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.
24 #include <simgear/compiler.h>
26 #ifdef SG_MATH_EXCEPTION_CLASH
32 #include <simgear/constants.h>
33 #include <simgear/debug/logstream.hxx>
34 #include <simgear/math/sg_geodesy.hxx>
35 #include <simgear/misc/sg_path.hxx>
37 #include <FDM/flight.hxx>
39 #include <Aircraft/aircraft.hxx>
40 #include <Controls/controls.hxx>
41 #include <Main/globals.hxx>
42 #include <Main/fg_props.hxx>
44 #include <FDM/JSBSim/FGFDMExec.h>
45 #include <FDM/JSBSim/FGAircraft.h>
46 #include <FDM/JSBSim/FGFCS.h>
47 #include <FDM/JSBSim/FGPosition.h>
48 #include <FDM/JSBSim/FGRotation.h>
49 #include <FDM/JSBSim/FGState.h>
50 #include <FDM/JSBSim/FGTranslation.h>
51 #include <FDM/JSBSim/FGAuxiliary.h>
52 #include <FDM/JSBSim/FGInitialCondition.h>
53 #include <FDM/JSBSim/FGTrim.h>
54 #include <FDM/JSBSim/FGAtmosphere.h>
55 #include <FDM/JSBSim/FGMassBalance.h>
56 #include <FDM/JSBSim/FGAerodynamics.h>
57 #include <FDM/JSBSim/FGLGear.h>
58 #include <FDM/JSBSim/FGPropertyManager.h>
62 FMAX (double a, double b)
68 /******************************************************************************/
70 FGJSBsim::FGJSBsim( double dt )
75 //fdmex = new FGFDMExec( (FGPropertyManager*)globals->get_props() );
76 fdmex = new FGFDMExec();
78 State = fdmex->GetState();
79 Atmosphere = fdmex->GetAtmosphere();
80 FCS = fdmex->GetFCS();
81 MassBalance = fdmex->GetMassBalance();
82 Propulsion = fdmex->GetPropulsion();
83 Aircraft = fdmex->GetAircraft();
84 Translation = fdmex->GetTranslation();
85 Rotation = fdmex->GetRotation();
86 Position = fdmex->GetPosition();
87 Auxiliary = fdmex->GetAuxiliary();
88 Aerodynamics = fdmex->GetAerodynamics();
89 GroundReactions = fdmex->GetGroundReactions();
94 SGPath aircraft_path( globals->get_fg_root() );
95 aircraft_path.append( "Aircraft" );
97 SGPath engine_path( globals->get_fg_root() );
98 engine_path.append( "Engine" );
101 result = fdmex->LoadModel( aircraft_path.str(),
103 fgGetString("/sim/aero") );
106 SG_LOG( SG_FLIGHT, SG_INFO, " loaded aero.");
108 SG_LOG( SG_FLIGHT, SG_INFO,
109 " aero does not exist (you may have mis-typed the name).");
113 SG_LOG( SG_FLIGHT, SG_INFO, "" );
114 SG_LOG( SG_FLIGHT, SG_INFO, "" );
115 SG_LOG( SG_FLIGHT, SG_INFO, "After loading aero definition file ..." );
117 int Neng = Propulsion->GetNumEngines();
118 SG_LOG( SG_FLIGHT, SG_INFO, "num engines = " << Neng );
120 if ( GroundReactions->GetNumGearUnits() <= 0 ) {
121 SG_LOG( SG_FLIGHT, SG_ALERT, "num gear units = "
122 << GroundReactions->GetNumGearUnits() );
123 SG_LOG( SG_FLIGHT, SG_ALERT, "This is a very bad thing because with 0 gear units, the ground trimming");
124 SG_LOG( SG_FLIGHT, SG_ALERT, "routine (coming up later in the code) will core dump.");
125 SG_LOG( SG_FLIGHT, SG_ALERT, "Halting the sim now, and hoping a solution will present itself soon!");
132 // Set initial fuel levels if provided.
