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 #include <stdio.h>      //      size_t
  31 #ifdef SG_MATH_EXCEPTION_CLASH
  32 #  include <math.h>
  33 #endif
  34
  35 #include STL_STRING
  36
  37 #include <simgear/constants.h>
  38 #include <simgear/debug/logstream.hxx>
  39 #include <simgear/math/sg_geodesy.hxx>
  40 #include <simgear/misc/sg_path.hxx>
  41
  42 #include <FDM/flight.hxx>
  43
  44 #include <Aircraft/aircraft.hxx>
  45 #include <Controls/controls.hxx>
  46 #include <Main/globals.hxx>
  47 #include <Main/fg_props.hxx>
  48
  49 #include <FDM/JSBSim/FGFDMExec.h>
  50 #include <FDM/JSBSim/FGAircraft.h>
  51 #include <FDM/JSBSim/FGFCS.h>
  52 #include <FDM/JSBSim/FGPropagate.h>
  53 #include <FDM/JSBSim/FGState.h>
  54 #include <FDM/JSBSim/FGAuxiliary.h>
  55 #include <FDM/JSBSim/FGInitialCondition.h>
  56 #include <FDM/JSBSim/FGTrim.h>
  57 #include <FDM/JSBSim/FGAtmosphere.h>
  58 #include <FDM/JSBSim/FGMassBalance.h>
  59 #include <FDM/JSBSim/FGAerodynamics.h>
  60 #include <FDM/JSBSim/FGLGear.h>
  61 #include <FDM/JSBSim/FGPropertyManager.h>
  62 #include <FDM/JSBSim/FGEngine.h>
  63 #include <FDM/JSBSim/FGPiston.h>
  64 #include <FDM/JSBSim/FGTurbine.h>
  65 #include <FDM/JSBSim/FGRocket.h>
  66 #include <FDM/JSBSim/FGElectric.h>
  67 #include <FDM/JSBSim/FGNozzle.h>
  68 #include <FDM/JSBSim/FGPropeller.h>
  69 #include <FDM/JSBSim/FGRotor.h>
  70 #include <FDM/JSBSim/FGTank.h>
  71 #include "JSBSim.hxx"
  72
  73 static inline double
  74 FMAX (double a, double b)
  75 {
  76   return a > b ? a : b;
  77 }
  78
  79
  80 /******************************************************************************/
  81
  82 FGJSBsim::FGJSBsim( double dt )
  83   : FGInterface(dt)
  84 {
  85     bool result;
  86
  87                                 // Set up the debugging level
  88                                 // FIXME: this will not respond to
  89                                 // runtime changes
  90
  91                                 // if flight is excluded, don't bother
  92     if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
  93
  94                                 // do a rough-and-ready mapping to
  95                                 // the levels documented in FGFDMExec.h
  96         switch (logbuf::get_log_priority()) {
  97         case SG_BULK:
  98             FGJSBBase::debug_lvl = 0x1f;
  99             break;
 100         case SG_DEBUG:
 101             FGJSBBase::debug_lvl = 0x0f;
 102         case SG_INFO:
 103             FGJSBBase::debug_lvl = 0x01;
 104             break;
 105         case SG_WARN:
 106         case SG_ALERT:
 107             FGJSBBase::debug_lvl = 0x00;
 108             break;
 109         }
 110     }
 111
 112     fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
 113
 114     State           = fdmex->GetState();
 115     Atmosphere      = fdmex->GetAtmosphere();
 116     FCS             = fdmex->GetFCS();
 117     MassBalance     = fdmex->GetMassBalance();
 118     Propulsion      = fdmex->GetPropulsion();
 119     Aircraft        = fdmex->GetAircraft();
 120     Propagate        = fdmex->GetPropagate();
 121     Auxiliary       = fdmex->GetAuxiliary();
 122     Aerodynamics    = fdmex->GetAerodynamics();
 123     GroundReactions = fdmex->GetGroundReactions();
 124
 125     fgic=fdmex->GetIC();
 126     needTrim=true;
 127
 128     SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
 129
 130     SGPath engine_path( fgGetString("/sim/aircraft-dir") );
 131     engine_path.append( "Engine" );
 132     State->Setdt( dt );
 133
 134     result = fdmex->LoadModel( aircraft_path.str(),
 135                                engine_path.str(),
 136                                fgGetString("/sim/aero"), false );
 137
 138     if (result) {
 139       SG_LOG( SG_FLIGHT, SG_INFO, "  loaded aero.");
 140     } else {
 141       SG_LOG( SG_FLIGHT, SG_INFO,
 142               "  aero does not exist (you may have mis-typed the name).");
 143       throw(-1);
 144     }
 145
 146     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 147     SG_LOG( SG_FLIGHT, SG_INFO, "" );
 148     SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
 149
 150     int Neng = Propulsion->GetNumEngines();
 151     SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
 152
 153     if ( GroundReactions->GetNumGearUnits() <= 0 ) {
 154         SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
 155                 << GroundReactions->GetNumGearUnits() );
 156         SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
 157         SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
 158         SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
 159         exit(-1);
 160     }
 161
 162     init_gear();
 163
 164     // Set initial fuel levels if provided.
