerations->GetBodyAccel(2),
744 Accelerations->GetBodyAccel(3) );
746 _set_Accels_CG_Body_N ( Auxiliary->GetNcg(1),
747 Auxiliary->GetNcg(2),
748 Auxiliary->GetNcg(3) );
750 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
751 Auxiliary->GetPilotAccel(2),
752 Auxiliary->GetPilotAccel(3) );
754 _set_Nlf( Auxiliary->GetNlf() );
758 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
759 Propagate->GetVel(FGJSBBase::eEast),
760 Propagate->GetVel(FGJSBBase::eDown) );
762 _set_Velocities_Body( Propagate->GetUVW(1),
763 Propagate->GetUVW(2),
764 Propagate->GetUVW(3) );
766 // Make the HUD work ...
767 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
768 Propagate->GetVel(FGJSBBase::eEast),
769 -Propagate->GetVel(FGJSBBase::eDown) );
771 _set_V_rel_wind( Auxiliary->GetVt() );
773 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
775 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
777 _set_V_ground_speed( Auxiliary->GetVground() );
779 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
780 Propagate->GetPQR(FGJSBBase::eQ),
781 Propagate->GetPQR(FGJSBBase::eR) );
783 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
784 Auxiliary->GetEulerRates(FGJSBBase::eTht),
785 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
787 _set_Mach_number( Auxiliary->GetMach() );
789 // Positions of Visual Reference Point
790 FGLocation l = Auxiliary->GetLocationVRP();
791 _updatePosition(SGGeoc::fromRadFt( l.GetLongitude(), l.GetLatitude(),
794 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
796 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
797 double contact[3], d[3], sd, t;
798 is_valid_m(&t, d, &sd);
799 get_agl_ft(t, loc_cart, SG_METER_TO_FEET*2, contact, d, d, d, &sd);
801 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
802 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
805 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
806 Propagate->GetEuler(FGJSBBase::eTht),
807 Propagate->GetEuler(FGJSBBase::ePsi) );
809 _set_Alpha( Auxiliary->Getalpha() );
810 _set_Beta( Auxiliary->Getbeta() );
813 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
815 _set_Earth_position_angle( Propagate->GetEarthPositionAngle() );
817 _set_Climb_Rate( Propagate->Gethdot() );
819 const FGMatrix33& Tl2b = Propagate->GetTl2b();
820 for ( i = 1; i <= 3; i++ ) {
821 for ( j = 1; j <= 3; j++ ) {
822 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
826 // Copy the engine values from JSBSim.
827 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
828 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
829 SGPropertyNode * tnode = node->getChild("thruster", 0, true);
830 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
832 switch (Propulsion->GetEngine(i)->GetType()) {
833 case FGEngine::etPiston:
834 { // FGPiston code block
835 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
836 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
837 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
838 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
839 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
840 // NOTE: mp-osi is not in ounces per square inch.
841 // This error is left for reasons of backwards compatibility with
842 // existing FlightGear sound and instrument configurations.
843 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
844 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
845 node->setDoubleValue("rpm", eng->getRPM());
846 } // end FGPiston code block
848 case FGEngine::etRocket:
849 { // FGRocket code block
850 // FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
851 } // end FGRocket code block
853 case FGEngine::etTurbine:
854 { // FGTurbine code block
855 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
856 node->setDoubleValue("n1", eng->GetN1());
857 node->setDoubleValue("n2", eng->GetN2());
858 node->setDoubleValue("egt-degf", 32 + eng->GetEGT()*9/5);
859 node->setBoolValue("augmentation", eng->GetAugmentation());
860 node->setBoolValue("water-injection", eng->GetInjection());
861 node->setBoolValue("ignition", eng->GetIgnition() != 0);
862 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
863 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
864 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
865 node->setBoolValue("reversed", eng->GetReversed());
866 node->setBoolValue("cutoff", eng->GetCutoff());
867 node->setDoubleValue("epr", eng->GetEPR());
868 globals->get_controls()->set_reverser(i, eng->GetReversed() );
869 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
870 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
871 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
872 } // end FGTurbine code block
874 case FGEngine::etTurboprop:
875 { // FGTurboProp code block
876 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
877 node->setDoubleValue("n1", eng->GetN1());
878 //node->setDoubleValue("n2", eng->GetN2());
