1 // JSBsim.cxx -- interface to the JSBsim flight model
3 // Written by Curtis Olson, started February 1999.
5 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
28 #include <simgear/compiler.h>
30 #include <stdio.h> // size_t
33 #include <simgear/constants.h>
34 #include <simgear/debug/logstream.hxx>
35 #include <simgear/math/sg_geodesy.hxx>
36 #include <simgear/misc/sg_path.hxx>
37 #include <simgear/structure/commands.hxx>
39 #include <FDM/flight.hxx>
41 #include <Aircraft/aircraft.hxx>
42 #include <Aircraft/controls.hxx>
43 #include <Main/globals.hxx>
44 #include <Main/fg_props.hxx>
47 #include <FDM/JSBSim/FGFDMExec.h>
48 #include <FDM/JSBSim/FGJSBBase.h>
49 #include <FDM/JSBSim/FGState.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/propulsion/FGEngine.h>
63 #include <FDM/JSBSim/models/propulsion/FGPiston.h>
64 #include <FDM/JSBSim/models/propulsion/FGTurbine.h>
65 #include <FDM/JSBSim/models/propulsion/FGTurboProp.h>
66 #include <FDM/JSBSim/models/propulsion/FGRocket.h>
67 #include <FDM/JSBSim/models/propulsion/FGElectric.h>
68 #include <FDM/JSBSim/models/propulsion/FGNozzle.h>
69 #include <FDM/JSBSim/models/propulsion/FGPropeller.h>
70 #include <FDM/JSBSim/models/propulsion/FGRotor.h>
71 #include <FDM/JSBSim/models/propulsion/FGTank.h>
72 #include <FDM/JSBSim/input_output/FGPropertyManager.h>
73 #include <FDM/JSBSim/input_output/FGGroundCallback.h>
75 using namespace JSBSim;
78 FMAX (double a, double b)
83 class FGFSGroundCallback : public FGGroundCallback {
85 FGFSGroundCallback(FGInterface* ifc) : mInterface(ifc) {}
86 virtual ~FGFSGroundCallback() {}
88 /** Get the altitude above sea level depenent on the location. */
89 virtual double GetAltitude(const FGLocation& l) const {
90 double pt[3] = { SG_FEET_TO_METER*l(eX),
91 SG_FEET_TO_METER*l(eY),
92 SG_FEET_TO_METER*l(eZ) };
94 sgCartToGeod( pt, &lat, &lon, &alt);
95 return alt * SG_METER_TO_FEET;
98 /** Compute the altitude above ground. */
99 virtual double GetAGLevel(double t, const FGLocation& l,
101 FGColumnVector3& n, FGColumnVector3& v) const {
102 double loc_cart[3] = { l(eX), l(eY), l(eZ) };
103 double contact[3], normal[3], vel[3], lc, ff, agl;
105 mInterface->get_agl_ft(t, loc_cart, contact, normal, vel,
106 &groundtype, &lc, &ff, &agl);
107 n = l.GetTec2l()*FGColumnVector3( normal[0], normal[1], normal[2] );
108 v = l.GetTec2l()*FGColumnVector3( vel[0], vel[1], vel[2] );
109 cont = FGColumnVector3( contact[0], contact[1], contact[2] );
113 FGInterface* mInterface;
116 /******************************************************************************/
118 FGJSBsim::FGJSBsim( double dt )
119 : FGInterface(dt), got_wire(false)
122 // Set up the debugging level
123 // FIXME: this will not respond to
126 // if flight is excluded, don't bother
127 if ((logbuf::get_log_classes() & SG_FLIGHT) != 0) {
129 // do a rough-and-ready mapping to
130 // the levels documented in FGFDMExec.h
131 switch (logbuf::get_log_priority()) {
133 FGJSBBase::debug_lvl = 0x1f;
136 FGJSBBase::debug_lvl = 0x0f;
138 FGJSBBase::debug_lvl = 0x01;
142 FGJSBBase::debug_lvl = 0x00;
147 fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
149 // Register ground callback.
150 fdmex->SetGroundCallback( new FGFSGroundCallback(this) );
152 State = fdmex->GetState();
153 Atmosphere = fdmex->GetAtmosphere();
154 FCS = fdmex->GetFCS();
155 MassBalance = fdmex->GetMassBalance();
156 Propulsion = fdmex->GetPropulsion();
157 Aircraft = fdmex->GetAircraft();
158 Propagate = fdmex->GetPropagate();
159 Auxiliary = fdmex->GetAuxiliary();
160 Inertial = fdmex->GetInertial();
161 Aerodynamics = fdmex->GetAerodynamics();
162 GroundReactions = fdmex->GetGroundReactions();
167 SGPath aircraft_path( fgGetString("/sim/aircraft-dir") );
169 SGPath engine_path( fgGetString("/sim/aircraft-dir") );
170 engine_path.append( "Engine" );
172 SGPath systems_path( fgGetString("/sim/aircraft-dir") );
173 systems_path.append( "Systems" );
177 result = fdmex->LoadModel( aircraft_path.str(),
180 fgGetString("/sim/aero"), false );
183 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
185 SG_LOG( SG_FLIGHT, SG_INFO,
186 " aero does not exist (you may have mis-typed the name).");
190 SG_LOG( SG_FLIGHT, SG_INFO, "" );
191 SG_LOG( SG_FLIGHT, SG_INFO, "" );
192 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
194 int Neng = Propulsion->GetNumEngines();
195 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
197 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
198 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
199 << GroundReactions->GetNumGearUnits() );
200 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
201 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
202 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
208 // Set initial fuel levels if provided.
