src/FDM/JSBSim/JSBSim.cxx

   1 // JSBsim.cxx -- interface to the JSBsim flight model
   2 //
   3 // Written by Curtis Olson, started February 1999.
   4 //
   5 // Copyright (C) 1999  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/compiler.h>
  29
  30 #ifdef SG_MATH_EXCEPTION_CLASH
  31 #  include <math.h>
  32 #endif
  33
  34 #include STL_STRING
  35
  36 #include <simgear/constants.h>
  37 #include <simgear/debug/logstream.hxx>
  38 #include <simgear/math/sg_geodesy.hxx>
  39 #include <simgear/misc/sg_path.hxx>
  40
  41 #include <FDM/flight.hxx>
  42
  43 #include <Aircraft/aircraft.hxx>
  44 #include <Controls/controls.hxx>
  45 #include <Main/globals.hxx>
  46 #include <Main/fg_props.hxx>
  47
  48 #include <FDM/JSBSim/FGFDMExec.h>
  49 #include <FDM/JSBSim/FGAircraft.h>
  50 #include <FDM/JSBSim/FGFCS.h>
  51 #include <FDM/JSBSim/FGPosition.h>
  52 #include <FDM/JSBSim/FGRotation.h>
  53 #include <FDM/JSBSim/FGState.h>
  54 #include <FDM/JSBSim/FGTranslation.h>
  55 #include <FDM/JSBSim/FGAuxiliary.h>
  56 #include <FDM/JSBSim/FGInitialCondition.h>
  57 #include <FDM/JSBSim/FGTrim.h>
  58 #include <FDM/JSBSim/FGAtmosphere.h>
  59 #include <FDM/JSBSim/FGMassBalance.h>
  60 #include <FDM/JSBSim/FGAerodynamics.h>
  61 #include <FDM/JSBSim/FGLGear.h>
  62 #include <FDM/JSBSim/FGPropertyManager.h>
  63 #include "JSBSim.hxx"
  64
  65 static inline double
  66 FMAX (double a, double b)
  67 {
  68   return a > b ? a : b;
  69 }
  70
  71
  72 /******************************************************************************/
  73
  74 FGJSBsim::FGJSBsim( double dt )
  75   : FGInterface(dt)
  76 {
  77     bool result;
  78
  79     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
  80
  81     State           = fdmex->GetState();
  82     Atmosphere      = fdmex->GetAtmosphere();
  83     FCS             = fdmex->GetFCS();
  84     MassBalance     = fdmex->GetMassBalance();
  85     Propulsion      = fdmex->GetPropulsion();
  86     Aircraft        = fdmex->GetAircraft();
  87     Translation     = fdmex->GetTranslation();
  88     Rotation        = fdmex->GetRotation();
  89     Position        = fdmex->GetPosition();
  90     Auxiliary       = fdmex->GetAuxiliary();
  91     Aerodynamics    = fdmex->GetAerodynamics();
  92     GroundReactions = fdmex->GetGroundReactions();
  93
  94     fgic=fdmex->GetIC();
  95     needTrim=true;
  96
  97     SGPath aircraft_path( globals->get_fg_root() );
  98     aircraft_path.append( "Aircraft" );
  99
 100     SGPath engine_path( globals->get_fg_root() );
 101     engine_path.append( "Engine" );
 102     State->Setdt( dt );
 103
 104     result = fdmex->LoadModel( aircraft_path.str(),
 105                                engine_path.str(),
 106                                fgGetString("/sim/aero") );
 107
 108     if (result) {
 109       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 110     } else {
 111       SG_LOG( SG_FLIGHT, SG_INFO,
 112               "  aero does not exist (you may have mis-typed the name).");
 113       throw(-1);
 114     }
 115
 116     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 117     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 118     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 119
 120     int Neng = Propulsion->GetNumEngines();
 121     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 122
 123     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 124         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 125                 << GroundReactions->GetNumGearUnits() );
 126         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 127          SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 128          SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 129          exit(-1);
 130     }
 131
 132
 133     init_gear();
 134
 135                                 // Set initial fuel levels if provided.