133 for (unsigned int i = 0; i < Propulsion->GetNumTanks(); i++) {
134 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
135 if (node->getChild("level-gal_us", 0, false) != 0)
136 Propulsion->GetTank(i)
137 ->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
140 fgSetDouble("/fdm/trim/pitch-trim", FCS->GetPitchTrimCmd());
141 fgSetDouble("/fdm/trim/throttle", FCS->GetThrottleCmd(0));
142 fgSetDouble("/fdm/trim/aileron", FCS->GetDaCmd());
143 fgSetDouble("/fdm/trim/rudder", FCS->GetDrCmd());
145 startup_trim = fgGetNode("/sim/startup/trim", true);
147 trimmed = fgGetNode("/fdm/trim/trimmed", true);
148 trimmed->setBoolValue(false);
150 pitch_trim = fgGetNode("/fdm/trim/pitch-trim", true );
151 throttle_trim = fgGetNode("/fdm/trim/throttle", true );
152 aileron_trim = fgGetNode("/fdm/trim/aileron", true );
153 rudder_trim = fgGetNode("/fdm/trim/rudder", true );
156 stall_warning = fgGetNode("/sim/aero/alarms/stall-warning",true);
157 stall_warning->setDoubleValue(0);
160 flap_pos_pct=fgGetNode("/surface-positions/flap-pos-norm",true);
161 elevator_pos_pct=fgGetNode("/surface-positions/elevator-pos-norm",true);
163 =fgGetNode("/surface-positions/left-aileron-pos-norm",true);
164 right_aileron_pos_pct
165 =fgGetNode("/surface-positions/right-aileron-pos-norm",true);
166 rudder_pos_pct=fgGetNode("/surface-positions/rudder-pos-norm",true);
170 elevator_pos_pct->setDoubleValue(0);
171 left_aileron_pos_pct->setDoubleValue(0);
172 right_aileron_pos_pct->setDoubleValue(0);
173 rudder_pos_pct->setDoubleValue(0);
174 flap_pos_pct->setDoubleValue(0);
176 temperature = fgGetNode("/environment/temperature-degc",true);
177 pressure = fgGetNode("/environment/pressure-inhg",true);
178 density = fgGetNode("/environment/density-slugft3",true);
180 wind_from_north= fgGetNode("/environment/wind-from-north-fps",true);
181 wind_from_east = fgGetNode("/environment/wind-from-east-fps" ,true);
182 wind_from_down = fgGetNode("/environment/wind-from-down-fps" ,true);
186 /******************************************************************************/
187 FGJSBsim::~FGJSBsim(void) {
191 /******************************************************************************/
193 // Initialize the JSBsim flight model, dt is the time increment for
194 // each subsequent iteration through the EOM
196 void FGJSBsim::init() {
198 SG_LOG( SG_FLIGHT, SG_INFO, "Starting and initializing JSBsim" );
200 // Explicitly call the superclass's
201 // init method first.
204 Atmosphere->UseInternal();
206 if (fgGetBool("/environment/params/control-fdm-atmosphere")) {
207 Atmosphere->UseExternal();
208 Atmosphere->SetExTemperature(
209 9.0/5.0*(temperature->getDoubleValue()+273.15) );
210 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
211 Atmosphere->SetExDensity(density->getDoubleValue());
213 Atmosphere->UseInternal();
217 fgic->SetVnorthFpsIC( wind_from_north->getDoubleValue() );
218 fgic->SetVeastFpsIC( wind_from_east->getDoubleValue() );
219 fgic->SetVdownFpsIC( wind_from_down->getDoubleValue() );
221 //Atmosphere->SetExTemperature(get_Static_temperature());
222 //Atmosphere->SetExPressure(get_Static_pressure());
223 //Atmosphere->SetExDensity(get_Density());
224 SG_LOG(SG_FLIGHT,SG_INFO,"T,p,rho: " << fdmex->GetAtmosphere()->GetTemperature()
225 << ", " << fdmex->GetAtmosphere()->GetPressure()
226 << ", " << fdmex->GetAtmosphere()->GetDensity() );