 165     for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
 166       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 167       if (node->getChild("level-gal_us", 0, false) != 0) {
 168         Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 169       } else {
 170         node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
 171         node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
 172       }
 173     }
 174
 175     fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
 176     fgSetDouble("/fdm/trim/throttle",   FCS->GetThrottleCmd(0));
 177     fgSetDouble("/fdm/trim/aileron",    FCS->GetDaCmd());
 178     fgSetDouble("/fdm/trim/rudder",     FCS->GetDrCmd());
 179
 180     startup_trim = fgGetNode("/sim/presets/trim", true);
 181
 182     trimmed = fgGetNode("/fdm/trim/trimmed", true);
 183     trimmed->setBoolValue(false);
 184
 185     pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
 186     throttle_trim = fgGetNode("/fdm/trim/throttle", true );
 187     aileron_trim = fgGetNode("/fdm/trim/aileron", true );
 188     rudder_trim = fgGetNode("/fdm/trim/rudder", true );
 189
 190     stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
 191     stall_warning->setDoubleValue(0);
 192
 193
 194     flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
 195     elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
 196     left_aileron_pos_pct
 197         =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
 198     right_aileron_pos_pct
 199         =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
 200     rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
 201     speedbrake_pos_pct
 202         =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
 203     spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
 204
 205     elevator_pos_pct->setDoubleValue(0);
 206     left_aileron_pos_pct->setDoubleValue(0);
 207     right_aileron_pos_pct->setDoubleValue(0);
 208     rudder_pos_pct->setDoubleValue(0);
 209     flap_pos_pct->setDoubleValue(0);
 210     speedbrake_pos_pct->setDoubleValue(0);
 211     spoilers_pos_pct->setDoubleValue(0);
 212
 213     temperature = fgGetNode("/environment/temperature-degc",true);
 214     pressure = fgGetNode("/environment/pressure-inhg",true);
 215     density = fgGetNode("/environment/density-slugft3",true);
 216     turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
 217     turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
 218
 219     wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
 220     wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
 221     wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
 222
 223     for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
 224       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 225       Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
 226                      Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
 227     }
 228 }
 229
 230 /******************************************************************************/
 231 FGJSBsim::~FGJSBsim(void)
 232 {
 233   delete fdmex;
 234 }
 235
 236 /******************************************************************************/
 237
 238 // Initialize the JSBsim flight model, dt is the time increment for
 239 // each subsequent iteration through the EOM
 240
 241 void FGJSBsim::init()
 242 {
 243     double tmp;
 244
 245     SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
 246
 247     // Explicitly call the superclass's
 248     // init method first.