 136     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 137       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 138       if (node->getChild("level-gal_us", 0, false) != 0)
 139         Propulsion->GetTank(i)
 140           ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 141     }
 142
 143     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 144     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 145     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 146     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 147
 148     startup_trim = fgGetNode("/sim/presets/trim", true);
 149
 150     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 151     trimmed->setBoolValue(false);
 152
 153     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 154     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 155     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 156     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 157
 158     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 159     stall_warning->setDoubleValue(0);
 160
 161
 162     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 163     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 164     left_aileron_pos_pct
 165         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 166     right_aileron_pos_pct
 167         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 168     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 169     speedbrake_pos_pct
 170         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 171     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 172
 173
 174     elevator_pos_pct->setDoubleValue(0);
 175     left_aileron_pos_pct->setDoubleValue(0);
 176     right_aileron_pos_pct->setDoubleValue(0);
 177     rudder_pos_pct->setDoubleValue(0);
 178     flap_pos_pct->setDoubleValue(0);
 179     speedbrake_pos_pct->setDoubleValue(0);
 180     spoilers_pos_pct->setDoubleValue(0);
 181
 182     temperature = fgGetNode("/environment/temperature-degc",true);
 183     pressure = fgGetNode("/environment/pressure-inhg",true);
 184     density = fgGetNode("/environment/density-slugft3",true);
 185     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 186     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 187
 188     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 189     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 190     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 191
 192
 193 }
 194 /******************************************************************************/
 195 FGJSBsim::~FGJSBsim(void) {
 196         delete fdmex;
 197 }
 198
 199 /******************************************************************************/
 200
 201 // Initialize the JSBsim flight model, dt is the time increment for
 202 // each subsequent iteration through the EOM
 203
 204 void FGJSBsim::init() {
 205
 206     double tmp;
 207
 208     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 209
 210     // Explicitly call the superclass's
 211     // init method first.
 212
 213 #ifdef FG_WEATHERCM
 214     Atmosphere->UseInternal();
 215 #else
 216     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 217       Atmosphere->UseExternal();
 218       Atmosphere->SetExTemperature(
 219                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 220       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 221       Atmosphere->SetExDensity(density->getDoubleValue());
 222
 223       tmp = turbulence_gain->getDoubleValue();
 224       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 225
 226       tmp = turbulence_rate->getDoubleValue();
 227       Atmosphere->SetTurbRate(tmp);
 228
 229     } else {
 230       Atmosphere->UseInternal();
 231     }
 232 #endif
 233
 234     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 235     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 236     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 237
 238     //Atmosphere->SetExTemperature(get_Static_temperature());
 239     //Atmosphere->SetExPressure(get_Static_pressure());
 240     //Atmosphere->SetExDensity(get_Density());
 241     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 242      << ", " << fdmex->GetAtmosphere()->GetPressure()
 243      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 244
 245     common_init();
 246     copy_to_JSBsim();
 247
 248
 249     fdmex->RunIC(); //loop JSBSim once w/o integrating
 250     copy_from_JSBsim(); //update the bus
 251
 252     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 253
 254     switch(fgic->GetSpeedSet()) {
 255     case setned:
 256         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 257                << Position->GetVn() << ", "
 258                << Position->GetVe() << ", "
 259                << Position->GetVd() << " ft/s");
 260     break;
 261     case setuvw:
 262         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 263                << Translation->GetUVW(1) << ", "
 264                << Translation->GetUVW(2) << ", "
 265                << Translation->GetUVW(3) << " ft/s");
 266     break;
 267     case setmach:
 268         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 269                << Translation->GetMach() );
 270     break;
 271     case setvc:
 272     default:
 273         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 274                << Auxiliary->GetVcalibratedKTS() << " knots" );
 275     break;
 276     }
 277
 278     stall_warning->setDoubleValue(0);
 279
 280     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 281             <<  Rotation->Getphi()*RADTODEG << " deg" );
 282     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 283             << Rotation->Gettht()*RADTODEG << " deg" );
 284     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 285             << Rotation->Getpsi()*RADTODEG << " deg" );
 286     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 287             << Position->GetLatitude() << " deg" );