879 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
880 node->setBoolValue("ignition", eng->GetIgnition() != 0);
881 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
882 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
883 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
884 node->setBoolValue("reversed", eng->GetReversed());
885 node->setBoolValue("cutoff", eng->GetCutoff());
886 node->setBoolValue("starting", eng->GetEngStarting());
887 node->setBoolValue("generator-power", eng->GetGeneratorPower());
888 node->setBoolValue("damaged", eng->GetCondition() != 0);
889 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
890 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
891 // node->setBoolValue("onfire", eng->GetFire());
892 globals->get_controls()->set_reverser(i, eng->GetReversed() );
893 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
894 } // end FGTurboProp code block
896 case FGEngine::etElectric:
897 { // FGElectric code block
898 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
899 node->setDoubleValue("rpm", eng->getRPM());
900 } // end FGElectric code block
902 case FGEngine::etUnknown:
906 { // FGEngine code block
907 FGEngine* eng = Propulsion->GetEngine(i);
908 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
909 node->setDoubleValue("thrust_lb", thruster->GetThrust());
910 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
911 node->setBoolValue("running", eng->GetRunning());
912 node->setBoolValue("starter", eng->GetStarter());
913 node->setBoolValue("cranking", eng->GetCranking());
914 globals->get_controls()->set_starter(i, eng->GetStarter() );
915 } // end FGEngine code block
917 switch (thruster->GetType()) {
918 case FGThruster::ttNozzle:
919 { // FGNozzle code block
920 // FGNozzle* noz = (FGNozzle*)thruster;
921 } // end FGNozzle code block
923 case FGThruster::ttPropeller:
924 { // FGPropeller code block
925 FGPropeller* prop = (FGPropeller*)thruster;
926 tnode->setDoubleValue("rpm", thruster->GetRPM());
927 tnode->setDoubleValue("pitch", prop->GetPitch());
928 tnode->setDoubleValue("torque", prop->GetTorque());
929 tnode->setBoolValue("feathered", prop->GetFeather());
930 } // end FGPropeller code block
932 case FGThruster::ttRotor:
933 { // FGRotor code block
934 // FGRotor* rotor = (FGRotor*)thruster;
935 } // end FGRotor code block
937 case FGThruster::ttDirect:
938 { // Direct code block
939 } // end Direct code block
945 // Copy the fuel levels from JSBSim if fuel
946 // freeze not enabled.
947 if ( ! Propulsion->GetFuelFreeze() ) {
948 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
949 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
950 FGTank* tank = Propulsion->GetTank(i);
951 double contents = tank->GetContents();
952 double temp = tank->GetTemperature_degC();
953 double fuelDensity = tank->GetDensity();
955 if (fuelDensity < 0.1)
956 fuelDensity = 6.0; // Use average fuel value
958 node->setDoubleValue("density-ppg" , fuelDensity);
959 node->setDoubleValue("level-lbs", contents);
960 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
966 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
968 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
969 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
970 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
971 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
972 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
973 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
974 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
975 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
976 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
978 // force a sim crashed if crashed (altitude AGL < 0)
979 if (get_Altitude_AGL() < -100.0) {
980 fdmex->SuspendIntegration();
988 bool FGJSBsim::ToggleDataLogging(void)
990 // ToDo: handle this properly
991 fdmex->DisableOutput();
996 bool FGJSBsim::ToggleDataLogging(bool state)
999 fdmex->EnableOutput();
1002 fdmex->DisableOutput();
1009 void FGJSBsim::set_Latitude(double lat)
1011 double alt = altitude->getDoubleValue();
1012 double sea_level_radius_meters, lat_geoc;
1014 if ( alt < -9990 ) alt = 0.0;
1016 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
1017 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
1019 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
1020 &sea_level_radius_meters, &lat_geoc );
1022 double sea_level_radius_ft = sea_level_radius_meters * SG_METER_TO_FEET;
1023 _set_Sea_level_radius( sea_level_radius_ft );
1026 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_ft );
1027 fgic->SetLatitudeRadIC( lat_geoc );
1030 Propagate->SetLatitude(lat_geoc);
1032 FGInterface::set_Latitude(lat);
1036 void FGJSBsim::set_Longitude(double lon)
1038 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
1041 fgic->SetLongitudeRadIC(lon);
1043 Propagate->SetLongitude(lon);
1045 FGInterface::set_Longitude(lon);
1048 // Sets the altitude above sea level.