209 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
210 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
211 if (node->getChild("level-gal_us", 0, false) != 0) {
212 Propulsion->GetTank(i)->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
214 node->setDoubleValue("level-lb", Propulsion->GetTank(i)->GetContents());
215 node->setDoubleValue("level-gal_us", Propulsion->GetTank(i)->GetContents() / 6.6);
217 node->setDoubleValue("capacity-gal_us",
218 Propulsion->GetTank(i)->GetCapacity() / 6.6);
220 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
222 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
223 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
224 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
225 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
227 startup_trim = fgGetNode("/sim/presets/trim", true);
229 trimmed = fgGetNode("/fdm/trim/trimmed", true);
230 trimmed->setBoolValue(false);
232 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
233 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
234 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
235 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
237 stall_warning = fgGetNode("/sim/alarms/stall-warning",true);
238 stall_warning->setDoubleValue(0);
241 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
242 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
244 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
245 right_aileron_pos_pct
246 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
247 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
249 =fgGetNode("/surface-positions/speedbrake-pos-norm",true);
250 spoilers_pos_pct=fgGetNode("/surface-positions/spoilers-pos-norm",true);
251 tailhook_pos_pct=fgGetNode("/gear/tailhook/position-norm",true);
252 wing_fold_pos_pct=fgGetNode("surface-positions/wing-fold-pos-norm",true);
254 elevator_pos_pct->setDoubleValue(0);
255 left_aileron_pos_pct->setDoubleValue(0);
256 right_aileron_pos_pct->setDoubleValue(0);
257 rudder_pos_pct->setDoubleValue(0);
258 flap_pos_pct->setDoubleValue(0);
259 speedbrake_pos_pct->setDoubleValue(0);
260 spoilers_pos_pct->setDoubleValue(0);
262 temperature = fgGetNode("/environment/temperature-degc",true);
263 pressure = fgGetNode("/environment/pressure-inhg",true);
264 density = fgGetNode("/environment/density-slugft3",true);
265 turbulence_gain = fgGetNode("/environment/turbulence/magnitude-norm",true);
266 turbulence_rate = fgGetNode("/environment/turbulence/rate-hz",true);
268 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
269 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
270 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
272 slaved = fgGetNode("/sim/slaved/enabled", true);
274 for (unsigned int i = 0; i < Propulsion->GetNumEngines(); i++) {
275 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
276 Propulsion->GetEngine(i)->GetThruster()->SetRPM(node->getDoubleValue("rpm") /
277 Propulsion->GetEngine(i)->GetThruster()->GetGearRatio());
280 hook_root_struct = FGColumnVector3(
281 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-x-in", 196),
282 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-y-in", 0),
283 fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-offset-z-in", -16));
285 // Untie the write-state-file property to avoid creating an initfile.xml
286 // file on each reset.
287 fgGetNode("/fdm/jsbsim/simulation/write-state-file")->untie();
292 /******************************************************************************/
293 FGJSBsim::~FGJSBsim(void)
298 /******************************************************************************/
300 // Initialize the JSBsim flight model, dt is the time increment for
301 // each subsequent iteration through the EOM
303 void FGJSBsim::init()
307 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
309 // Explicitly call the superclass's
310 // init method first.
312 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
313 Atmosphere->UseExternal();
314 Atmosphere->SetExTemperature(
315 9.0/5.0*(temperature->getDoubleValue()+273.15) );
316 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
317 Atmosphere->SetExDensity(density->getDoubleValue());
318 Atmosphere->SetTurbType(FGAtmosphere::ttCulp);
319 Atmosphere->SetTurbGain(turbulence_gain->getDoubleValue());
320 Atmosphere->SetTurbRate(turbulence_rate->getDoubleValue());
323 Atmosphere->UseInternal();
326 fgic->SetVNorthFpsIC( wind_from_north->getDoubleValue() );
327 fgic->SetVEastFpsIC( wind_from_east->getDoubleValue() );
328 fgic->SetVDownFpsIC( wind_from_down->getDoubleValue() );
330 //Atmosphere->SetExTemperature(get_Static_temperature());
331 //Atmosphere->SetExPressure(get_Static_pressure());
332 //Atmosphere->SetExDensity(get_Density());
333 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
334 << ", " << fdmex->GetAtmosphere()->GetPressure()
335 << ", " << fdmex->GetAtmosphere()->GetDensity() );
337 if (fgGetBool("/sim/presets/running")) {
338 for (int i=0; i < Propulsion->GetNumEngines(); i++) {
339 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
340 node->setBoolValue("running", true);
341 Propulsion->GetEngine(i)->SetRunning(true);
345 FCS->SetDfPos( ofNorm, globals->get_controls()->get_flaps() );
350 fdmex->RunIC(); //loop JSBSim once w/o integrating
351 copy_from_JSBsim(); //update the bus
353 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
355 switch(fgic->GetSpeedSet()) {
357 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
358 << Propagate->GetVel(FGJSBBase::eNorth) << ", "
359 << Propagate->GetVel(FGJSBBase::eEast) << ", "
360 << Propagate->GetVel(FGJSBBase::eDown) << " ft/s");
363 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
364 << Propagate->GetUVW(1) << ", "
365 << Propagate->GetUVW(2) << ", "
366 << Propagate->GetUVW(3) << " ft/s");
369 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
370 << Auxiliary->GetMach() );
374 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
375 << Auxiliary->GetVcalibratedKTS() << " knots" );
379 stall_warning->setDoubleValue(0);
381 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
382 << Propagate->GetEuler(FGJSBBase::ePhi)*RADTODEG << " deg" );
383 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
384 << Propagate->GetEuler(FGJSBBase::eTht)*RADTODEG << " deg" );
385 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
386 << Propagate->GetEuler(FGJSBBase::ePsi)*RADTODEG << " deg" );
387 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
388 << Propagate->GetLocation().GetLatitudeDeg() << " deg" );
389 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
390 << Propagate->GetLocation().GetLongitudeDeg() << " deg" );
391 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
392 << Propagate->Geth() << " feet" );
393 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
395 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
397 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
399 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
400 globals->get_controls()->get_gear_down() );
403 /******************************************************************************/
405 // Run an iteration of the EOM (equations of motion)
407 void FGJSBsim::update( double dt )
410 if(!fgGetBool("/sim/crashed"))
411 fgSetBool("/sim/crashed", true);
418 int multiloop = _calc_multiloop(dt);
422 // Compute the radius of the aircraft. That is the radius of a ball
423 // where all gear units are in. At the moment it is at least 10ft ...