 288     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 289             << Position->GetLongitude() << " deg" );
 290     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 291         << Position->Geth() << " feet" );
 292     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 293
 294     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 295
 296     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 297
 298     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 299                                   globals->get_controls()->get_gear_down() );
 300
 301
 302
 303 }
 304
 305 /******************************************************************************/
 306
 307 // Run an iteration of the EOM (equations of motion)
 308
 309 void
 310 FGJSBsim::update( double dt ) {
 311
 312     if (is_suspended())
 313       return;
 314
 315     int multiloop = _calc_multiloop(dt);
 316
 317     int i;
 318
 319     // double save_alt = 0.0;
 320
 321     copy_to_JSBsim();
 322
 323     trimmed->setBoolValue(false);
 324
 325     if ( needTrim ) {
 326       if ( startup_trim->getBoolValue() ) {
 327         SG_LOG(SG_FLIGHT, SG_INFO,
 328           "Ready to trim, terrain altitude is: "
 329             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 330         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 331         do_trim();
 332       } else {
 333         fdmex->RunIC();  //apply any changes made through the set_ functions
 334       }
 335       needTrim = false;
 336     }
 337
 338     for ( i=0; i < multiloop; i++ ) {
 339         fdmex->Run();
 340     }
 341
 342     FGJSBBase::Message* msg;
 343     while (fdmex->ReadMessage()) {
 344       msg = fdmex->ProcessMessage();
 345       switch (msg->type) {
 346       case FGJSBBase::Message::eText:
 347         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 348         break;
 349       case FGJSBBase::Message::eBool:
 350         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 351         break;
 352       case FGJSBBase::Message::eInteger:
 353         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 354         break;
 355       case FGJSBBase::Message::eDouble:
 356         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 357         break;
 358       default:
 359         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 360         break;
 361       }
 362     }
 363
 364     // translate JSBsim back to FG structure so that the
 365     // autopilot (and the rest of the sim can use the updated values
 366     copy_from_JSBsim();
 367 }
 368
 369 /******************************************************************************/
 370
 371 // Convert from the FGInterface struct to the JSBsim generic_ struct
 372
 373 bool FGJSBsim::copy_to_JSBsim() {
 374     double tmp;
 375     unsigned int i;
 376
 377     // copy control positions into the JSBsim structure
 378
 379     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 380     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 381     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 382     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 383     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 384     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 385     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 386     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 387     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 388
 389                                 // Parking brake sets minimum braking
 390                                 // level for mains.
 391     double parking_brake = globals->get_controls()->get_parking_brake();
 392     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
 393     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
 394     FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 395
 396     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 397     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 398       FGEngine * eng = Propulsion->GetEngine(i);
 399       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 400       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 401       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 402       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 403       Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
 404       eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 405       eng->SetStarter( globals->get_controls()->get_starter(i) );
 406       eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 407       eng->SetReverse( globals->get_controls()->get_reverser(i) );
 408       eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 409       eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 410       eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 411       eng->SetNitrous( globals->get_controls()->get_nitrous_injection(i) );
 412     }
 413
 414     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 415     Position->SetSeaLevelRadius( get_Sea_level_radius() );
 416     Position->SetRunwayRadius( get_Runway_altitude()
 417                                + get_Sea_level_radius() );
 418
 419     Atmosphere->SetExTemperature(
 420                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 421     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 422     Atmosphere->SetExDensity(density->getDoubleValue());
 423
 424     tmp = turbulence_gain->getDoubleValue();
 425     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 426
 427     tmp = turbulence_rate->getDoubleValue();
 428     Atmosphere->SetTurbRate(tmp);
 429
 430     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 431                             wind_from_east->getDoubleValue(),
 432                             wind_from_down->getDoubleValue() );
 433 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 434 //                  << get_V_north_airmass() << ", "
 435 //                  << get_V_east_airmass()  << ", "
 436 //                  << get_V_down_airmass() );
 437