232 fdmex->RunIC(); //loop JSBSim once w/o integrating
233 copy_from_JSBsim(); //update the bus
235 SG_LOG( SG_FLIGHT, SG_INFO, " Initialized JSBSim with:" );
237 switch(fgic->GetSpeedSet()) {
239 SG_LOG(SG_FLIGHT,SG_INFO, " Vn,Ve,Vd= "
240 << Position->GetVn() << ", "
241 << Position->GetVe() << ", "
242 << Position->GetVd() << " ft/s");
245 SG_LOG(SG_FLIGHT,SG_INFO, " U,V,W= "
246 << Translation->GetUVW(1) << ", "
247 << Translation->GetUVW(2) << ", "
248 << Translation->GetUVW(3) << " ft/s");
251 SG_LOG(SG_FLIGHT,SG_INFO, " Mach: "
252 << Translation->GetMach() );
256 SG_LOG(SG_FLIGHT,SG_INFO, " Indicated Airspeed: "
257 << Auxiliary->GetVcalibratedKTS() << " knots" );
261 stall_warning->setDoubleValue(0);
263 SG_LOG( SG_FLIGHT, SG_INFO, " Bank Angle: "
264 << Rotation->Getphi()*RADTODEG << " deg" );
265 SG_LOG( SG_FLIGHT, SG_INFO, " Pitch Angle: "
266 << Rotation->Gettht()*RADTODEG << " deg" );
267 SG_LOG( SG_FLIGHT, SG_INFO, " True Heading: "
268 << Rotation->Getpsi()*RADTODEG << " deg" );
269 SG_LOG( SG_FLIGHT, SG_INFO, " Latitude: "
270 << Position->GetLatitude() << " deg" );
271 SG_LOG( SG_FLIGHT, SG_INFO, " Longitude: "
272 << Position->GetLongitude() << " deg" );
273 SG_LOG( SG_FLIGHT, SG_INFO, " Altitude: "
274 << Position->Geth() << " feet" );
275 SG_LOG( SG_FLIGHT, SG_INFO, " loaded initial conditions" );
277 SG_LOG( SG_FLIGHT, SG_INFO, " set dt" );
279 SG_LOG( SG_FLIGHT, SG_INFO, "Finished initializing JSBSim" );
281 SG_LOG( SG_FLIGHT, SG_INFO, "FGControls::get_gear_down()= " <<
282 globals->get_controls()->get_gear_down() );
288 /******************************************************************************/
290 // Run an iteration of the EOM (equations of motion)
293 FGJSBsim::update( double dt ) {
298 int multiloop = _calc_multiloop(dt);
302 // double save_alt = 0.0;
306 trimmed->setBoolValue(false);
309 if ( startup_trim->getBoolValue() ) {
310 SG_LOG(SG_FLIGHT, SG_INFO,
311 "Ready to trim, terrain altitude is: "
312 << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
313 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
316 fdmex->RunIC(); //apply any changes made through the set_ functions
321 for ( i=0; i < multiloop; i++ ) {
325 FGJSBBase::Message* msg;
326 while (fdmex->ReadMessage()) {
327 msg = fdmex->ProcessMessage();
329 case FGJSBBase::Message::eText:
330 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text );
332 case FGJSBBase::Message::eBool:
333 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->bVal );
335 case FGJSBBase::Message::eInteger:
336 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->iVal );
338 case FGJSBBase::Message::eDouble:
339 SG_LOG( SG_FLIGHT, SG_INFO, msg->messageId << ": " << msg->text << " " << msg->dVal );
342 SG_LOG( SG_FLIGHT, SG_INFO, "Unrecognized message type." );
347 // translate JSBsim back to FG structure so that the
348 // autopilot (and the rest of the sim can use the updated values
352 /******************************************************************************/
354 // Convert from the FGInterface struct to the JSBsim generic_ struct
356 bool FGJSBsim::copy_to_JSBsim() {
359 // copy control positions into the JSBsim structure
361 FCS->SetDaCmd( globals->get_controls()->get_aileron());
362 FCS->SetRollTrimCmd( globals->get_controls()->get_aileron_trim() );
363 FCS->SetDeCmd( globals->get_controls()->get_elevator());