 249
 250 #ifdef FG_WEATHERCM
 251     Atmosphere->UseInternal();
 252 #else
 253     if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
 254       Atmosphere->UseExternal();
 255       Atmosphere->SetExTemperature(
 256                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 257       Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 258       Atmosphere->SetExDensity(density->getDoubleValue());
 259
 260       tmp = turbulence_gain->getDoubleValue();
 261       Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 262
 263       tmp = turbulence_rate->getDoubleValue();
 264       Atmosphere->SetTurbRate(tmp);
 265
 266     } else {
 267       Atmosphere->UseInternal();
 268     }
 269 #endif
 270
 271     fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
 272     fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
 273     fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
 274
 275     //Atmosphere->SetExTemperature(get_Static_temperature());
 276     //Atmosphere->SetExPressure(get_Static_pressure());
 277     //Atmosphere->SetExDensity(get_Density());
 278     SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
 279      << ", " << fdmex->GetAtmosphere()->GetPressure()
 280      << ", " << fdmex->GetAtmosphere()->GetDensity() );
 281
 282     common_init();
 283
 284     copy_to_JSBsim();
 285     fdmex->RunIC();     //loop JSBSim once w/o integrating
 286     copy_from_JSBsim(); //update the bus
 287
 288     SG_LOG( SG_FLIGHT, SG_INFO, "  Initialized JSBSim with:" );
 289
 290     switch(fgic->GetSpeedSet()) {
 291     case setned:
 292         SG_LOG(SG_FLIGHT,SG_INFO, "  Vn,Ve,Vd= "
 293                << Propagate->GetVel(eNorth) << ", "
 294                << Propagate->GetVel(eEast) << ", "
 295                << Propagate->GetVel(eDown) << " ft/s");
 296     break;
 297     case setuvw:
 298         SG_LOG(SG_FLIGHT,SG_INFO, "  U,V,W= "
 299                << Propagate->GetUVW(1) << ", "
 300                << Propagate->GetUVW(2) << ", "
 301                << Propagate->GetUVW(3) << " ft/s");
 302     break;
 303     case setmach:
 304         SG_LOG(SG_FLIGHT,SG_INFO, "  Mach: "
 305                << Auxiliary->GetMach() );
 306     break;
 307     case setvc:
 308     default:
 309         SG_LOG(SG_FLIGHT,SG_INFO, "  Indicated Airspeed: "
 310                << Auxiliary->GetVcalibratedKTS() << " knots" );
 311     break;
 312     }
 313
 314     stall_warning->setDoubleValue(0);
 315
 316     SG_LOG( SG_FLIGHT, SG_INFO, "  Bank Angle: "
 317             << Propagate->Getphi()*RADTODEG << " deg" );
 318     SG_LOG( SG_FLIGHT, SG_INFO, "  Pitch Angle: "
 319             << Propagate->Gettht()*RADTODEG << " deg" );
 320     SG_LOG( SG_FLIGHT, SG_INFO, "  True Heading: "
 321             << Propagate->Getpsi()*RADTODEG << " deg" );
 322     SG_LOG( SG_FLIGHT, SG_INFO, "  Latitude: "
 323             << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
 324     SG_LOG( SG_FLIGHT, SG_INFO, "  Longitude: "
 325             << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
 326     SG_LOG( SG_FLIGHT, SG_INFO, "  Altitude: "
 327             << Propagate->Geth() << " feet" );
 328     SG_LOG( SG_FLIGHT, SG_INFO, "  loaded initial conditions" );
 329
 330     SG_LOG( SG_FLIGHT, SG_INFO, "  set dt" );
 331
 332     SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
 333
 334     SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
 335                                   globals->get_controls()->get_gear_down() );
 336 }
 337
 338 /******************************************************************************/
 339
 340 // Run an iteration of the EOM (equations of motion)
 341
 342 void FGJSBsim::update( double dt )
 343 {
 344     if (is_suspended())
 345       return;
 346
 347     int multiloop = _calc_multiloop(dt);
 348
 349     int i;
 350
 351     // double save_alt = 0.0;
 352
 353     copy_to_JSBsim();
 354
 355     trimmed->setBoolValue(false);
 356
 357     if ( needTrim ) {
 358       if ( startup_trim->getBoolValue() ) {
 359         SG_LOG(SG_FLIGHT, SG_INFO,
 360           "Ready to trim, terrain altitude is: "
 361             << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 362         fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 363         do_trim();
 364       } else {
 365         fdmex->RunIC();  //apply any changes made through the set_ functions
 366       }
 367       needTrim = false;
 368     }
 369
 370     for ( i=0; i < multiloop; i++ ) {
 371       fdmex->Run();
 372     }
 373
 374     FGJSBBase::Message* msg;