 438     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 439       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 440       FGTank * tank = Propulsion->GetTank(i);
 441       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 442 //       tank->SetContents(node->getDoubleValue("level-lb"));
 443     }
 444
 445     return true;
 446 }
 447
 448 /******************************************************************************/
 449
 450 // Convert from the JSBsim generic_ struct to the FGInterface struct
 451
 452 bool FGJSBsim::copy_from_JSBsim() {
 453     unsigned int i, j;
 454
 455     _set_Inertias( MassBalance->GetMass(),
 456                    MassBalance->GetIxx(),
 457                    MassBalance->GetIyy(),
 458                    MassBalance->GetIzz(),
 459                    MassBalance->GetIxz() );
 460
 461     _set_CG_Position( MassBalance->GetXYZcg(1),
 462                       MassBalance->GetXYZcg(2),
 463                       MassBalance->GetXYZcg(3) );
 464
 465     _set_Accels_Body( Aircraft->GetBodyAccel()(1),
 466                       Aircraft->GetBodyAccel()(2),
 467                       Aircraft->GetBodyAccel()(3) );
 468
 469     //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
 470     //                     Aircraft->GetBodyAccel()(2),
 471     //                     Aircraft->GetBodyAccel()(3) );
 472     //
 473     _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
 474                             Aircraft->GetNcg()(2),
 475                             Aircraft->GetNcg()(3) );
 476
 477     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
 478                             Auxiliary->GetPilotAccel()(2),
 479                             Auxiliary->GetPilotAccel()(3) );
 480
 481    // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
 482    //                           Auxiliary->GetNpilot(2)/32.1739,
 483    //                           Auxiliary->GetNpilot(3)/32.1739 );
 484
 485     _set_Nlf( Aircraft->GetNlf() );
 486
 487     // Velocities
 488
 489     _set_Velocities_Local( Position->GetVn(),
 490                            Position->GetVe(),
 491                            Position->GetVd() );
 492
 493     _set_Velocities_Wind_Body( Translation->GetUVW(1),
 494                                Translation->GetUVW(2),
 495                                Translation->GetUVW(3) );
 496
 497     _set_V_rel_wind( Translation->GetVt() );
 498
 499     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 500
 501     // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
 502
 503     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 504
 505     _set_V_ground_speed( Position->GetVground() );
 506
 507     _set_Omega_Body( Rotation->GetPQR(1),
 508                      Rotation->GetPQR(2),
 509                      Rotation->GetPQR(3) );
 510
 511     _set_Euler_Rates( Rotation->GetEulerRates(1),
 512                       Rotation->GetEulerRates(2),
 513                       Rotation->GetEulerRates(3) );
 514
 515     _set_Geocentric_Rates(Position->GetLatitudeDot(),
 516                           Position->GetLongitudeDot(),
 517                           Position->Gethdot() );
 518
 519     _set_Mach_number( Translation->GetMach() );
 520
 521     // Positions
 522     _updateGeocentricPosition( Position->GetLatitude(),
 523                                Position->GetLongitude(),
 524                                Position->Geth() );
 525
 526     _set_Altitude_AGL( Position->GetDistanceAGL() );
 527
 528     _set_Euler_Angles( Rotation->Getphi(),
 529                        Rotation->Gettht(),
 530                        Rotation->Getpsi() );
 531
 532     _set_Alpha( Translation->Getalpha() );
 533     _set_Beta( Translation->Getbeta() );
 534
 535
 536     _set_Gamma_vert_rad( Position->GetGamma() );
 537     // set_Gamma_horiz_rad( Gamma_horiz_rad );
 538
 539     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 540
 541     _set_Climb_Rate( Position->Gethdot() );
 542
 543
 544     for ( i = 1; i <= 3; i++ ) {
 545         for ( j = 1; j <= 3; j++ ) {
 546             _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
 547         }
 548     }
 549
 550                                 // Copy the engine values from JSBSim.
 551     for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 552       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 553       FGEngine * eng = Propulsion->GetEngine(i);
 554       FGThruster * thrust = Propulsion->GetThruster(i);
 555
 556       node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 557       node->setDoubleValue("rpm", thrust->GetRPM());
 558       node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 559       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 560       node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 561       node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 562       node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 563       node->setDoubleValue("thrust_lb", eng->GetThrust());
 564       node->setDoubleValue("N1", eng->GetN1());
 565       node->setDoubleValue("N2", eng->GetN2());
 566       node->setDoubleValue("EGT_degC", eng->GetEGT());
 567       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 568       node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 569       node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 570       node->setBoolValue("running", eng->GetRunning());
 571       node->setBoolValue("cranking", eng->GetCranking());
 572       node->setBoolValue("ignition", eng->GetIgnition());
 573       node->setBoolValue("augmentation", eng->GetAugmentation());
 574       node->setBoolValue("water-injection", eng->GetInjection());
 575       node->setBoolValue("reversed", eng->GetReversed());
 576       node->setBoolValue("cutoff", eng->GetCutoff());
 577       node->setBoolValue("nitrous", eng->GetNitrous());
 578     }
 579
 580     static const SGPropertyNode *fuel_freeze
 581         = fgGetNode("/sim/freeze/fuel");
 582
 583                                 // Copy the fuel levels from JSBSim if fuel
 584                                 // freeze not enabled.