425 int n_gears = GroundReactions->GetNumGearUnits();
426 for (i=0; i<n_gears; ++i) {
427 FGColumnVector3 bl = GroundReactions->GetGearUnit(i)->GetBodyLocation();
428 double r = bl.Magnitude();
433 // Compute the potential movement of this aircraft and query for the
434 // ground in this area.
435 double groundCacheRadius = acrad + 2*dt*Propagate->GetUVW().Magnitude();
436 double alt, slr, lat, lon;
437 FGColumnVector3 cart = Auxiliary->GetLocationVRP();
438 if ( needTrim && startup_trim->getBoolValue() ) {
439 alt = fgic->GetAltitudeFtIC();
440 slr = fgic->GetSeaLevelRadiusFtIC();
441 lat = fgic->GetLatitudeDegIC() * SGD_DEGREES_TO_RADIANS;
442 lon = fgic->GetLongitudeDegIC() * SGD_DEGREES_TO_RADIANS;
443 cart = FGLocation(lon, lat, alt+slr);
445 double cart_pos[3] = { cart(1), cart(2), cart(3) };
446 bool cache_ok = prepare_ground_cache_ft( State->Getsim_time(), cart_pos,
449 SG_LOG(SG_FLIGHT, SG_WARN,
450 "FGInterface is being called without scenery below the aircraft!");
451 SG_LOG(SG_FLIGHT, SG_WARN,
452 "altitude = " << alt);
453 SG_LOG(SG_FLIGHT, SG_WARN,
454 "sea level radius = " << slr);
455 SG_LOG(SG_FLIGHT, SG_WARN,
456 "latitude = " << lat);
457 SG_LOG(SG_FLIGHT, SG_WARN,
458 "longitude = " << lon);
464 trimmed->setBoolValue(false);
467 if ( startup_trim->getBoolValue() ) {
468 double contact[3], dummy[3], lc, ff, agl;
470 get_agl_ft(State->Getsim_time(), cart_pos, contact,
471 dummy, dummy, &groundtype, &lc, &ff, &agl);
472 double terrain_alt = sqrt(contact[0]*contact[0] + contact[1]*contact[1]
473 + contact[2]*contact[2]) - fgic->GetSeaLevelRadiusFtIC();
475 SG_LOG(SG_FLIGHT, SG_INFO,
476 "Ready to trim, terrain altitude is: "
477 << terrain_alt * SG_METER_TO_FEET );
479 fgic->SetTerrainAltitudeFtIC( terrain_alt );
482 fdmex->RunIC(); //apply any changes made through the set_ functions
487 for ( i=0; i < multiloop; i++ ) {
489 update_external_forces(State->Getsim_time() + i * State->Getdt());
492 FGJSBBase::Message* msg;
493 while (fdmex->SomeMessages()) {
494 msg = fdmex->ProcessMessage();
496 case FGJSBBase::Message::eText:
497 if (msg->text == "Crash Detected: Simulation FREEZE.")
499 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
501 case FGJSBBase::Message::eBool:
502 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
504 case FGJSBBase::Message::eInteger:
505 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
507 case FGJSBBase::Message::eDouble:
508 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
511 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
516 // translate JSBsim back to FG structure so that the
517 // autopilot (and the rest of the sim can use the updated values
521 /******************************************************************************/
523 // Convert from the FGInterface struct to the JSBsim generic_ struct
525 bool FGJSBsim::copy_to_JSBsim()
530 // copy control positions into the JSBsim structure
532 FCS->SetDaCmd( globals->get_controls()->get_aileron());
533 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
534 FCS->SetDeCmd( globals->get_controls()->get_elevator());
535 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
536 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
537 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
538 FCS->SetDsCmd( globals->get_controls()->get_rudder() );
539 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
540 FCS->SetDsbCmd( globals->get_controls()->get_speedbrake() );
541 FCS->SetDspCmd( globals->get_controls()->get_spoilers() );
543 // Parking brake sets minimum braking
545 double parking_brake = globals->get_controls()->get_brake_parking();
546 FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
547 FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
548 FCS->SetCBrake( 0.0 );
549 // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
551 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
552 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
553 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
555 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
556 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
557 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
558 FCS->SetFeatherCmd(i, globals->get_controls()->get_feather(i));
560 switch (Propulsion->GetEngine(i)->GetType()) {
561 case FGEngine::etPiston:
562 { // FGPiston code block
563 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
564 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
566 } // end FGPiston code block
567 case FGEngine::etTurbine:
568 { // FGTurbine code block
569 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
570 eng->SetAugmentation( globals->get_controls()->get_augmentation(i) );
571 eng->SetReverse( globals->get_controls()->get_reverser(i) );
572 //eng->SetInjection( globals->get_controls()->get_water_injection(i) );
573 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
574 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
576 } // end FGTurbine code block
577 case FGEngine::etRocket:
578 { // FGRocket code block
579 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
581 } // end FGRocket code block
582 case FGEngine::etTurboprop:
583 { // FGTurboProp code block
584 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
585 eng->SetReverse( globals->get_controls()->get_reverser(i) );
586 eng->SetCutoff( globals->get_controls()->get_cutoff(i) );
587 eng->SetIgnition( globals->get_controls()->get_ignition(i) );
589 eng->SetGeneratorPower( globals->get_controls()->get_generator_breaker(i) );
590 eng->SetCondition( globals->get_controls()->get_condition(i) );
592 } // end FGTurboProp code block
595 { // FGEngine code block
596 FGEngine* eng = Propulsion->GetEngine(i);
598 eng->SetStarter( globals->get_controls()->get_starter(i) );
599 eng->SetRunning( node->getBoolValue("running") );
600 } // end FGEngine code block
604 Propagate->SetSeaLevelRadius( get_Sea_level_radius() );
606 Atmosphere->SetExTemperature(
607 9.0/5.0*(temperature->getDoubleValue()+273.15) );
608 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
609 Atmosphere->SetExDensity(density->getDoubleValue());
611 tmp = turbulence_gain->getDoubleValue();
612 //Atmosphere->SetTurbGain(tmp * tmp * 100.0);
614 tmp = turbulence_rate->getDoubleValue();
615 //Atmosphere->SetTurbRate(tmp);
617 Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
618 wind_from_east->getDoubleValue(),
619 wind_from_down->getDoubleValue() );
620 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
621 // << get_V_north_airmass() << ", "
622 // << get_V_east_airmass() << ", "
623 // << get_V_down_airmass() );
625 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
626 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
627 FGTank * tank = Propulsion->GetTank(i);
628 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
629 // tank->SetContents(node->getDoubleValue("level-lb"));
632 Propulsion->SetFuelFreeze((fgGetNode("/sim/freeze/fuel",true))->getBoolValue());
633 fdmex->SetSlave(slaved->getBoolValue());
638 /******************************************************************************/
640 // Convert from the JSBsim generic_ struct to the FGInterface struct
642 bool FGJSBsim::copy_from_JSBsim()
646 _set_Inertias( MassBalance->GetMass(),
647 MassBalance->GetIxx(),
648 MassBalance->GetIyy(),
649 MassBalance->GetIzz(),
650 MassBalance->GetIxz() );
652 _set_CG_Position( MassBalance->GetXYZcg(1),
653 MassBalance->GetXYZcg(2),
654 MassBalance->GetXYZcg(3) );
656 _set_Accels_Body( Aircraft->GetBodyAccel(1),
657 Aircraft->GetBodyAccel(2),
658 Aircraft->GetBodyAccel(3) );
660 _set_Accels_CG_Body_N ( Aircraft->GetNcg(1),
662 Aircraft->GetNcg(3) );
664 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel(1),
665 Auxiliary->GetPilotAccel(2),
666 Auxiliary->GetPilotAccel(3) );
668 _set_Nlf( Aircraft->GetNlf() );
672 _set_Velocities_Local( Propagate->GetVel(FGJSBBase::eNorth),
673 Propagate->GetVel(FGJSBBase::eEast),
674 Propagate->GetVel(FGJSBBase::eDown) );
676 _set_Velocities_Wind_Body( Propagate->GetUVW(1),
677 Propagate->GetUVW(2),
678 Propagate->GetUVW(3) );
680 // Make the HUD work ...
681 _set_Velocities_Ground( Propagate->GetVel(FGJSBBase::eNorth),
682 Propagate->GetVel(FGJSBBase::eEast),
683 -Propagate->GetVel(FGJSBBase::eDown) );
685 _set_V_rel_wind( Auxiliary->GetVt() );
687 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
689 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
691 _set_V_ground_speed( Auxiliary->GetVground() );
693 _set_Omega_Body( Propagate->GetPQR(FGJSBBase::eP),
694 Propagate->GetPQR(FGJSBBase::eQ),
695 Propagate->GetPQR(FGJSBBase::eR) );
697 _set_Euler_Rates( Auxiliary->GetEulerRates(FGJSBBase::ePhi),
698 Auxiliary->GetEulerRates(FGJSBBase::eTht),
699 Auxiliary->GetEulerRates(FGJSBBase::ePsi) );
701 _set_Mach_number( Auxiliary->GetMach() );
703 // Positions of Visual Reference Point
704 FGLocation l = Auxiliary->GetLocationVRP();
705 _updateGeocentricPosition( l.GetLatitude(), l.GetLongitude(),
706 l.GetRadius() - get_Sea_level_radius() );
708 _set_Altitude_AGL( Propagate->GetDistanceAGL() );
710 double loc_cart[3] = { l(FGJSBBase::eX), l(FGJSBBase::eY), l(FGJSBBase::eZ) };
711 double contact[3], d[3], sd, t;
713 is_valid_m(&t, d, &sd);
714 get_agl_ft(t, loc_cart, contact, d, d, &id, &sd, &sd, &sd);
716 = FGColumnVector3( contact[0], contact[1], contact[2] ).Magnitude();
717 _set_Runway_altitude( rwrad - get_Sea_level_radius() );
720 _set_Euler_Angles( Propagate->GetEuler(FGJSBBase::ePhi),
721 Propagate->GetEuler(FGJSBBase::eTht),
722 Propagate->GetEuler(FGJSBBase::ePsi) );
724 _set_Alpha( Auxiliary->Getalpha() );
725 _set_Beta( Auxiliary->Getbeta() );
728 _set_Gamma_vert_rad( Auxiliary->GetGamma() );
730 _set_Earth_position_angle( Inertial->GetEarthPositionAngle() );
732 _set_Climb_Rate( Propagate->Gethdot() );
734 const FGMatrix33& Tl2b = Propagate->GetTl2b();
735 for ( i = 1; i <= 3; i++ ) {
736 for ( j = 1; j <= 3; j++ ) {
737 _set_T_Local_to_Body( i, j, Tl2b(i,j) );
741 // Copy the engine values from JSBSim.