1049 void FGJSBsim::set_Altitude(double alt)
1051 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
1054 fgic->SetAltitudeASLFtIC(alt);
1056 Propagate->SetAltitudeASL(alt);
1058 FGInterface::set_Altitude(alt);
1061 void FGJSBsim::set_V_calibrated_kts(double vc)
1063 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
1066 fgic->SetVcalibratedKtsIC(vc);
1068 double p=pressure->getDoubleValue();
1069 double psl=fdmex->GetAtmosphere()->GetPressureSL();
1070 double rhosl=fdmex->GetAtmosphere()->GetDensitySL();
1071 double mach = FGJSBBase::MachFromVcalibrated(vc, p, psl, rhosl);
1072 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1073 double soundSpeed = sqrt(1.4*1716.0*temp);
1074 FGColumnVector3 vUVW = Propagate->GetUVW();
1076 vUVW *= mach * soundSpeed;
1077 Propagate->SetUVW(1, vUVW(1));
1078 Propagate->SetUVW(2, vUVW(2));
1079 Propagate->SetUVW(3, vUVW(3));
1082 FGInterface::set_V_calibrated_kts(vc);
1085 void FGJSBsim::set_Mach_number(double mach)
1087 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
1090 fgic->SetMachIC(mach);
1092 double temp = 1.8*(temperature->getDoubleValue()+273.15);
1093 double soundSpeed = sqrt(1.4*1716.0*temp);
1094 FGColumnVector3 vUVW = Propagate->GetUVW();
1096 vUVW *= mach * soundSpeed;
1097 Propagate->SetUVW(1, vUVW(1));
1098 Propagate->SetUVW(2, vUVW(2));
1099 Propagate->SetUVW(3, vUVW(3));
1102 FGInterface::set_Mach_number(mach);
1105 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1107 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1108 << north << ", " << east << ", " << down );
1111 fgic->SetVNorthFpsIC(north);
1112 fgic->SetVEastFpsIC(east);
1113 fgic->SetVDownFpsIC(down);
1116 FGColumnVector3 vNED(north, east, down);
1117 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1118 Propagate->SetUVW(1, vUVW(1));
1119 Propagate->SetUVW(2, vUVW(2));
1120 Propagate->SetUVW(3, vUVW(3));
1123 FGInterface::set_Velocities_Local(north, east, down);
1126 void FGJSBsim::set_Velocities_Body( double u, double v, double w)
1128 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Body: "
1129 << u << ", " << v << ", " << w );
1132 fgic->SetUBodyFpsIC(u);
1133 fgic->SetVBodyFpsIC(v);
1134 fgic->SetWBodyFpsIC(w);
1137 Propagate->SetUVW(1, u);
1138 Propagate->SetUVW(2, v);
1139 Propagate->SetUVW(3, w);
1142 FGInterface::set_Velocities_Body(u, v, w);
1146 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1148 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1149 << phi << ", " << theta << ", " << psi );
1152 fgic->SetThetaRadIC(theta);
1153 fgic->SetPhiRadIC(phi);
1154 fgic->SetPsiRadIC(psi);
1157 FGQuaternion quat(phi, theta, psi);
1158 FGMatrix33 Tl2b = quat.GetT();
1159 FGMatrix33 Ti2b = Tl2b*Propagate->GetTi2l();
1160 FGQuaternion Qi = Ti2b.GetQuaternion();
1161 Propagate->SetInertialOrientation(Qi);
1164 FGInterface::set_Euler_Angles(phi, theta, psi);
1168 void FGJSBsim::set_Climb_Rate( double roc)
1170 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1172 //since both climb rate and flight path angle are set in the FG
1173 //startup sequence, something is needed to keep one from cancelling
1175 if( fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01 ) {
1177 fgic->SetClimbRateFpsIC(roc);
1179 FGColumnVector3 vNED = Propagate->GetVel();
1180 vNED(FGJSBBase::eDown) = -roc;
1181 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1182 Propagate->SetUVW(1, vUVW(1));
1183 Propagate->SetUVW(2, vUVW(2));
1184 Propagate->SetUVW(3, vUVW(3));
1187 FGInterface::set_Climb_Rate(roc);
1191 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1193 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1195 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1197 fgic->SetFlightPathAngleRadIC(gamma);
1199 FGColumnVector3 vNED = Propagate->GetVel();
1200 double vt = vNED.Magnitude();
1201 vNED(FGJSBBase::eDown) = -vt * sin(gamma);
1202 FGColumnVector3 vUVW = Propagate->GetTl2b() * vNED;
1203 Propagate->SetUVW(1, vUVW(1));
1204 Propagate->SetUVW(2, vUVW(2));
1205 Propagate->SetUVW(3, vUVW(3));
1208 FGInterface::set_Gamma_vert_rad(gamma);
1212 void FGJSBsim::init_gear(void )
1214 FGGroundReactions* gr=fdmex->GetGroundReactions();
1215 int Ngear=GroundReactions->GetNumGearUnits();
1216 for (int i=0;i<Ngear;i++) {
1217 FGLGear *gear = gr->GetGearUnit(i);
1218 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1219 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1) * 12);
1220 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2) * 12);
1221 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3) * 12);
1222 node->setBoolValue("wow", gear->GetWOW());
1223 node->setDoubleValue("rollspeed-ms", gear->GetWheelRollVel()*0.3043);
1224 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1225 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1226 // node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1227 node->setDoubleValue("compression-norm", gear->GetCompLen());