 585     if ( ! fuel_freeze->getBoolValue() ) {
 586         for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 587             SGPropertyNode * node
 588                 = fgGetNode("/consumables/fuel/tank", i, true);
 589             double contents = Propulsion->GetTank(i)->GetContents();
 590             node->setDoubleValue("level-gal_us", contents/6.6);
 591             node->setDoubleValue("level-lb", contents);
 592             // node->setDoubleValue("temperature_degC",
 593         }
 594     }
 595
 596     update_gear();
 597
 598     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 599
 600     /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
 601     left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
 602     right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
 603     rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
 604     flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
 605
 606
 607     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 608     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 609     right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
 610     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 611     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 612     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 613     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 614
 615
 616     return true;
 617 }
 618
 619 bool FGJSBsim::ToggleDataLogging(void) {
 620     return fdmex->GetOutput()->Toggle();
 621 }
 622
 623
 624 bool FGJSBsim::ToggleDataLogging(bool state) {
 625     if (state) {
 626       fdmex->GetOutput()->Enable();
 627       return true;
 628     } else {
 629       fdmex->GetOutput()->Disable();
 630       return false;
 631     }
 632 }
 633
 634
 635 //Positions
 636 void FGJSBsim::set_Latitude(double lat) {
 637     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 638     double alt;
 639     double sea_level_radius_meters, lat_geoc;
 640
 641                                 // In case we're not trimming
 642     FGInterface::set_Latitude(lat);
 643
 644     if ( altitude->getDoubleValue() > -9990 ) {
 645       alt = altitude->getDoubleValue();
 646     } else {
 647       alt = 0.0;
 648     }
 649
 650     update_ic();
 651     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 652     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 653
 654     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 655                       &sea_level_radius_meters, &lat_geoc );
 656     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 657     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 658     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 659     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 660     fgic->SetLatitudeRadIC( lat_geoc );
 661     needTrim=true;
 662 }
 663
 664 void FGJSBsim::set_Longitude(double lon) {
 665
 666     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 667
 668                                 // In case we're not trimming
 669     FGInterface::set_Longitude(lon);
 670
 671     update_ic();
 672     fgic->SetLongitudeRadIC( lon );
 673     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 674     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 675     needTrim=true;
 676 }
 677
 678 void FGJSBsim::set_Altitude(double alt) {
 679     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 680
 681     double sea_level_radius_meters,lat_geoc;
 682
 683     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 684     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 685
 686                                 // In case we're not trimming
 687     FGInterface::set_Altitude(alt);
 688
 689     update_ic();
 690     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 691                   &sea_level_radius_meters, &lat_geoc);
 692     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 693     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 694     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 695     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 696     SG_LOG(SG_FLIGHT, SG_INFO,
 697           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 698     fgic->SetLatitudeRadIC( lat_geoc );
 699     fgic->SetAltitudeFtIC(alt);
 700     needTrim=true;
 701 }
 702
 703 void FGJSBsim::set_V_calibrated_kts(double vc) {
 704     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 705
 706                                 // In case we're not trimming
 707     FGInterface::set_V_calibrated_kts(vc);
 708
 709     update_ic();
 710     fgic->SetVcalibratedKtsIC(vc);
 711     needTrim=true;
 712 }
 713
 714 void FGJSBsim::set_Mach_number(double mach) {
 715     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 716
 717                                 // In case we're not trimming
 718     FGInterface::set_Mach_number(mach);
 719
 720     update_ic();
 721     fgic->SetMachIC(mach);
 722     needTrim=true;
 723 }
 724
 725 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
 726     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 727        << north << ", " <<  east << ", " << down );
 728
 729                                 // In case we're not trimming
 730     FGInterface::set_Velocities_Local(north, east, down);
 731
 732     update_ic();
 733     fgic->SetVnorthFpsIC(north);
 734     fgic->SetVeastFpsIC(east);
 735     fgic->SetVdownFpsIC(down);
 736     needTrim=true;
 737 }
 738
 739 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
 740     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 741        << u << ", " <<  v << ", " <<  w );
 742
 743                                 // In case we're not trimming
 744     FGInterface::set_Velocities_Wind_Body(u, v, w);
 745
 746     update_ic();
 747     fgic->SetUBodyFpsIC(u);
 748     fgic->SetVBodyFpsIC(v);
 749     fgic->SetWBodyFpsIC(w);
 750     needTrim=true;
 751 }
 752
 753 //Euler angles
 754 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
 755     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 756        << phi << ", " << theta << ", " << psi );
 757
 758                                 // In case we're not trimming
 759     FGInterface::set_Euler_Angles(phi, theta, psi);
 760
 761     update_ic();
 762     fgic->SetPitchAngleRadIC(theta);
 763     fgic->SetRollAngleRadIC(phi);
 764     fgic->SetTrueHeadingRadIC(psi);
 765     needTrim=true;
 766 }
 767
 768 //Flight Path
 769 void FGJSBsim::set_Climb_Rate( double roc) {
 770     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 771
 772                                 // In case we're not trimming
 773     FGInterface::set_Climb_Rate(roc);
 774
 775     update_ic();
 776     //since both climb rate and flight path angle are set in the FG
 777     //startup sequence, something is needed to keep one from cancelling
 778     //out the other.