742 for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
743 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
745 sprintf(buf, "engines/engine[%d]/thruster", i);
746 SGPropertyNode * tnode = fgGetNode(buf, true);
747 FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
749 switch (Propulsion->GetEngine(i)->GetType()) {
750 case FGEngine::etPiston:
751 { // FGPiston code block
752 FGPiston* eng = (FGPiston*)Propulsion->GetEngine(i);
753 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
754 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
755 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
756 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
757 // NOTE: mp-osi is not in ounces per square inch.
758 // This error is left for reasons of backwards compatibility with
759 // existing FlightGear sound and instrument configurations.
760 node->setDoubleValue("mp-inhg", eng->getManifoldPressure_inHg());
761 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
762 node->setDoubleValue("rpm", eng->getRPM());
763 } // end FGPiston code block
765 case FGEngine::etRocket:
766 { // FGRocket code block
767 FGRocket* eng = (FGRocket*)Propulsion->GetEngine(i);
768 } // end FGRocket code block
770 case FGEngine::etTurbine:
771 { // FGTurbine code block
772 FGTurbine* eng = (FGTurbine*)Propulsion->GetEngine(i);
773 node->setDoubleValue("n1", eng->GetN1());
774 node->setDoubleValue("n2", eng->GetN2());
775 node->setDoubleValue("egt_degf", 32 + eng->GetEGT()*9/5);
776 node->setBoolValue("augmentation", eng->GetAugmentation());
777 node->setBoolValue("water-injection", eng->GetInjection());
778 node->setBoolValue("ignition", eng->GetIgnition());
779 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
780 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
781 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
782 node->setBoolValue("reversed", eng->GetReversed());
783 node->setBoolValue("cutoff", eng->GetCutoff());
784 node->setDoubleValue("epr", eng->GetEPR());
785 globals->get_controls()->set_reverser(i, eng->GetReversed() );
786 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
787 globals->get_controls()->set_water_injection(i, eng->GetInjection() );
788 globals->get_controls()->set_augmentation(i, eng->GetAugmentation() );
789 } // end FGTurbine code block
791 case FGEngine::etTurboprop:
792 { // FGTurboProp code block
793 FGTurboProp* eng = (FGTurboProp*)Propulsion->GetEngine(i);
794 node->setDoubleValue("n1", eng->GetN1());
795 //node->setDoubleValue("n2", eng->GetN2());
796 node->setDoubleValue("itt_degf", 32 + eng->GetITT()*9/5);
797 node->setBoolValue("ignition", eng->GetIgnition());
798 node->setDoubleValue("nozzle-pos-norm", eng->GetNozzle());
799 node->setDoubleValue("inlet-pos-norm", eng->GetInlet());
800 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
801 node->setBoolValue("reversed", eng->GetReversed());
802 node->setBoolValue("cutoff", eng->GetCutoff());
803 node->setBoolValue("starting", eng->GetEngStarting());
804 node->setBoolValue("generator-power", eng->GetGeneratorPower());
805 node->setBoolValue("damaged", eng->GetCondition());
806 node->setBoolValue("ielu-intervent", eng->GetIeluIntervent());
807 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
808 // node->setBoolValue("onfire", eng->GetFire());
809 globals->get_controls()->set_reverser(i, eng->GetReversed() );
810 globals->get_controls()->set_cutoff(i, eng->GetCutoff() );
811 } // end FGTurboProp code block
813 case FGEngine::etElectric:
814 { // FGElectric code block
815 FGElectric* eng = (FGElectric*)Propulsion->GetEngine(i);
816 node->setDoubleValue("rpm", eng->getRPM());
817 } // end FGElectric code block
821 { // FGEngine code block
822 FGEngine* eng = Propulsion->GetEngine(i);
823 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
824 node->setDoubleValue("thrust_lb", thruster->GetThrust());
825 node->setDoubleValue("fuel-flow_pph", eng->getFuelFlow_pph());
826 node->setBoolValue("running", eng->GetRunning());
827 node->setBoolValue("starter", eng->GetStarter());
828 node->setBoolValue("cranking", eng->GetCranking());
829 globals->get_controls()->set_starter(i, eng->GetStarter() );
830 } // end FGEngine code block
832 switch (thruster->GetType()) {
833 case FGThruster::ttNozzle:
834 { // FGNozzle code block
835 FGNozzle* noz = (FGNozzle*)thruster;
836 } // end FGNozzle code block
838 case FGThruster::ttPropeller:
839 { // FGPropeller code block
840 FGPropeller* prop = (FGPropeller*)thruster;
841 tnode->setDoubleValue("rpm", thruster->GetRPM());
842 tnode->setDoubleValue("pitch", prop->GetPitch());
843 tnode->setDoubleValue("torque", prop->GetTorque());
844 tnode->setBoolValue("feathered", prop->GetFeather());
845 } // end FGPropeller code block
847 case FGThruster::ttRotor:
848 { // FGRotor code block
849 FGRotor* rotor = (FGRotor*)thruster;
850 } // end FGRotor code block
852 case FGThruster::ttDirect:
853 { // Direct code block
854 } // end Direct code block
860 // Copy the fuel levels from JSBSim if fuel
861 // freeze not enabled.