1228 node->setDoubleValue("compression-ft", gear->GetCompLen());
1229 if ( gear->GetSteerable() )
1230 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1234 void FGJSBsim::update_gear(void)
1236 FGGroundReactions* gr=fdmex->GetGroundReactions();
1237 int Ngear=GroundReactions->GetNumGearUnits();
1238 for (int i=0;i<Ngear;i++) {
1239 FGLGear *gear = gr->GetGearUnit(i);
1240 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1241 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1242 node->getChild("rollspeed-ms", 0, true)->setDoubleValue(gear->GetWheelRollVel()*0.3043);
1243 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1244 // gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1245 node->setDoubleValue("compression-norm", gear->GetCompLen());
1246 node->setDoubleValue("compression-ft", gear->GetCompLen());
1247 if ( gear->GetSteerable() )
1248 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1252 void FGJSBsim::do_trim(void)
1256 if ( fgGetBool("/sim/presets/onground") )
1258 fgtrim = new FGTrim(fdmex,tGround);
1260 fgtrim = new FGTrim(fdmex,tFull);
1263 if ( !fgtrim->DoTrim() ) {
1265 fgtrim->TrimStats();
1267 trimmed->setBoolValue(true);
1271 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1272 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1273 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1274 rudder_trim->setDoubleValue( -FCS->GetDrCmd() );
1276 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1277 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1278 for( unsigned i = 0; i < Propulsion->GetNumEngines(); i++ )
1279 globals->get_controls()->set_throttle(i, FCS->GetThrottleCmd(i));
1281 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1282 globals->get_controls()->set_rudder( -FCS->GetDrCmd());
1284 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1287 bool FGJSBsim::update_ground_cache(FGLocation cart, double* cart_pos, double dt)
1289 // Compute the radius of the aircraft. That is the radius of a ball
1290 // where all gear units are in. At the moment it is at least 10ft ...
1291 double acrad = 10.0;
1292 int n_gears = GroundReactions->GetNumGearUnits();
1293 for (int i=0; i<n_gears; ++i) {
1294 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
1295 double r = bl.Magnitude();
1300 // Compute the potential movement of this aircraft and query for the
1301 // ground in this area.
1302 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
1303 cart_pos[0] = cart(1);
1304 cart_pos[1] = cart(2);
1305 cart_pos[2] = cart(3);
1306 double t0 = fdmex->GetSimTime();
1307 bool cache_ok = prepare_ground_cache_ft( t0, t0 + dt, cart_pos,
1308 groundCacheRadius );
1310 SG_LOG(SG_FLIGHT, SG_WARN,
1311 "FGInterface is being called without scenery below the aircraft!");
1313 SG_LOG(SG_FLIGHT, SG_WARN, "altitude = "
1314 << fgic->GetAltitudeASLFtIC());
1316 SG_LOG(SG_FLIGHT, SG_WARN, "sea level radius = "
1317 << get_Sea_level_radius());
1319 SG_LOG(SG_FLIGHT, SG_WARN, "latitude = "
1320 << fgic->GetLatitudeRadIC());
1322 SG_LOG(SG_FLIGHT, SG_WARN, "longitude = "
1323 << fgic->GetLongitudeRadIC());
1330 FGJSBsim::get_agl_ft(double t, const double pt[3], double alt_off,
1331 double contact[3], double normal[3], double vel[3],
1332 double angularVel[3], double *agl)
1334 const simgear::BVHMaterial* material;
1335 simgear::BVHNode::Id id;
1336 if (!FGInterface::get_agl_ft(t, pt, alt_off, contact, normal, vel,
1337 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));
1344 static SGPropertyNode_ptr terrain_nas = fgGetNode("/fdm/jsbsim/environment/terrain-hight", false);
1345 if (!terrain_nas && material) {
1346 double frictionFactor = (*material).get_friction_factor();
1347 double rollingFriction = (*material).get_rolling_friction();
1349 if ((rollingFriction != 1.0) && (rollingFriction > 0.001)) {
1350 frictionFactor = rollingFriction/0.02;
1352 GroundReactions->SetFrictionFactor(frictionFactor);
1354 // 1 Pascal = 0.00014503773800721815 lbs/in^2
1355 double pressure = (*material).get_load_resistance(); // N/m^2 (or Pascal)
1356 GroundReactions->SetMaximumForce(pressure*0.00014503773800721815);
1358 GroundReactions->SetBumpiness((*material).get_bumpiness());
1359 GroundReactions->SetSolid((*material).get_solid());
1360 GroundReactions->SetPosition(pt);
1366 inline static double sqr(double x)
1371 static double angle_diff(double a, double b)
1373 double diff = fabs(a - b);
1374 if (diff > 180) diff = 360 - diff;
1379 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)
1381 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1382 double dist = DotProduct(tip, ground_normal_body);
1383 if (fabs(dist + E) < 0.0001) {
1384 sin_fis[*points] = sin_fi_guess;
1385 cos_fis[*points] = cos_fi_guess;
1386 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1392 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)