 375     while (fdmex->ReadMessage()) {
 376       msg = fdmex->ProcessMessage();
 377       switch (msg->type) {
 378       case FGJSBBase::Message::eText:
 379         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
 380         break;
 381       case FGJSBBase::Message::eBool:
 382         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
 383         break;
 384       case FGJSBBase::Message::eInteger:
 385         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
 386         break;
 387       case FGJSBBase::Message::eDouble:
 388         SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
 389         break;
 390       default:
 391         SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
 392         break;
 393       }
 394     }
 395
 396     // translate JSBsim back to FG structure so that the
 397     // autopilot (and the rest of the sim can use the updated values
 398     copy_from_JSBsim();
 399 }
 400
 401 /******************************************************************************/
 402
 403 // Convert from the FGInterface struct to the JSBsim generic_ struct
 404
 405 bool FGJSBsim::copy_to_JSBsim()
 406 {
 407     double tmp;
 408     unsigned int i;
 409
 410     // copy control positions into the JSBsim structure
 411
 412     FCS->SetDaCmd( globals->get_controls()->get_aileron());
 413     FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
 414     FCS->SetDeCmd( globals->get_controls()->get_elevator());
 415     FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
 416     FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
 417     FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
 418     FCS->SetDfCmd(  globals->get_controls()->get_flaps() );
 419     FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
 420     FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
 421
 422         // Parking brake sets minimum braking
 423         // level for mains.
 424     double parking_brake = globals->get_controls()->get_brake_parking();
 425     FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
 426     FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
 427     FCS->SetCBrake( 0.0 );
 428     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 429
 430     FCS->SetGearCmd( globals->get_controls()->get_gear_down());
 431     for (i = 0; i < Propulsion->GetNumEngines(); i++) {
 432       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 433
 434       FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
 435       FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
 436       FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
 437
 438       switch (Propulsion->GetEngine(i)->GetType()) {
 439       case FGEngine::etPiston:
 440         { // FGPiston code block
 441         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 442         eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
 443         break;
 444         } // end FGPiston code block
 445       case FGEngine::etTurbine:
 446         { // FGTurbine code block
 447         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 448         eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
 449         eng->SetReverse( globals->get_controls()->get_reverser(i) );
 450         eng->SetInjection( globals->get_controls()->get_water_injection(i) );
 451         eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
 452         eng->SetIgnition( globals->get_controls()->get_ignition(i) );
 453         break;
 454         } // end FGTurbine code block
 455       case FGEngine::etRocket:
 456         { // FGRocket code block
 457         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 458         break;
 459         } // end FGRocket code block
 460       }
 461
 462       { // FGEngine code block
 463       FGEngine* eng = Propulsion->GetEngine(i);
 464
 465       eng->SetStarter( globals->get_controls()->get_starter(i) );
 466       eng->SetRunning( node->getBoolValue("running") );
 467       } // end FGEngine code block
 468     }
 469
 470
 471     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 472     Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
 473     Propagate->SetRunwayRadius( get_Runway_altitude()
 474                                + get_Sea_level_radius() );
 475
 476     Atmosphere->SetExTemperature(
 477                   9.0/5.0*(temperature->getDoubleValue()+273.15) );
 478     Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
 479     Atmosphere->SetExDensity(density->getDoubleValue());
 480
 481     tmp = turbulence_gain->getDoubleValue();