862 if ( ! Propulsion->GetFuelFreeze() ) {
863 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
864 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
865 FGTank* tank = Propulsion->GetTank(i);
866 double contents = tank->GetContents();
867 double temp = tank->GetTemperature_degC();
868 node->setDoubleValue("level-gal_us", contents/6.6);
869 node->setDoubleValue("level-lb", contents);
870 if (temp != -9999.0) node->setDoubleValue("temperature_degC", temp);
876 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
878 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
879 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
880 right_aileron_pos_pct->setDoubleValue( FCS->GetDaRPos(ofNorm) );
881 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
882 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
883 speedbrake_pos_pct->setDoubleValue( FCS->GetDsbPos(ofNorm) );
884 spoilers_pos_pct->setDoubleValue( FCS->GetDspPos(ofNorm) );
885 tailhook_pos_pct->setDoubleValue( FCS->GetTailhookPos() );
886 wing_fold_pos_pct->setDoubleValue( FCS->GetWingFoldPos() );
888 // force a sim crashed if crashed (altitude AGL < 0)
889 if (get_Altitude_AGL() < -100.0) {
890 State->SuspendIntegration();
898 bool FGJSBsim::ToggleDataLogging(void)
900 // ToDo: handle this properly
901 fdmex->DisableOutput();
906 bool FGJSBsim::ToggleDataLogging(bool state)
909 fdmex->EnableOutput();
912 fdmex->DisableOutput();
919 void FGJSBsim::set_Latitude(double lat)
921 static SGConstPropertyNode_ptr altitude = fgGetNode("/position/altitude-ft");
923 double sea_level_radius_meters, lat_geoc;
925 // In case we're not trimming
926 FGInterface::set_Latitude(lat);
928 if ( altitude->getDoubleValue() > -9990 ) {
929 alt = altitude->getDoubleValue();
935 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
936 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
938 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
939 &sea_level_radius_meters, &lat_geoc );
940 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
941 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
942 fgic->SetLatitudeRadIC( lat_geoc );
947 void FGJSBsim::set_Longitude(double lon)
949 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
951 // In case we're not trimming
952 FGInterface::set_Longitude(lon);
955 fgic->SetLongitudeRadIC( lon );
959 void FGJSBsim::set_Altitude(double alt)
961 static SGConstPropertyNode_ptr latitude = fgGetNode("/position/latitude-deg");
963 double sea_level_radius_meters,lat_geoc;
965 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
966 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
968 // In case we're not trimming
969 FGInterface::set_Altitude(alt);
972 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
973 &sea_level_radius_meters, &lat_geoc);
974 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
975 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
976 SG_LOG(SG_FLIGHT, SG_INFO,
977 "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
978 fgic->SetLatitudeRadIC( lat_geoc );
979 fgic->SetAltitudeFtIC(alt);
983 void FGJSBsim::set_V_calibrated_kts(double vc)
985 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
987 // In case we're not trimming
988 FGInterface::set_V_calibrated_kts(vc);
991 fgic->SetVcalibratedKtsIC(vc);
995 void FGJSBsim::set_Mach_number(double mach)
997 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
999 // In case we're not trimming
1000 FGInterface::set_Mach_number(mach);
1003 fgic->SetMachIC(mach);
1007 void FGJSBsim::set_Velocities_Local( double north, double east, double down )
1009 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
1010 << north << ", " << east << ", " << down );
1012 // In case we're not trimming
1013 FGInterface::set_Velocities_Local(north, east, down);
1016 fgic->SetVNorthFpsIC(north);
1017 fgic->SetVEastFpsIC(east);
1018 fgic->SetVDownFpsIC(down);
1022 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w)
1024 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
1025 << u << ", " << v << ", " << w );
1027 // In case we're not trimming
1028 FGInterface::set_Velocities_Wind_Body(u, v, w);
1031 fgic->SetUBodyFpsIC(u);
1032 fgic->SetVBodyFpsIC(v);
1033 fgic->SetWBodyFpsIC(w);
1038 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi )
1040 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
1041 << phi << ", " << theta << ", " << psi );
1043 // In case we're not trimming
1044 FGInterface::set_Euler_Angles(phi, theta, psi);
1047 fgic->SetThetaRadIC(theta);
1048 fgic->SetPhiRadIC(phi);
1049 fgic->SetPsiRadIC(psi);
1054 void FGJSBsim::set_Climb_Rate( double roc)
1056 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
1058 // In case we're not trimming
1059 FGInterface::set_Climb_Rate(roc);
1062 //since both climb rate and flight path angle are set in the FG
1063 //startup sequence, something is needed to keep one from cancelling
1065 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
1066 fgic->SetClimbRateFpsIC(roc);