364 FCS->SetPitchTrimCmd( globals->get_controls()->get_elevator_trim() );
365 FCS->SetDrCmd( -globals->get_controls()->get_rudder() );
366 FCS->SetYawTrimCmd( -globals->get_controls()->get_rudder_trim() );
367 FCS->SetDfCmd( globals->get_controls()->get_flaps() );
368 FCS->SetDsbCmd( 0.0 ); //speedbrakes
369 FCS->SetDspCmd( 0.0 ); //spoilers
371 // Parking brake sets minimum braking
373 double parking_brake = globals->get_controls()->get_parking_brake();
374 FCS->SetLBrake(FMAX(globals->get_controls()->get_brake(0), parking_brake));
375 FCS->SetRBrake(FMAX(globals->get_controls()->get_brake(1), parking_brake));
376 FCS->SetCBrake( globals->get_controls()->get_brake( 2 ) );
378 FCS->SetGearCmd( globals->get_controls()->get_gear_down());
379 for (i = 0; i < Propulsion->GetNumEngines(); i++) {
380 FGEngine * eng = Propulsion->GetEngine(i);
381 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
382 FCS->SetThrottleCmd(i, globals->get_controls()->get_throttle(i));
383 FCS->SetMixtureCmd(i, globals->get_controls()->get_mixture(i));
384 FCS->SetPropAdvanceCmd(i, globals->get_controls()->get_prop_advance(i));
385 Propulsion->GetThruster(i)->SetRPM(node->getDoubleValue("rpm"));
386 eng->SetMagnetos( globals->get_controls()->get_magnetos(i) );
387 eng->SetStarter( globals->get_controls()->get_starter(i) );
390 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
391 Position->SetSeaLevelRadius( get_Sea_level_radius() );
392 Position->SetRunwayRadius( get_Runway_altitude()
393 + get_Sea_level_radius() );
395 Atmosphere->SetExTemperature(
396 9.0/5.0*(temperature->getDoubleValue()+273.15) );
397 Atmosphere->SetExPressure(pressure->getDoubleValue()*70.726566);
398 Atmosphere->SetExDensity(density->getDoubleValue());
400 Atmosphere->SetWindNED( wind_from_north->getDoubleValue(),
401 wind_from_east->getDoubleValue(),
402 wind_from_down->getDoubleValue() );
403 // SG_LOG(SG_FLIGHT,SG_INFO, "Wind NED: "
404 // << get_V_north_airmass() << ", "
405 // << get_V_east_airmass() << ", "
406 // << get_V_down_airmass() );
408 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
409 SGPropertyNode * node = fgGetNode("/consumables/fuel/tank", i, true);
410 FGTank * tank = Propulsion->GetTank(i);
411 tank->SetContents(node->getDoubleValue("level-gal_us") * 6.6);
412 // tank->SetContents(node->getDoubleValue("level-lb"));
418 /******************************************************************************/
420 // Convert from the JSBsim generic_ struct to the FGInterface struct
422 bool FGJSBsim::copy_from_JSBsim() {
425 _set_Inertias( MassBalance->GetMass(),
426 MassBalance->GetIxx(),
427 MassBalance->GetIyy(),
428 MassBalance->GetIzz(),
429 MassBalance->GetIxz() );
431 _set_CG_Position( MassBalance->GetXYZcg(1),
432 MassBalance->GetXYZcg(2),
433 MassBalance->GetXYZcg(3) );
435 _set_Accels_Body( Aircraft->GetBodyAccel()(1),
436 Aircraft->GetBodyAccel()(2),
437 Aircraft->GetBodyAccel()(3) );
439 //_set_Accels_CG_Body( Aircraft->GetBodyAccel()(1),
440 // Aircraft->GetBodyAccel()(2),
441 // Aircraft->GetBodyAccel()(3) );
443 _set_Accels_CG_Body_N ( Aircraft->GetNcg()(1),
444 Aircraft->GetNcg()(2),
445 Aircraft->GetNcg()(3) );
447 _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
448 Auxiliary->GetPilotAccel()(2),
449 Auxiliary->GetPilotAccel()(3) );
451 // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