 482     Atmosphere->SetTurbGain(tmp * tmp * 100.0);
 483
 484     tmp = turbulence_rate->getDoubleValue();
 485     Atmosphere->SetTurbRate(tmp);
 486
 487     Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
 488                             wind_from_east->getDoubleValue(),
 489                             wind_from_down->getDoubleValue() );
 490 //    SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
 491 //                  << get_V_north_airmass() << ", "
 492 //                  << get_V_east_airmass()  << ", "
 493 //                  << get_V_down_airmass() );
 494
 495     for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 496       SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 497       FGTank * tank = Propulsion->GetTank(i);
 498       tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
 499 //       tank->SetContents(node->getDoubleValue("level-lb"));
 500     }
 501     SGPropertyNode* node = fgGetNode("/systems/refuel", true);
 502     Propulsion->SetRefuel(node->getDoubleValue("contact"));
 503
 504     return true;
 505 }
 506
 507 /******************************************************************************/
 508
 509 // Convert from the JSBsim generic_ struct to the FGInterface struct
 510
 511 bool FGJSBsim::copy_from_JSBsim()
 512 {
 513     unsigned int i, j;
 514 /*
 515     _set_Inertias( MassBalance->GetMass(),
 516                    MassBalance->GetIxx(),
 517                    MassBalance->GetIyy(),
 518                    MassBalance->GetIzz(),
 519                    MassBalance->GetIxz() );
 520 */
 521     _set_CG_Position( MassBalance->GetXYZcg(1),
 522                       MassBalance->GetXYZcg(2),
 523                       MassBalance->GetXYZcg(3) );
 524
 525     _set_Accels_Body( Aircraft->GetBodyAccel(1),
 526                       Aircraft->GetBodyAccel(2),
 527                       Aircraft->GetBodyAccel(3) );
 528
 529     _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
 530                             Aircraft->GetNcg(2),
 531                             Aircraft->GetNcg(3) );
 532
 533     _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
 534                             Auxiliary->GetPilotAccel(2),
 535                             Auxiliary->GetPilotAccel(3) );
 536
 537     _set_Nlf( Aircraft->GetNlf() );
 538
 539     // Velocities
 540
 541     _set_Velocities_Local( Propagate->GetVel(eNorth),
 542                            Propagate->GetVel(eEast),
 543                            Propagate->GetVel(eDown) );
 544
 545     _set_Velocities_Wind_Body( Propagate->GetUVW(1),
 546                                Propagate->GetUVW(2),
 547                                Propagate->GetUVW(3) );
 548
 549     // Make the HUD work ...
 550     _set_Velocities_Ground( Propagate->GetVel(eNorth),
 551                             Propagate->GetVel(eEast),
 552                             -Propagate->GetVel(eDown) );
 553
 554     _set_V_rel_wind( Auxiliary->GetVt() );
 555
 556     _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
 557
 558     _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
 559
 560     _set_V_ground_speed( Auxiliary->GetVground() );
 561
 562     _set_Omega_Body( Propagate->GetPQR(eP),
 563                      Propagate->GetPQR(eQ),
 564                      Propagate->GetPQR(eR) );
 565
 566     _set_Euler_Rates( Auxiliary->GetEulerRates(ePhi),
 567                       Auxiliary->GetEulerRates(eTht),
 568                       Auxiliary->GetEulerRates(ePsi) );
 569
 570     _set_Mach_number( Auxiliary->GetMach() );
 571
 572     // Positions of Visual Reference Point
 573     _updateGeocentricPosition( Auxiliary->GetLocationVRP().GetLatitude(),
 574                                Auxiliary->GetLocationVRP().GetLongitude(),
 575                                Auxiliary->GethVRP() );
 576
 577     _set_Altitude_AGL( Propagate->GetDistanceAGL() );
 578
 579     _set_Euler_Angles( Propagate->Getphi(),
 580                        Propagate->Gettht(),
 581                        Propagate->Getpsi() );
 582
 583     _set_Alpha( Auxiliary->Getalpha() );
 584     _set_Beta( Auxiliary->Getbeta() );
 585
 586
 587     _set_Gamma_vert_rad( Auxiliary->GetGamma() );
 588
 589     _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
 590
 591     _set_Climb_Rate( Propagate->Gethdot() );
 592
 593     const FGMatrix33& Tl2b = Propagate->GetTl2b();
 594     for ( i = 1; i <= 3; i++ ) {
 595         for ( j = 1; j <= 3; j++ ) {
 596             _set_T_Local_to_Body( i, j, Tl2b(i,j) );
 597         }
 598     }
 599
 600     // Copy the engine values from JSBSim.