1071 void FGJSBsim::set_Gamma_vert_rad( double gamma)
1073 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
1076 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
1077 fgic->SetFlightPathAngleRadIC(gamma);
1082 void FGJSBsim::init_gear(void )
1084 FGGroundReactions* gr=fdmex->GetGroundReactions();
1085 int Ngear=GroundReactions->GetNumGearUnits();
1086 for (int i=0;i<Ngear;i++) {
1087 FGLGear *gear = gr->GetGearUnit(i);
1088 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1089 node->setDoubleValue("xoffset-in", gear->GetBodyLocation()(1));
1090 node->setDoubleValue("yoffset-in", gear->GetBodyLocation()(2));
1091 node->setDoubleValue("zoffset-in", gear->GetBodyLocation()(3));
1092 node->setBoolValue("wow", gear->GetWOW());
1093 node->setBoolValue("has-brake", gear->GetBrakeGroup() > 0);
1094 node->setDoubleValue("position-norm", gear->GetGearUnitPos());
1095 node->setDoubleValue("tire-pressure-norm", gear->GetTirePressure());
1096 node->setDoubleValue("compression-norm", gear->GetCompLen());
1097 node->setDoubleValue("compression-ft", gear->GetCompLen());
1098 if ( gear->GetSteerable() )
1099 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1103 void FGJSBsim::update_gear(void)
1105 FGGroundReactions* gr=fdmex->GetGroundReactions();
1106 int Ngear=GroundReactions->GetNumGearUnits();
1107 for (int i=0;i<Ngear;i++) {
1108 FGLGear *gear = gr->GetGearUnit(i);
1109 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
1110 node->getChild("wow", 0, true)->setBoolValue( gear->GetWOW());
1111 node->getChild("position-norm", 0, true)->setDoubleValue(gear->GetGearUnitPos());
1112 gear->SetTirePressure(node->getDoubleValue("tire-pressure-norm"));
1113 node->setDoubleValue("compression-norm", gear->GetCompLen());
1114 node->setDoubleValue("compression-ft", gear->GetCompLen());
1115 if ( gear->GetSteerable() )
1116 node->setDoubleValue("steering-norm", gear->GetSteerNorm());
1120 void FGJSBsim::do_trim(void)
1124 if ( fgGetBool("/sim/presets/onground") )
1126 fgtrim = new FGTrim(fdmex,tGround);
1128 fgtrim = new FGTrim(fdmex,tLongitudinal);
1131 if ( !fgtrim->DoTrim() ) {
1133 fgtrim->TrimStats();
1135 trimmed->setBoolValue(true);
1137 // if (FGJSBBase::debug_lvl > 0)
1138 // State->ReportState();
1142 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
1143 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
1144 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
1145 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
1147 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
1148 globals->get_controls()->set_elevator(FCS->GetDeCmd());
1149 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
1150 FCS->GetThrottleCmd(0));
1152 globals->get_controls()->set_aileron(FCS->GetDaCmd());
1153 globals->get_controls()->set_rudder( FCS->GetDrCmd());
1155 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
1158 void FGJSBsim::update_ic(void)
1161 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
1162 fgic->SetLongitudeRadIC( get_Longitude() );
1163 fgic->SetAltitudeFtIC( get_Altitude() );
1164 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
1165 fgic->SetThetaRadIC( get_Theta() );
1166 fgic->SetPhiRadIC( get_Phi() );
1167 fgic->SetPsiRadIC( get_Psi() );
1168 fgic->SetClimbRateFpsIC( get_Climb_Rate() );
1172 inline static double dot3(const FGColumnVector3& a, const FGColumnVector3& b)
1174 return a(1) * b(1) + a(2) * b(2) + a(3) * b(3);
1177 inline static double sqr(double x)
1182 static double angle_diff(double a, double b)
1184 double diff = fabs(a - b);
1185 if (diff > 180) diff = 360 - diff;
1190 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)
1192 FGColumnVector3 tip(-hook_length * cos_fi_guess, 0, hook_length * sin_fi_guess);
1193 double dist = dot3(tip, ground_normal_body);
1194 if (fabs(dist + E) < 0.0001) {
1195 sin_fis[*points] = sin_fi_guess;
1196 cos_fis[*points] = cos_fi_guess;
1197 fis[*points] = atan2(sin_fi_guess, cos_fi_guess) * SG_RADIANS_TO_DEGREES;
1203 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)
1205 if (sin_fi_guess >= -1 && sin_fi_guess <= 1) {
1206 double cos_fi_guess = sqrt(1 - sqr(sin_fi_guess));
1207 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, cos_fi_guess, sin_fis, cos_fis, fis, points);
1208 if (fabs(cos_fi_guess) > SG_EPSILON) {
1209 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, -cos_fi_guess, sin_fis, cos_fis, fis, points);
1214 void FGJSBsim::update_external_forces(double t_off)
1216 const FGMatrix33& Tb2l = Propagate->GetTb2l();
1217 const FGMatrix33& Tl2b = Propagate->GetTl2b();
1218 const FGLocation& Location = Propagate->GetLocation();
1219 const FGMatrix33& Tec2l = Location.GetTec2l();
1221 double hook_area[4][3];
1223 FGColumnVector3 hook_root_body = MassBalance->StructuralToBody(hook_root_struct);
1224 FGColumnVector3 hook_root = Location.LocalToLocation(Tb2l * hook_root_body);
1225 hook_area[1][0] = hook_root(1);
1226 hook_area[1][1] = hook_root(2);
1227 hook_area[1][2] = hook_root(3);