452 // Auxiliary->GetNpilot(2)/32.1739,
453 // Auxiliary->GetNpilot(3)/32.1739 );
455 _set_Nlf( Aircraft->GetNlf() );
459 _set_Velocities_Local( Position->GetVn(),
463 _set_Velocities_Wind_Body( Translation->GetUVW(1),
464 Translation->GetUVW(2),
465 Translation->GetUVW(3) );
467 _set_V_rel_wind( Translation->GetVt() );
469 _set_V_equiv_kts( Auxiliary->GetVequivalentKTS() );
471 // _set_V_calibrated( Auxiliary->GetVcalibratedFPS() );
473 _set_V_calibrated_kts( Auxiliary->GetVcalibratedKTS() );
475 _set_V_ground_speed( Position->GetVground() );
477 _set_Omega_Body( Rotation->GetPQR(1),
479 Rotation->GetPQR(3) );
481 _set_Euler_Rates( Rotation->GetEulerRates(1),
482 Rotation->GetEulerRates(2),
483 Rotation->GetEulerRates(3) );
485 _set_Geocentric_Rates(Position->GetLatitudeDot(),
486 Position->GetLongitudeDot(),
487 Position->Gethdot() );
489 _set_Mach_number( Translation->GetMach() );
492 _updateGeocentricPosition( Position->GetLatitude(),
493 Position->GetLongitude(),
496 _set_Altitude_AGL( Position->GetDistanceAGL() );
498 _set_Euler_Angles( Rotation->Getphi(),
500 Rotation->Getpsi() );
502 _set_Alpha( Translation->Getalpha() );
503 _set_Beta( Translation->Getbeta() );
506 _set_Gamma_vert_rad( Position->GetGamma() );
507 // set_Gamma_horiz_rad( Gamma_horiz_rad );
509 _set_Earth_position_angle( Auxiliary->GetEarthPositionAngle() );
511 _set_Climb_Rate( Position->Gethdot() );
514 for ( i = 1; i <= 3; i++ ) {
515 for ( j = 1; j <= 3; j++ ) {
516 _set_T_Local_to_Body( i, j, State->GetTl2b(i,j) );
520 // Copy the engine values from JSBSim.
521 for( i=0; i < Propulsion->GetNumEngines(); i++ ) {
522 SGPropertyNode * node = fgGetNode("engines/engine", i, true);
523 FGEngine * eng = Propulsion->GetEngine(i);
524 FGThruster * thrust = Propulsion->GetThruster(i);
526 node->setDoubleValue("mp-osi", eng->getManifoldPressure_inHg());
527 node->setDoubleValue("rpm", thrust->GetRPM());
528 node->setDoubleValue("egt-degf", eng->getExhaustGasTemp_degF());
529 node->setDoubleValue("fuel-flow-gph", eng->getFuelFlow_gph());
530 node->setDoubleValue("cht-degf", eng->getCylinderHeadTemp_degF());
531 node->setDoubleValue("oil-temperature-degf", eng->getOilTemp_degF());
532 node->setDoubleValue("oil-pressure-psi", eng->getOilPressure_psi());
533 node->setBoolValue("running", eng->GetRunning());
534 node->setBoolValue("cranking", eng->GetCranking());
537 static const SGPropertyNode *fuel_freeze
538 = fgGetNode("/sim/freeze/fuel");
540 // Copy the fuel levels from JSBSim if fuel
541 // freeze not enabled.
542 if ( ! fuel_freeze->getBoolValue() ) {
543 for (i = 0; i < Propulsion->GetNumTanks(); i++) {
544 SGPropertyNode * node
545 = fgGetNode("/consumables/fuel/tank", i, true);
546 double contents = Propulsion->GetTank(i)->GetContents();
547 node->setDoubleValue("level-gal_us", contents/6.6);
548 // node->setDoubleValue("level-lb", contents);
554 stall_warning->setDoubleValue( Aerodynamics->GetStallWarn() );
556 /* elevator_pos_deg->setDoubleValue( FCS->GetDePos()*SG_RADIANS_TO_DEGREES );
557 left_aileron_pos_deg->setDoubleValue( FCS->GetDaLPos()*SG_RADIANS_TO_DEGREES );
558 right_aileron_pos_deg->setDoubleValue( FCS->GetDaRPos()*SG_RADIANS_TO_DEGREES );
559 rudder_pos_deg->setDoubleValue( -1*FCS->GetDrPos()*SG_RADIANS_TO_DEGREES );
560 flap_pos_deg->setDoubleValue( FCS->GetDfPos() ); */