 601     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
 602       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
 603       char buf[30];
 604       sprintf(buf, "engines/engine[%d]/thruster", i);
 605       SGPropertyNode * tnode = fgGetNode(buf, true);
 606       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 607
 608       switch (Propulsion->GetEngine(i)->GetType()) {
 609       case FGEngine::etPiston:
 610         { // FGPiston code block
 611         FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
 612         node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
 613         node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
 614         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 615         node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
 616         node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
 617         node->setDoubleValue("rpm", eng->getRPM());
 618         } // end FGPiston code block
 619         break;
 620       case FGEngine::etRocket:
 621         { // FGRocket code block
 622         FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
 623         } // end FGRocket code block
 624         break;
 625       case FGEngine::etTurbine:
 626         { // FGTurbine code block
 627         FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
 628         node->setDoubleValue("n1", eng->GetN1());
 629         node->setDoubleValue("n2", eng->GetN2());
 630         node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
 631         node->setBoolValue("augmentation", eng->GetAugmentation());
 632         node->setBoolValue("water-injection", eng->GetInjection());
 633         node->setBoolValue("ignition", eng->GetIgnition());
 634         node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
 635         node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
 636         node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
 637         node->setBoolValue("reversed", eng->GetReversed());
 638         node->setBoolValue("cutoff", eng->GetCutoff());
 639         node->setDoubleValue("epr", eng->GetEPR());
 640         globals->get_controls()->set_reverser(i, eng->GetReversed() );
 641         globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
 642         globals->get_controls()->set_water_injection(i, eng->GetInjection() );
 643         globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
 644         } // end FGTurbine code block
 645         break;
 646       case FGEngine::etElectric:
 647         { // FGElectric code block
 648         FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
 649         node->setDoubleValue("rpm", eng->getRPM());
 650         } // end FGElectric code block
 651         break;
 652       }
 653
 654       { // FGEngine code block
 655       FGEngine* eng = Propulsion->GetEngine(i);
 656       node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
 657       node->setDoubleValue("thrust_lb", thruster->GetThrust());
 658       node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
 659       node->setBoolValue("running", eng->GetRunning());
 660       node->setBoolValue("starter", eng->GetStarter());
 661       node->setBoolValue("cranking", eng->GetCranking());
 662       globals->get_controls()->set_starter(i, eng->GetStarter() );
 663       } // end FGEngine code block
 664
 665       switch (thruster->GetType()) {
 666       case FGThruster::ttNozzle:
 667         { // FGNozzle code block
 668         FGNozzle* noz = (FGNozzle*)thruster;
 669         } // end FGNozzle code block
 670         break;
 671       case FGThruster::ttPropeller:
 672         { // FGPropeller code block
 673         FGPropeller* prop = (FGPropeller*)thruster;
 674         tnode->setDoubleValue("rpm", thruster->GetRPM());
 675         tnode->setDoubleValue("pitch", prop->GetPitch());
 676         tnode->setDoubleValue("torque", prop->GetTorque());
 677         } // end FGPropeller code block
 678         break;
 679       case FGThruster::ttRotor:
 680         { // FGRotor code block
 681         FGRotor* rotor = (FGRotor*)thruster;
 682         } // end FGRotor code block
 683         break;
 684       case FGThruster::ttDirect:
 685         { // Direct code block
 686         } // end Direct code block
 687         break;
 688       }
 689
 690     }
 691
 692     static const SGPropertyNode *fuel_freeze = fgGetNode("/sim/freeze/fuel");
 693
 694     // Copy the fuel levels from JSBSim if fuel
 695     // freeze not enabled.