1229 hook_length = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-length-ft", 6.75);
1230 double fi_min = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-min-deg", -18);
1231 double fi_max = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-max-deg", 30);
1232 double fi = fgGetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-norm") * (fi_max - fi_min) + fi_min;
1233 double cos_fi = cos(fi * SG_DEGREES_TO_RADIANS);
1234 double sin_fi = sin(fi * SG_DEGREES_TO_RADIANS);
1236 FGColumnVector3 hook_tip_body = hook_root_body;
1237 hook_tip_body(1) -= hook_length * cos_fi;
1238 hook_tip_body(3) += hook_length * sin_fi;
1239 bool hook_tip_valid = true;
1242 double ground_normal[3];
1243 double ground_vel[3];
1245 const SGMaterial* ground_material;
1249 bool got = get_agl_ft(t_off, hook_area[1], 0, contact, ground_normal, ground_vel, &ground_type, &ground_material, &root_agl_ft);
1250 if (got && root_agl_ft > 0 && root_agl_ft < hook_length) {
1251 FGColumnVector3 ground_normal_body = Tl2b * (Tec2l * FGColumnVector3(ground_normal[0], ground_normal[1], ground_normal[2]));
1252 FGColumnVector3 contact_body = Tl2b * Location.LocationToLocal(FGColumnVector3(contact[0], contact[1], contact[2]));
1253 double D = -dot3(contact_body, ground_normal_body);
1255 // check hook tip agl against same ground plane
1256 double hook_tip_agl_ft = dot3(hook_tip_body, ground_normal_body) + D;
1257 if (hook_tip_agl_ft < 0) {
1259 // hook tip: hx - l cos, hy, hz + l sin
1260 // on ground: - n0 l cos + n2 l sin + E = 0
1262 double E = D + dot3(hook_root_body, ground_normal_body);
1264 // substitue x = sin fi, cos fi = sqrt(1 - x * x)
1265 // and rearrange to get a quadratic with coeffs:
1266 double a = sqr(hook_length) * (sqr(ground_normal_body(1)) + sqr(ground_normal_body(3)));
1267 double b = 2 * E * ground_normal_body(3) * hook_length;
1268 double c = sqr(E) - sqr(ground_normal_body(1) * hook_length);
1270 double disc = sqr(b) - 4 * a * c;
1272 double delta = sqrt(disc) / (2 * a);
1274 // allow 4 solutions for safety, should never happen
1280 double sin_fi_guess = -b / (2 * a) - delta;
1281 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess, sin_fis, cos_fis, fis, &points);
1282 check_hook_solution(ground_normal_body, E, hook_length, sin_fi_guess + 2 * delta, sin_fis, cos_fis, fis, &points);
1285 double diff1 = angle_diff(fi, fis[0]);
1286 double diff2 = angle_diff(fi, fis[1]);
1287 int point = diff1 < diff2 ? 0 : 1;
1289 sin_fi = sin_fis[point];
1290 cos_fi = cos_fis[point];
1291 hook_tip_body(1) = hook_root_body(1) - hook_length * cos_fi;
1292 hook_tip_body(3) = hook_root_body(3) + hook_length * sin_fi;
1298 FGColumnVector3 hook_root_vel = Propagate->GetVel() + (Tb2l * (Propagate->GetPQR() * hook_root_body));
1299 double wire_ends_ec[2][3];
1300 double wire_vel_ec[2][3];
1301 get_wire_ends_ft(t_off, wire_ends_ec, wire_vel_ec);
1302 FGColumnVector3 wire_vel_1 = Tec2l * FGColumnVector3(wire_vel_ec[0][0], wire_vel_ec[0][1], wire_vel_ec[0][2]);
1303 FGColumnVector3 wire_vel_2 = Tec2l * FGColumnVector3(wire_vel_ec[1][0], wire_vel_ec[1][1], wire_vel_ec[1][2]);
1304 FGColumnVector3 rel_vel = hook_root_vel - (wire_vel_1 + wire_vel_2) / 2;
1305 if (rel_vel.Magnitude() < 3) {
1308 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", 0.0);
1310 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;
1311 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;
1312 FGColumnVector3 force_plane_normal = wire_end1_body * wire_end2_body;
1313 force_plane_normal.Normalize();
1314 cos_fi = dot3(force_plane_normal, FGColumnVector3(0, 0, 1));
1315 if (cos_fi < 0) cos_fi = -cos_fi;
1316 sin_fi = sqrt(1 - sqr(cos_fi));
1317 fi = atan2(sin_fi, cos_fi) * SG_RADIANS_TO_DEGREES;
1319 fgSetDouble("/fdm/jsbsim/external_reactions/hook/x", -cos_fi);
1320 fgSetDouble("/fdm/jsbsim/external_reactions/hook/y", 0);
1321 fgSetDouble("/fdm/jsbsim/external_reactions/hook/z", sin_fi);
1322 fgSetDouble("/fdm/jsbsim/external_reactions/hook/magnitude", fgGetDouble("/fdm/jsbsim/systems/hook/force"));
1326 FGColumnVector3 hook_tip = Location.LocalToLocation(Tb2l * hook_tip_body);
1328 hook_area[0][0] = hook_tip(1);
1329 hook_area[0][1] = hook_tip(2);
1330 hook_area[0][2] = hook_tip(3);
1333 // The previous positions.
1334 hook_area[2][0] = last_hook_root[0];
1335 hook_area[2][1] = last_hook_root[1];
1336 hook_area[2][2] = last_hook_root[2];
1337 hook_area[3][0] = last_hook_tip[0];
1338 hook_area[3][1] = last_hook_tip[1];
1339 hook_area[3][2] = last_hook_tip[2];
1341 // Check if we caught a wire.
1342 // Returns true if we caught one.
1343 if (caught_wire_ft(t_off, hook_area)) {
1348 // save actual position as old position ...
1349 last_hook_tip[0] = hook_area[0][0];
1350 last_hook_tip[1] = hook_area[0][1];
1351 last_hook_tip[2] = hook_area[0][2];
1352 last_hook_root[0] = hook_area[1][0];
1353 last_hook_root[1] = hook_area[1][1];
1354 last_hook_root[2] = hook_area[1][2];
1356 fgSetDouble("/fdm/jsbsim/systems/hook/tailhook-pos-deg", fi);