563 elevator_pos_pct->setDoubleValue( FCS->GetDePos(ofNorm) );
564 left_aileron_pos_pct->setDoubleValue( FCS->GetDaLPos(ofNorm) );
565 right_aileron_pos_pct->setDoubleValue( -1*FCS->GetDaLPos(ofNorm) );
566 rudder_pos_pct->setDoubleValue( -1*FCS->GetDrPos(ofNorm) );
567 flap_pos_pct->setDoubleValue( FCS->GetDfPos(ofNorm) );
573 bool FGJSBsim::ToggleDataLogging(void) {
574 return fdmex->GetOutput()->Toggle();
578 bool FGJSBsim::ToggleDataLogging(bool state) {
580 fdmex->GetOutput()->Enable();
583 fdmex->GetOutput()->Disable();
590 void FGJSBsim::set_Latitude(double lat) {
591 static const SGPropertyNode *altitude = fgGetNode("/position/altitude-ft");
593 double sea_level_radius_meters, lat_geoc;
595 if ( altitude->getDoubleValue() > -9990 ) {
596 alt = altitude->getDoubleValue();
602 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Latitude: " << lat );
603 SG_LOG(SG_FLIGHT,SG_INFO," cur alt (ft) = " << alt );
605 sgGeodToGeoc( lat, alt * SG_FEET_TO_METER,
606 &sea_level_radius_meters, &lat_geoc );
607 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
608 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
609 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
610 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
611 fgic->SetLatitudeRadIC( lat_geoc );
615 void FGJSBsim::set_Longitude(double lon) {
617 SG_LOG(SG_FLIGHT,SG_INFO,"FGJSBsim::set_Longitude: " << lon );
619 fgic->SetLongitudeRadIC( lon );
620 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
621 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
625 void FGJSBsim::set_Altitude(double alt) {
626 static const SGPropertyNode *latitude = fgGetNode("/position/latitude-deg");
628 double sea_level_radius_meters,lat_geoc;
630 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Altitude: " << alt );
631 SG_LOG(SG_FLIGHT,SG_INFO, " lat (deg) = " << latitude->getDoubleValue() );
634 sgGeodToGeoc( latitude->getDoubleValue() * SGD_DEGREES_TO_RADIANS, alt,
635 &sea_level_radius_meters, &lat_geoc);
636 _set_Sea_level_radius( sea_level_radius_meters * SG_METER_TO_FEET );
637 fgic->SetSeaLevelRadiusFtIC( sea_level_radius_meters * SG_METER_TO_FEET );
638 _set_Runway_altitude( cur_fdm_state->get_Runway_altitude() );
639 fgic->SetTerrainAltitudeFtIC( cur_fdm_state->get_ground_elev_ft() );
640 SG_LOG(SG_FLIGHT, SG_INFO,
641 "Terrain altitude: " << cur_fdm_state->get_Runway_altitude() * SG_METER_TO_FEET );
642 fgic->SetLatitudeRadIC( lat_geoc );
643 fgic->SetAltitudeFtIC(alt);
647 void FGJSBsim::set_V_calibrated_kts(double vc) {
648 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_V_calibrated_kts: " << vc );
651 fgic->SetVcalibratedKtsIC(vc);
655 void FGJSBsim::set_Mach_number(double mach) {
656 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Mach_number: " << mach );
659 fgic->SetMachIC(mach);
663 void FGJSBsim::set_Velocities_Local( double north, double east, double down ){
664 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Local: "
665 << north << ", " << east << ", " << down );
668 fgic->SetVnorthFpsIC(north);
669 fgic->SetVeastFpsIC(east);
670 fgic->SetVdownFpsIC(down);
674 void FGJSBsim::set_Velocities_Wind_Body( double u, double v, double w){
675 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Velocities_Wind_Body: "
676 << u << ", " << v << ", " << w );
679 fgic->SetUBodyFpsIC(u);
680 fgic->SetVBodyFpsIC(v);
681 fgic->SetWBodyFpsIC(w);