 696     if ( ! fuel_freeze->getBoolValue() ) {
 697       for (i = 0; i < Propulsion->GetNumTanks(); i++) {
 698         SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
 699         FGTank* tank = Propulsion->GetTank(i);
 700         double contents = tank->GetContents();
 701         double temp = tank->GetTemperature_degC();
 702         node->setDoubleValue("level-gal_us", contents/6.6);
 703         node->setDoubleValue("level-lb", contents);
 704         if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
 705       }
 706     }
 707
 708     update_gear();
 709
 710     stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
 711
 712     elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
 713     left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
 714     right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
 715     rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
 716     flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
 717     speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
 718     spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
 719
 720     return true;
 721 }
 722
 723
 724 bool FGJSBsim::ToggleDataLogging(void)
 725 {
 726     return fdmex->GetOutput()->Toggle();
 727 }
 728
 729
 730 bool FGJSBsim::ToggleDataLogging(bool state)
 731 {
 732     if (state) {
 733       fdmex->GetOutput()->Enable();
 734       return true;
 735     } else {
 736       fdmex->GetOutput()->Disable();
 737       return false;
 738     }
 739 }
 740
 741
 742 //Positions
 743 void FGJSBsim::set_Latitude(double lat)
 744 {
 745     static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
 746     double alt;
 747     double sea_level_radius_meters, lat_geoc;
 748
 749     // In case we're not trimming
 750     FGInterface::set_Latitude(lat);
 751
 752     if ( altitude->getDoubleValue() > -9990 ) {
 753       alt = altitude->getDoubleValue();
 754     } else {
 755       alt = 0.0;
 756     }
 757
 758     update_ic();
 759     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
 760     SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) =  " << alt );
 761
 762     sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
 763                       &sea_level_radius_meters, &lat_geoc );
 764     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 765     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET  );
 766     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 767     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 768     fgic->SetLatitudeRadIC( lat_geoc );
 769     needTrim=true;
 770 }
 771
 772
 773 void FGJSBsim::set_Longitude(double lon)
 774 {
 775     SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
 776
 777     // In case we're not trimming
 778     FGInterface::set_Longitude(lon);
 779
 780     update_ic();
 781     fgic->SetLongitudeRadIC( lon );
 782     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 783     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 784     needTrim=true;
 785 }
 786
 787 void FGJSBsim::set_Altitude(double alt)
 788 {
 789     static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
 790
 791     double sea_level_radius_meters,lat_geoc;
 792
 793     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
 794     SG_LOG(SG_FLIGHT,SG_INFO, "  lat (deg) = " << latitude->getDoubleValue() );
 795
 796     // In case we're not trimming
 797     FGInterface::set_Altitude(alt);
 798
 799     update_ic();
 800     sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
 801                   &sea_level_radius_meters, &lat_geoc);
 802     _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET  );
 803     fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
 804     _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
 805     fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
 806     SG_LOG(SG_FLIGHT, SG_INFO,
 807           "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
 808     fgic->SetLatitudeRadIC( lat_geoc );
 809     fgic->SetAltitudeFtIC(alt);
 810     needTrim=true;
 811 }
 812
 813 void FGJSBsim::set_V_calibrated_kts(double vc)
 814 {
 815     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " <<  vc );
 816
 817     // In case we're not trimming
 818     FGInterface::set_V_calibrated_kts(vc);
 819
 820     update_ic();
 821     fgic->SetVcalibratedKtsIC(vc);
 822     needTrim=true;
 823 }
 824
 825 void FGJSBsim::set_Mach_number(double mach)
 826 {
 827     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " <<  mach );
 828
 829     // In case we're not trimming
 830     FGInterface::set_Mach_number(mach);
 831
 832     update_ic();
 833     fgic->SetMachIC(mach);
 834     needTrim=true;
 835 }
 836
 837 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
 838 {
 839     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
 840        << north << ", " <<  east << ", " << down );
 841
 842     // In case we're not trimming
 843     FGInterface::set_Velocities_Local(north, east, down);
 844
 845     update_ic();
 846     fgic->SetVnorthFpsIC(north);
 847     fgic->SetVeastFpsIC(east);
 848     fgic->SetVdownFpsIC(down);
 849     needTrim=true;
 850 }
 851
 852 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
 853 {
 854     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
 855        << u << ", " <<  v << ", " <<  w );
 856
 857     // In case we're not trimming
 858     FGInterface::set_Velocities_Wind_Body(u, v, w);
 859
 860     update_ic();
 861     fgic->SetUBodyFpsIC(u);
 862     fgic->SetVBodyFpsIC(v);
 863     fgic->SetWBodyFpsIC(w);
 864     needTrim=true;
 865 }
 866
 867 //Euler angles
 868 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
 869 {
 870     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
 871        << phi << ", " << theta << ", " << psi );
 872
 873     // In case we're not trimming
 874     FGInterface::set_Euler_Angles(phi, theta, psi);
 875
 876     update_ic();
 877     fgic->SetPitchAngleRadIC(theta);
 878     fgic->SetRollAngleRadIC(phi);
 879     fgic->SetTrueHeadingRadIC(psi);
 880     needTrim=true;
 881 }
 882
 883 //Flight Path
 884 void FGJSBsim::set_Climb_Rate( double roc)
 885 {
 886     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
 887
 888     // In case we're not trimming
 889     FGInterface::set_Climb_Rate(roc);
 890
 891     update_ic();
 892     //since both climb rate and flight path angle are set in the FG
 893     //startup sequence, something is needed to keep one from cancelling
 894     //out the other.