1394 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1395 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1396 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1397 if (fabs(cos_fi_guess) > SG_EPSILON) {
1398 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1403 void FGJSBsim::update_external_forces(double t_off)
1405 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1406 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1407 const FGLocation& Location = Propagate->GetLocation();
1408 const FGMatrix33& Tec2l = Location.GetTec2l();
1410 double hook_area[4][3];
1412 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1413 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1414 hook_area[1][0] = hook_root(1);
1415 hook_area[1][1] = hook_root(2);
1416 hook_area[1][2] = hook_root(3);
1418 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1419 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1420 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1421 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1422 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1423 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1425 FGColumnVector3 hook_tip_body = hook_root_body;
1426 hook_tip_body(1) -= hook_length * cos_fi;
1427 hook_tip_body(3) += hook_length * sin_fi;
1430 double ground_normal[3];
1431 double ground_vel[3];
1432 double ground_angular_vel[3];
1436 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal,
1437 ground_vel, ground_angular_vel, &root_agl_ft);
1438 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1439 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1440 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1441 double D = -DotProduct(contact_body, ground_normal_body);
1443 // check hook tip agl against same ground plane
1444 double hook_tip_agl_ft = DotProduct(hook_tip_body, ground_normal_body) + D;
1445 if (hook_tip_agl_ft < 0) {
1447 // hook tip: hx - l cos, hy, hz + l sin
1448 // on ground: - n0 l cos + n2 l sin + E = 0
1450 double E = D + DotProduct(hook_root_body, ground_normal_body);
1452 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1453 // and rearrange to get a quadratic with coeffs:
1454 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1455 double b = 2 * E * ground_normal_body(3) * hook_length;
1456 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1458 double disc = sqr(b) - 4 * a * c;
1460 double delta = sqrt(disc) / (2 * a);
1462 // allow 4 solutions for safety, should never happen
1468 double sin_fi_guess = -b / (2 * a) - delta;
1469 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1470 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1473 double diff1 = angle_diff(fi, fis[0]);
1474 double diff2 = angle_diff(fi, fis[1]);
1475 int point = diff1 < diff2 ? 0 : 1;
1477 sin_fi = sin_fis[point];
1478 cos_fi = cos_fis[point];
1479 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1480 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1486 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1487 double wire_ends_ec[2][3];
1488 double wire_vel_ec[2][3];
1489 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1490 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1491 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1492 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1493 if (rel_vel.Magnitude() < 3) {
1496 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1498 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;
1499 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;
1500 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1501 force_plane_normal.Normalize();
1502 cos_fi = DotProduct(force_plane_normal, FGColumnVector3(0, 0, 1));
1503 if (cos_fi < 0) cos_fi = -cos_fi;
1504 sin_fi = sqrt(1 - sqr(cos_fi));
1505 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1507 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1508 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1509 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1510 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1514 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1516 hook_area[0][0] = hook_tip(1);
1517 hook_area[0][1] = hook_tip(2);
1518 hook_area[0][2] = hook_tip(3);
1521 // The previous positions.
1522 hook_area[2][0] = last_hook_root[0];
1523 hook_area[2][1] = last_hook_root[1];
1524 hook_area[2][2] = last_hook_root[2];
1525 hook_area[3][0] = last_hook_tip[0];
1526 hook_area[3][1] = last_hook_tip[1];
1527 hook_area[3][2] = last_hook_tip[2];
1529 // Check if we caught a wire.
1530 // Returns true if we caught one.
1531 if (caught_wire_ft(t_off, hook_area)) {
1536 // save actual position as old position ...
1537 last_hook_tip[0] = hook_area[0][0];
1538 last_hook_tip[1] = hook_area[0][1];
1539 last_hook_tip[2] = hook_area[0][2];
1540 last_hook_root[0] = hook_area[1][0];
1541 last_hook_root[1] = hook_area[1][1];
1542 last_hook_root[2] = hook_area[1][2];
1544 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);