686 void FGJSBsim::set_Euler_Angles( double phi, double theta, double psi ) {
687 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Euler_Angles: "
688 << phi << ", " << theta << ", " << psi );
691 fgic->SetPitchAngleRadIC(theta);
692 fgic->SetRollAngleRadIC(phi);
693 fgic->SetTrueHeadingRadIC(psi);
698 void FGJSBsim::set_Climb_Rate( double roc) {
699 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Climb_Rate: " << roc );
702 //since both climb rate and flight path angle are set in the FG
703 //startup sequence, something is needed to keep one from cancelling
705 if( !(fabs(roc) > 1 && fabs(fgic->GetFlightPathAngleRadIC()) < 0.01) ) {
706 fgic->SetClimbRateFpsIC(roc);
711 void FGJSBsim::set_Gamma_vert_rad( double gamma) {
712 SG_LOG(SG_FLIGHT,SG_INFO, "FGJSBsim::set_Gamma_vert_rad: " << gamma );
715 if( !(fabs(gamma) < 0.01 && fabs(fgic->GetClimbRateFpsIC()) > 1) ) {
716 fgic->SetFlightPathAngleRadIC(gamma);
721 void FGJSBsim::init_gear(void ) {
723 FGGroundReactions* gr=fdmex->GetGroundReactions();
724 int Ngear=GroundReactions->GetNumGearUnits();
725 for (int i=0;i<Ngear;i++) {
726 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
727 node->setDoubleValue("xoffset-in",
728 gr->GetGearUnit(i)->GetBodyLocation()(1));
729 node->setDoubleValue("yoffset-in",
730 gr->GetGearUnit(i)->GetBodyLocation()(2));
731 node->setDoubleValue("zoffset-in",
732 gr->GetGearUnit(i)->GetBodyLocation()(3));
733 node->setBoolValue("wow", gr->GetGearUnit(i)->GetWOW());
734 node->setBoolValue("has-brake", gr->GetGearUnit(i)->GetBrakeGroup() > 0);
735 node->setDoubleValue("position-norm", FCS->GetGearPos());
739 void FGJSBsim::update_gear(void) {
741 FGGroundReactions* gr=fdmex->GetGroundReactions();
742 int Ngear=GroundReactions->GetNumGearUnits();
743 for (int i=0;i<Ngear;i++) {
744 SGPropertyNode * node = fgGetNode("gear/gear", i, true);
745 node->getChild("wow", 0, true)
746 ->setBoolValue(gr->GetGearUnit(i)->GetWOW());
747 node->getChild("position-norm", 0, true)
748 ->setDoubleValue(FCS->GetGearPos());
752 void FGJSBsim::do_trim(void) {
755 if( fgGetBool("/sim/startup/onground") ) {
756 fgic->SetVcalibratedKtsIC(0.0);
757 fgtrim=new FGTrim(fdmex,tGround);
759 fgtrim=new FGTrim(fdmex,tLongitudinal);
761 if( !fgtrim->DoTrim() ) {
765 trimmed->setBoolValue(true);
767 State->ReportState();
769 pitch_trim->setDoubleValue( FCS->GetPitchTrimCmd() );
770 throttle_trim->setDoubleValue( FCS->GetThrottleCmd(0) );
771 aileron_trim->setDoubleValue( FCS->GetDaCmd() );
772 rudder_trim->setDoubleValue( FCS->GetDrCmd() );
774 globals->get_controls()->set_elevator_trim(FCS->GetPitchTrimCmd());
775 globals->get_controls()->set_elevator(FCS->GetDeCmd());
776 globals->get_controls()->set_throttle(FGControls::ALL_ENGINES,
777 FCS->GetThrottleCmd(0));
779 globals->get_controls()->set_aileron(FCS->GetDaCmd());
780 globals->get_controls()->set_rudder( FCS->GetDrCmd());
782 SG_LOG( SG_FLIGHT, SG_INFO, " Trim complete" );
785 void FGJSBsim::update_ic(void) {
787 fgic->SetLatitudeRadIC(get_Lat_geocentric() );
788 fgic->SetLongitudeRadIC( get_Longitude() );
789 fgic->SetAltitudeFtIC( get_Altitude() );
790 fgic->SetVcalibratedKtsIC( get_V_calibrated_kts() );
791 fgic->SetPitchAngleRadIC( get_Theta() );
792 fgic->SetRollAngleRadIC( get_Phi() );
793 fgic->SetTrueHeadingRadIC( get_Psi() );
794 fgic->SetClimbRateFpsIC( get_Climb_Rate() );