 779     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 780       fgic->SetClimbRateFpsIC(roc);
 781     }
 782     needTrim=true;
 783 }
 784
 785 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
 786     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 787
 788     update_ic();
 789     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 790       fgic->SetFlightPathAngleRadIC(gamma);
 791     }
 792     needTrim=true;
 793 }
 794
 795 void FGJSBsim::init_gear(void ) {
 796
 797     FGGroundReactions* gr=fdmex->GetGroundReactions();
 798     int Ngear=GroundReactions->GetNumGearUnits();
 799     for (int i=0;i<Ngear;i++) {
 800       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 801       node->setDoubleValue("xoffset-in",
 802                            gr->GetGearUnit(i)->GetBodyLocation()(1));
 803       node->setDoubleValue("yoffset-in",
 804                            gr->GetGearUnit(i)->GetBodyLocation()(2));
 805       node->setDoubleValue("zoffset-in",
 806                            gr->GetGearUnit(i)->GetBodyLocation()(3));
 807       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 808       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 809       node->setDoubleValue("position-norm", FCS->GetGearPos());
 810     }
 811 }
 812
 813 void FGJSBsim::update_gear(void) {
 814
 815     FGGroundReactions* gr=fdmex->GetGroundReactions();
 816     int Ngear=GroundReactions->GetNumGearUnits();
 817     for (int i=0;i<Ngear;i++) {
 818       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 819       node->getChild("wow", 0, true)
 820         ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 821       node->getChild("position-norm", 0, true)
 822         ->setDoubleValue(FCS->GetGearPos());
 823     }
 824 }
 825
 826 void FGJSBsim::do_trim(void) {
 827
 828         FGTrim *fgtrim;
 829         if( fgGetBool("/sim/presets/onground") ) {
 830             fgic->SetVcalibratedKtsIC(0.0);
 831             fgtrim=new FGTrim(fdmex,tGround);
 832         } else {
 833             fgtrim=new FGTrim(fdmex,tLongitudinal);
 834         }
 835         if( !fgtrim->DoTrim() ) {
 836             fgtrim->Report();
 837             fgtrim->TrimStats();
 838         } else {
 839             trimmed->setBoolValue(true);
 840         }
 841         State->ReportState();
 842         delete fgtrim;
 843         pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 844         throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 845         aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 846         rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 847
 848         globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 849         globals->get_controls()->set_elevator(FCS->GetDeCmd());
 850         globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 851                                               FCS->GetThrottleCmd(0));
 852
 853         globals->get_controls()->set_aileron(FCS->GetDaCmd());
 854         globals->get_controls()->set_rudder( FCS->GetDrCmd());
 855
 856         SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 857 }
 858
 859 void FGJSBsim::update_ic(void) {
 860    if( !needTrim ) {
 861      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 862      fgic->SetLongitudeRadIC( get_Longitude() );
 863      fgic->SetAltitudeFtIC( get_Altitude() );
 864      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 865      fgic->SetPitchAngleRadIC( get_Theta() );
 866      fgic->SetRollAngleRadIC( get_Phi() );
 867      fgic->SetTrueHeadingRadIC( get_Psi() );
 868      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 869    }
 870 }
 871