 895     if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
 896       fgic->SetClimbRateFpsIC(roc);
 897     }
 898     needTrim=true;
 899 }
 900
 901 void FGJSBsim::set_Gamma_vert_rad( double gamma)
 902 {
 903     SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
 904
 905     update_ic();
 906     if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
 907       fgic->SetFlightPathAngleRadIC(gamma);
 908     }
 909     needTrim=true;
 910 }
 911
 912 void FGJSBsim::init_gear(void )
 913 {
 914     FGGroundReactions* gr=fdmex->GetGroundReactions();
 915     int Ngear=GroundReactions->GetNumGearUnits();
 916     for (int i=0;i<Ngear;i++) {
 917       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 918       node->setDoubleValue("xoffset-in",
 919          gr->GetGearUnit(i)->GetBodyLocation()(1));
 920       node->setDoubleValue("yoffset-in",
 921          gr->GetGearUnit(i)->GetBodyLocation()(2));
 922       node->setDoubleValue("zoffset-in",
 923          gr->GetGearUnit(i)->GetBodyLocation()(3));
 924       node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
 925       node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
 926       node->setDoubleValue("position-norm", FCS->GetGearPos());
 927       node->setDoubleValue("tire-pressure-norm", gr->GetGearUnit(i)->GetTirePressure());
 928     }
 929 }
 930
 931 void FGJSBsim::update_gear(void)
 932 {
 933     FGGroundReactions* gr=fdmex->GetGroundReactions();
 934     int Ngear=GroundReactions->GetNumGearUnits();
 935     for (int i=0;i<Ngear;i++) {
 936       SGPropertyNode * node = fgGetNode("gear/gear", i, true);
 937       node->getChild("wow", 0, true)->setBoolValue(gr->GetGearUnit(i)->GetWOW());
 938       node->getChild("position-norm", 0, true)->setDoubleValue(FCS->GetGearPos());
 939       gr->GetGearUnit(i)->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
 940     }
 941 }
 942
 943 void FGJSBsim::do_trim(void)
 944 {
 945   FGTrim *fgtrim;
 946
 947   if ( fgGetBool("/sim/presets/onground") )
 948   {
 949     fgic->SetVcalibratedKtsIC(0.0);
 950     fgtrim = new FGTrim(fdmex,tGround);
 951   } else {
 952     fgtrim = new FGTrim(fdmex,tLongitudinal);
 953   }
 954
 955   if ( !fgtrim->DoTrim() ) {
 956     fgtrim->Report();
 957     fgtrim->TrimStats();
 958   } else {
 959     trimmed->setBoolValue(true);
 960   }
 961   if (FGJSBBase::debug_lvl > 0)
 962       State->ReportState();
 963
 964   delete fgtrim;
 965
 966   pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
 967   throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
 968   aileron_trim->setDoubleValue( FCS->GetDaCmd() );
 969   rudder_trim->setDoubleValue( FCS->GetDrCmd() );
 970
 971   globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
 972   globals->get_controls()->set_elevator(FCS->GetDeCmd());
 973   globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
 974   FCS->GetThrottleCmd(0));
 975
 976   globals->get_controls()->set_aileron(FCS->GetDaCmd());
 977   globals->get_controls()->set_rudder( FCS->GetDrCmd());
 978
 979   SG_LOG( SG_FLIGHT, SG_INFO, "  Trim complete" );
 980 }
 981
 982 void FGJSBsim::update_ic(void)
 983 {
 984    if ( !needTrim ) {
 985      fgic->SetLatitudeRadIC(get_Lat_geocentric() );
 986      fgic->SetLongitudeRadIC( get_Longitude() );
 987      fgic->SetAltitudeFtIC( get_Altitude() );
 988      fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
 989      fgic->SetPitchAngleRadIC( get_Theta() );
 990      fgic->SetRollAngleRadIC( get_Phi() );
 991      fgic->SetTrueHeadingRadIC( get_Psi() );
 992      fgic->SetClimbRateFpsIC( get_Climb_Rate() );
 993    }
 994 }
 995